The embodiment of the invention provides a
robot positioning loss self-checking and repositioning method, device and equipment, and is applied to the technical field of
robot autonomous navigation and positioning. The method comprises the following steps: acquiring an estimated
pose corresponding to a current track node and current
laser scanning
point cloud data acquired by a
laser radar in real time; constructing a local subgraph candidate set in a credible
radius range by taking the current estimated
pose as a center; the current
laser scanning
point cloud data are matched with each sub-graph in the local sub-graph candidate set, and if all matching scores are lower than a preset similarity threshold value, it is judged that positioning loss happens to the
robot; after it is judged that positioning is lost, coarse resolution matching is executed in parallel in a
global map, and invalid candidate areas are removed through an upper bound
pruning strategy; and carrying out
fine resolution matching on the reserved candidate sub-images, and finally outputting an accurate
relocation pose. In this way, the continuity and reliability of the navigation task of the robot in a complex environment are effectively guaranteed.