Vision and ranging fusion-based food delivery robot indoor positioning system and positioning method

Abstract

The invention relates to a vision and ranging fusion-based food delivery robot indoor positioning system and positioning method and belongs to the robot localization technical field. The vision and ranging fusion-based food delivery robot indoor positioning system includes a vision sensor, a laser ranging sensor, a driving rotation shaft and a controller; the input end of the vision sensor and the input end of the laser ranging sensor are both connected with the output end of the driving rotation shaft; the output end of the vision sensor and the output end of the laser ranging sensor are connected with the controller; the output end of the controller is connected with the input end of the driving rotation shaft; and a signal processing unit and a storage unit are arranged in the controller. With the vision and ranging fusion-based food delivery robot indoor positioning system and positioning method of the invention adopted, the positioning of robots in a restaurant can be completed through a simple calibration means under the condition that the facilities of the restaurant are not transformed, and the robots can be rapidly deployed, and at the same time, production cost can be reduced, and large-scale promotion of robots configured with indoor positioning systems can be benefitted.

Description

technical field [0001] The invention belongs to the technical field of robot positioning, and in particular relates to an indoor positioning system for a meal delivery robot. Background technique [0002] With the improvement of labor costs and the development of robot technology brought about by the development of technology, robot technology is more and more used in daily life, and indoor robots account for a large proportion of them. Mobile robots operating indoors, both You need to know your own coordinates, but also know the coordinates of the target point, which completely depends on the positioning system. Indoors are generally not open spaces, and there may be people and other real-time moving objects, which put forward relatively high requirements for the indoor positioning system of the robot. [0003] At present, there have been many indoor positioning systems for robots. There are systems that lay magnetic road signs on the ground. Such systems need to be modifi...

AI Technical Summary

Problems solved by technology

[0003] At present, there have been many indoor positioning systems for robots. There are systems that lay magnetic road signs on the ground. Such systems need to be modified on the ground, and the amount of engineering is relatively large, and the robot can only walk on the designated route like a train. , the flexibility is poor; there is a positioning system that fuses the lidar sensor and the IMU unit. Although this system has great flexibility compared to the magnetic road marking system, due to the complexity of the high-precision IMU system, it is only used in military systems, while civilian use The accuracy of the IMU is average, and it will accumulate errors, which will lead to a decrease in accuracy after long-term use

At present, there is no indoor positioning system that can be better used for food delivery robots

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