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Robot positioning method, device and robot

A robot positioning and robot technology, applied in the field of robotics, can solve problems such as positioning stability is greatly affected, interference point processing, affecting measurement results, etc., to achieve the effect of enhancing accuracy and stability and reducing impact

Active Publication Date: 2021-06-29
BEIJING JINGDONG SHANGKE INFORMATION TECH CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, when using lidar laser (such as single-line lidar) for positioning, dynamic obstacles in the environment (such as people, etc.) have a greater impact on the stability of its positioning
At present, the points with large measurement errors generated by laser measurement are filtered out, and the interference points (dynamic obstacles, etc.) are not processed. These points will interfere with positioning and affect the measurement results.

Method used

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  • Robot positioning method, device and robot
  • Robot positioning method, device and robot
  • Robot positioning method, device and robot

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Embodiment Construction

[0031] The present disclosure will be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the present disclosure are illustrated. The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are only some of the embodiments of the present disclosure, not all of them. Based on the embodiments in the present disclosure, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present disclosure. The technical solution of the present disclosure will be described in various aspects in conjunction with various figures and embodiments below.

[0032] The "first", "second" and so on in the following are only used to describe the difference, and have no other ...

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Abstract

The present disclosure provides a robot positioning method, device and robot, which relate to the field of robot technology, wherein the method includes: determining the positioning grid corresponding to the detected obstacle in the two-dimensional grid map; obtaining the positioning grid and the distance from the positioning grid The first distance between the nearest obstacle grids; determine whether the first distance is greater than the preset distance threshold, if yes, determine that the detected obstacle corresponding to this positioning grid is a dynamic obstacle, if not, determine The detected obstacles corresponding to the positioning grid are static obstacles; the robot is positioned based on the detected obstacles determined to be static obstacles. The robot positioning method, device and robot of the present disclosure can filter out dynamic obstacles that do not exist in the map according to the shortest distance to obstacles and the distance mapping map, and reduce the impact of dynamic obstacles in the environment on positioning, and can Enhance the accuracy and stability of robot positioning.

Description

technical field [0001] The present disclosure relates to the technical field of robots, in particular to a robot positioning method, device and robot. Background technique [0002] With the development of robot technology, robots are applied in more and more scenarios. Accurate and stable positioning of the robot is crucial for the normal operation of the robot. LiDAR-based positioning is one of the commonly used positioning schemes. However, when the lidar laser (such as single-line lidar) is used for positioning, dynamic obstacles (such as people) in the environment have a greater impact on the stability of its positioning. At present, the points with large measurement errors generated by laser measurement are filtered out, and the interference points (dynamic obstacles, etc.) are not processed. These points will interfere with positioning and affect the measurement results. Therefore, a new technical solution for robot positioning is needed. Contents of the invention...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C21/20
CPCG01C21/005G01C21/20
Inventor 黄玉玺吴迪李雨倩
Owner BEIJING JINGDONG SHANGKE INFORMATION TECH CO LTD
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