Robot multi-sensor fusion positioning method and application thereof

A multi-sensor fusion and positioning method technology, applied in the field of intelligent robots, can solve the problems of poor versatility of positioning methods, loss of positioning, complex robot application scenarios, etc., and achieve the effects of not being easy to lose positioning, improving accuracy, and improving robustness

Active Publication Date: 2019-12-10
SHANGHAI GAOXIAN AUTOMATION TECH
View PDF7 Cites 15 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, robot application scenarios are complex, and sensors need to be changed accordingly in different scenarios, resulting in the uniqueness of the positioning method in each scenario, making the positioning method less versatile
In addition, since most of the current positioning methods use the last positioning information to estimate the current positioning information, and then correct it according to the current sensor observation data, so that the historical positioning information cannot be fully utilized, so it is easy to lose positioning.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Robot multi-sensor fusion positioning method and application thereof
  • Robot multi-sensor fusion positioning method and application thereof
  • Robot multi-sensor fusion positioning method and application thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0035] Embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary, are only for explaining the embodiments of the present application, and should not be construed as limiting the embodiments of the present application.

[0036] SLAM is the abbreviation of Simultaneous Localization And Mapping (Simultaneous Localization And Mapping), which is mainly used to solve the problems of positioning, navigation and map construction when mobile robots are running in unknown environments. SLAM usually includes the following parts, feature extraction, data association, state estimation, state update, and feature update. For each of these parts, multiple methods exist.

[0037] Graph optimization is to express a convent...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to a robot multi-sensor fusion positioning method and application thereof in an intelligent cleaning robot, and the method comprises the following steps: installing a laser scanner and an IMU on a robot, installing encoders on two wheel shafts of the robot, and installing a GPS if the robot is outdoor and needs to use the GPS; if the UWB is required to be used indoors, installing the UWB, and installing the RFID and the camera; constructing an environment map of the place by the robot through the SLAM; during positioning, firstly, giving an initial pose of the robot, in the subsequent positioning process, using a graph optimization method to calculate the moving distance of the robot, wherein the moving distance is made to most accord with the moving distance, observed by all sensors, of the robot, and obtaining accurate positioning of the current robot in combination with the pose at the last moment; according to the invention, the current position can be accurately identified, the positioning accuracy is greatly improved, and the phenomenon that the robot loses positioning in an environment with poor map quality is avoided.

Description

[technical field] [0001] The present application relates to the field of intelligent robots, in particular to a multi-sensor fusion positioning method for robots. [Background technique] [0002] Positioning and navigation technology is one of the key technologies of robots, and positioning is the premise of navigation. Positioning means that the robot obtains its own position on the map by reading sensor information and matching it with the current map. In the SLAM problem, it is the most basic and important function of the robot to use the information perceived by the sensor to achieve reliable localization. [0003] However, robot application scenarios are complex, and sensors need to be changed accordingly for different scenarios, resulting in the uniqueness of positioning methods in each scenario, making the positioning methods less versatile. In addition, since most of the current positioning methods use the last positioning information to estimate the current positio...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/16G01S19/49
CPCG01C21/20G01C21/165G01S19/49
Inventor 宋乐郭阳全程昊天
Owner SHANGHAI GAOXIAN AUTOMATION TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap