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Method and device for determining pose of sensor in robot

A determination method and a determination device technology, applied in the field of robotics, can solve the problems of low sensor pose accuracy and so on

Active Publication Date: 2020-06-02
浙江欣奕华智能科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] Embodiments of the present invention provide a method and device for determining the pose of a sensor in a robot to solve the problem of low accuracy in determining the pose of a sensor in a robot in the prior art

Method used

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  • Method and device for determining pose of sensor in robot
  • Method and device for determining pose of sensor in robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0212] Embodiment 1: Taking the standard deviation of the three components of the M first parameters as determined to be less than the second preset threshold as an example, combined with image 3 shown.

[0213] S301. The robot moves according to a preset movement trajectory, and acquires corresponding movement state parameters and corresponding point cloud information when the sampling moment is reached;

[0214] S302. Determine the type of the motion state parameter according to the acquired motion state parameter at the current sampling moment;

[0215] S303. Determine a corresponding prediction model according to the determined type of motion state parameter;

[0216] S304. Determine the second intermediate parameter corresponding to the current sampling time according to the determined prediction model and the parameter corresponding to the previous sampling time;

[0217] Wherein, when the current sampling time is the first sampling time, the previous sampling time is...

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Abstract

The invention discloses a method and a device for determining the pose of a sensor in a robot. The method comprises the steps of according to the obtained motion state parameters of the N sampling moments and the point cloud information of the located position, obtaining N sampling points; and determining a first parameter corresponding to each sampling moment, the first parameter being used for representing pose information of the sensor relative to the robot at any sampling moment, and determining a pose of the sensor in the robot according to each first parameter when it is determined thata preset evaluation rule is satisfied. Thus, the pose of the sensor in the robot can be determined without adding or using other extra sensors, the cost of the determination method is saved, and in the process of determining the pose of the sensor in the robot, automatic determination can be realized, the interference of human factors is reduced, and the accuracy of pose determination is improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method and device for determining the pose of a sensor in a robot. Background technique [0002] Sensors are the "nerves" and "eyes" of the robot. The sensors are used to measure the robot's own state information and external environment information. Among them, the sensors that measure the state information of the robot are called proprioception sensors, such as encoders, etc.; the sensors that measure external environmental information are called external perception sensors, such as lidar, cameras, etc. [0003] At present, there are three methods for determining the sensor pose in the robot in the prior art: [0004] The first is to directly measure the pose of the sensor relative to the robot. However, this method is limited by the influence of the measurement tool and the structure of the robot, and it is difficult during the measurement process, and the accuracy of the d...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F30/20B25J19/00
CPCB25J19/0095
Inventor 邵唱彭浩张弥
Owner 浙江欣奕华智能科技有限公司
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