POSITIONING METHOD FOR MOBILE ROBOT BASED ON ARRAY BOUNDARY RECOGNITION

WIPO Patent Application WO/2022/105933

A1

A positioning method for a mobile robot based on array boundary recognition, comprising: pre-constructing an environment map, performing matching according to the environment map to obtain visual positioning, and then fusing visual positioning and a wheel-based mileage to obtain global positioning of a mobile robot. The method specifically comprises the following steps: obtaining attitude information of the mobile robot by means of an inertial measurement unit; obtaining the wheel-based mileage of the mobile robot by means of a wheel encoder; extracting, by means of cameras, boundary data of a single array where the mobile robot is located, then obtaining coordinate transformation from a pixel plane to a robot coordinate system by means of parameters of the cameras obtained by calibration, and projecting the boundary data in an image to the robot coordinate system; obtaining array boundary data by means of the wheel-based mileage; projecting the boundary data to a world coordinate system by means of the wheel-based mileage to obtain visual positioning; and fusing the wheel-based mileage and the visual positioning to obtain final positioning of the mobile robot. The positioning method has the characteristics of simple operation, and efficient and accurate positioning.

WU JINLONG (CN)
CHEN YINGHONG (CN)

PCT/CN2021/132590

May 27, 2022

November 23, 2021

Click for automatic bibliography generation  

SHENZHEN KWUNPHI ROBOT CO LTD (CN)

G05D1/02; G05B19/18; G06T7/20; H02S40/10

CN112476433A	2021-03-12
US20050182518A1	2005-08-18
CN102896630A	2013-01-30
CN109579844A	2019-04-05
CN110706248A	2020-01-17
CN110458885A	2019-11-15
CN111687859A	2020-09-22
US20100280699A1	2010-11-04

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