CN112589806B - Robot pose information determination method, device, equipment and storage medium - Google Patents

Robot pose information determination method, device, equipment and storage medium Download PDF

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Publication number
CN112589806B
CN112589806B CN202011589926.0A CN202011589926A CN112589806B CN 112589806 B CN112589806 B CN 112589806B CN 202011589926 A CN202011589926 A CN 202011589926A CN 112589806 B CN112589806 B CN 112589806B
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robot
value
pose information
error
total error
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CN112589806A (en
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马元勋
何林
唐旋来
杨亚运
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Shanghai Keenlon Intelligent Technology Co Ltd
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Shanghai Keenlon Intelligent Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion

Abstract

The embodiment of the invention discloses a method, a device, equipment and a storage medium for determining pose information of a robot. The method comprises the following steps: moving according to a preset track in the process of drawing construction, and determining the observed values of the position information of the robot at different moments; wherein the observation is acquired by a sensor built in the robot; adjusting a total error value of the preset track according to the observed value of the position information of the robot at different moments and the actual value of the corresponding position information, wherein the actual value corresponds to the preset track; and determining the pose information of the robot at different moments according to the total error value. By adopting the technical means, the problem of inaccurate positioning caused by sensor errors can be avoided.

Description

Robot pose information determination method, device, equipment and storage medium
Technical Field
The embodiment of the invention relates to the technical field of robot positioning, in particular to a method, a device, equipment and a storage medium for determining robot pose information.
Background
At present, with the rapid development of artificial intelligence, mobile robots are widely applied in the fields of industry, civilian use and the like. Among them, the self-positioning technology is a key technology in the field of mobile robots, and therefore, the robustness and accuracy thereof are very important.
The built-in motor in the mobile robot is of a double-wheel differential speed type, displacement information of a motor encoder can be obtained, the robot is provided with an IMU module, angle information can be obtained, mileage information of the robot can be obtained through the IMU encoder, and positioning information of the robot is obtained according to the mileage information. However, due to the problem of error accumulation of the IMU encoder, the positioning information is not very accurate, and the previous mapping and positioning processes are affected.
Therefore, a method for determining pose information of a robot is urgently needed, and the problem of inaccurate positioning caused by sensor errors can be solved.
Disclosure of Invention
The embodiment of the invention provides a method, a device and equipment for determining pose information of a robot and a storage medium, which are used for avoiding the problem of inaccurate positioning caused by sensor errors.
In a first aspect, an embodiment of the present invention provides a method for determining pose information of a robot, including:
moving according to a preset track in the process of drawing construction, and determining the observed values of the position information of the robot at different moments; wherein the observation is acquired by a sensor built in the robot;
adjusting a total error value of the preset track according to the observed value of the position information of the robot at different moments and the actual value of the corresponding position information, wherein the actual value corresponds to the preset track;
and determining the pose information of the robot at different moments according to the total error value.
Optionally, the adjusting the total error value of the preset trajectory includes:
the difference value between the observed value and the corresponding real value is used as an error item, the error items at different moments on the preset track are corrected through a preset algorithm rule, and the sum of the corrected error items on the preset track is used as the total error value;
and respectively adjusting the observed values according to the total error value, and obtaining pose information of the robot at different moments by adjusting the observed values.
Optionally, the map of the preset trajectory is divided into grids, the side length of each grid is a predetermined value, and the error term of the starting position or the ending position of the preset trajectory is within the range of the predetermined value.
Optionally, if at least one overlapped position exists in the preset track, the position error range of each overlapped position is within the range of the predetermined value.
Optionally, the correcting the error items at different times on the preset track by using a predetermined algorithm rule, and taking a sum of corrected error items on the preset track as a total error value includes:
the predetermined algorithm rule is that a correction variable is obtained by estimating the whole trend change of the error items, and the total error value closest to a preset error value is obtained after the variable is adjusted for all the error items.
Optionally, the total error value is calculated according to the following formula:
F(X)＝min||ek||＝min||Zk-(Xk+Δ)||＝(Zk-(Xk+Δ))T·(Zk-(Xk+Δ))；
f (X) is the total error value of the robot position information, k is different time, ekIs an error term at time k, XkIs the true value of the corresponding position information of the robot at different moments, delta is the correcting variable, ZkIs the observed value.
Optionally, the determining pose information of the robot at different times according to the total error value includes:
determining error values of the pose information of the robot at different moments according to the total error value and the number of the pose information of the robot at different moments;
and determining the pose information of the robot at different moments according to the error value.
Optionally, after determining pose information of the robot at different times according to the total error value, the method further includes:
after the image building process is completed, acquiring pose information of the robot at the current position according to the observed value of the sensor in the motion process;
and outputting the pose information of the current position of the robot.
In a second aspect, an embodiment of the present invention further provides a robot pose information determining apparatus, including:
the observation value determining module is used for moving according to a preset track in the process of drawing construction and determining the observation values of the position information of the robot at different moments; wherein the observation is acquired by a sensor built in the robot;
the total error value adjusting module is used for adjusting the total error value of the preset track according to the observed value of the position information of the robot at different moments and the actual value of the corresponding position information, wherein the actual value corresponds to the preset track;
and the pose information determining module is used for determining pose information of the robot at different moments according to the total error value.
In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the robot pose information determination method according to any one of the embodiments of the present invention.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the robot pose information determining method according to any one of the embodiments of the present invention.
According to the embodiment of the invention, the observation values of the position information of the robot at different moments are determined by moving according to the preset track in the process of establishing the image; wherein the observation is acquired by a sensor built in the robot; adjusting a total error value of the preset track according to the observed value of the position information of the robot at different moments and the actual value of the corresponding position information, wherein the actual value corresponds to the preset track;
and determining the pose information of the robot at different moments according to the total error value. By adopting the technical means, the problem of inaccurate positioning caused by sensor errors can be avoided.
Drawings
Fig. 1 is a schematic flowchart of a method for determining pose information of a robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a robot pose information determining apparatus provided in the second embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example one
Fig. 1 is a schematic flowchart of a method for determining pose information of a robot according to an embodiment of the present invention, where the embodiment is applicable to a situation where a robot determines position information of the robot during a moving process, and the method may be implemented by a robot pose information determining apparatus, which may be implemented in software and/or hardware, and may be integrated in an electronic device. The method specifically comprises the following steps:
s110, moving according to a preset track in the process of drawing construction, and determining the observed values of the position information of the robot at different moments; wherein the observation is acquired by a sensor built in the robot.
In this embodiment, optionally, the sensor may be an image acquisition unit, and is configured to acquire an image of a positioning tag, further perform image processing, acquire position information of a corresponding tag, and acquire an observation value of the robot according to a position coordinate and relative position information of the tag.
In this embodiment, the preset trajectory is a path planned in advance for the robot in the process of creating the map, and in the process of moving the robot according to the preset trajectory, the position information at the current moment can be acquired from different positions by a sensor built in the robot, and since there is an error in the position information measured by the sensor, the observed value of the acquired position information may be inaccurate.
In this embodiment, optionally, the map of the preset trajectory is divided into grids, a side length of each grid is a predetermined value, and an error term of a start position or an end position of the preset trajectory is within a range of the predetermined value.
Wherein the predetermined value may be 0.02 meters. In order to ensure that the initial position of the robot is accurate, the error range of the initial position of the preset track is within a preset value, and in addition, in order to ensure the accuracy of the delivery arrival point of the robot, the error range of the end position is also within a preset value. In this embodiment, the total error value is adjusted accordingly by increasing the error constraint conditions of the start position and the end position.
In this embodiment, the predetermined trajectory is generally constructed by different grids, and optionally, the predetermined trajectory is in a closed-loop state.
Optionally, if at least one overlapped position exists in the preset track, the position error range of each overlapped position is within the range of the predetermined value.
In this embodiment, if the preset trajectory does not have only one closed loop, the position error range of each overlapped position in the preset trajectory is within a predetermined value range. Wherein the predetermined value may be 0.02 meters.
S120, adjusting a total error value of the preset track according to the observed value of the position information of the robot at different moments and the real value of the corresponding position information, wherein the real value corresponds to the preset track.
In this embodiment, the true value of the corresponding position information is coordinate information of the robot map, the true value corresponds to the preset trajectory, and the position information may be obtained in advance according to the preset trajectory planned in advance. Specifically, the adjusting the total error value of the preset trajectory includes: the difference value between the observed value and the corresponding real value is used as an error item, the error items at different moments on the preset track are corrected through a preset algorithm rule, and the sum of the corrected error items on the preset track is used as the total error value;
and respectively adjusting the observed values according to the total error value, and obtaining pose information of the robot at different moments by adjusting the observed values.
Optionally, the correcting the error items at different times on the preset track by using a predetermined algorithm rule, and taking a sum of corrected error items on the preset track as a total error value includes:
the predetermined algorithm rule is that a correction variable is obtained by estimating the whole trend change of the error items, and the total error value closest to a preset error value is obtained after the variable is adjusted for all the error items.
Specifically, a total error value of the robot position information is calculated according to the following formula:
F(X)＝min||ek||＝min||Zk-(Xk+Δ)||＝(Zk-(Xk+Δ))T·(Zk-(Xk+Δ))；
f (X) is the total error value of the robot position information, k is different time, ekIs an error term at time k, XkIs the true value of the corresponding position information of the robot at different moments, delta is the correcting variable, ZkIs the observed value.
And S130, determining the pose information of the robot at different moments according to the total error value.
In this embodiment, in the process of calculating f (x), the starting point position of the preset track is set as xkAnd an increment deltax is set at that position, the estimated value becomes Fk(xk+ Δ x) and an error value from ek(xk) Become into
Figure BDA0002868627070000071
Wherein Jk is ekWith respect to xkThe derivative of (c), in matrix form, is a jacobian matrix. Further, making a linear assumption around the estimation point, the set function value can be approximated with a first derivative, and therefore, a further expansion is performed for the kth objective function term:
Fk(xk+Δx)＝ek(xk+Δx)Tek(xk+Δx)
≈(ek+JkΔx)T(ek+JΔx)
＝ekTek+2ekTJkΔx+ΔxTJkTJkΔx
＝Ck+2bkΔx+ΔxTHkΔx；
wherein Ck is a constant term independent of Δ x, the first order coefficient is written as 2bk, the second order coefficient is written as Hk, and a Hessian matrix. So at xkAfter the increment occurs, the objective function FkThe value of the term change is: Δ Fk＝2bkΔx+ΔxTHkΔ x, to minimize the increment, let the derivative value be zero, and get HkΔx＝-bk，
And removing the subscript k to obtain H delta x-b, iterating the formula by a Gauss-Newton iteration algorithm after obtaining the result, and determining the pose information of the robot at different moments after returning to the integral optimization.
Optionally, the determining pose information of the robot at different times according to the total error value includes:
determining error values of the pose information of the robot at different moments according to the total error value and the number of the pose information of the robot at different moments;
and determining the pose information of the robot at different moments according to the error value.
In this embodiment, the total error value and the number of pose information of the robot at different times are determined, then an error value of each pose information is obtained by calculation, and then the error values are calibrated to determine the final pose information of the robot.
Optionally, after determining pose information of the robot at different times according to the total error value, the method further includes:
after the image building process is completed, acquiring pose information of the robot at the current position according to the observed value of the sensor in the motion process;
and outputting the pose information of the current position of the robot.
In the embodiment, in the moving process of the robot, the pose information of the robot after being calibrated at present can be determined according to the position of the tag through the sensor built in the robot, and the pose information is output, so that the pose information output by the robot is accurate.
According to the embodiment of the invention, the observation values of the position information of the robot at different moments are determined by moving according to the preset track in the process of establishing the image; wherein the observation is acquired by a sensor built in the robot; adjusting a total error value of the preset track according to the observed value of the position information of the robot at different moments and the actual value of the corresponding position information, wherein the actual value corresponds to the preset track;
and determining the pose information of the robot at different moments according to the total error value. By adopting the technical means, the problem of inaccurate positioning caused by sensor errors can be avoided.
Example two
Fig. 2 is a schematic structural diagram of a robot pose information determining apparatus provided in the second embodiment of the present invention. The robot pose information determining device provided by the embodiment of the invention can execute the robot pose information determining method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the executing method. As shown in fig. 2, the apparatus includes:
the observation value determining module 210 is configured to move according to a preset track in the process of establishing an image, and determine observation values of position information of the robot at different times; wherein the observation is obtained from a tag location by a sensor built into the robot;
a total error value adjusting module 220, configured to adjust a total error value of the preset trajectory according to an observed value of position information of the robot at different times and a true value of corresponding position information, where the true value corresponds to the preset trajectory;
and a pose information determining module 230, configured to determine pose information of the robot at different times according to the total error value.
Optionally, the total error value adjusting module 220 is configured to correct, by using a predetermined algorithm rule, error items at different times on the preset trajectory by using a difference between the observed value and the corresponding true value as an error item, where a sum of corrected error items on the preset trajectory is used as the total error value;
and respectively adjusting the observed values according to the total error value, and obtaining pose information of the robot at different moments by adjusting the observed values.
Optionally, the map of the preset trajectory is divided into grids, the side length of each grid is a predetermined value, and the error term of the starting position or the ending position of the preset trajectory is within the range of the predetermined value.
Optionally, if at least one overlapped position exists in the preset track, the position error range of each overlapped position is within the range of the predetermined value.
Optionally, the correcting the error items at different times on the preset track by using a predetermined algorithm rule, and taking a sum of corrected error items on the preset track as a total error value includes:
the predetermined algorithm rule is that a correction variable is obtained by estimating the whole trend change of the error items, and the total error value closest to a preset error value is obtained after the variable is adjusted for all the error items.
Optionally, the total error value is calculated according to the following formula:
F(X)＝min||ek||＝min||Zk-(Xk+Δ)||＝(Zk-(Xk+Δ))T·(Zk-(Xk+Δ))；
f (X) is the total error value of the robot position information, k is different time, ekIs an error term at time k, XkIs the true value of the corresponding position information of the robot at different moments, delta is the correcting variable, ZkIs the observed value.
A pose information determining module 230, configured to determine error values of the pose information of the robot at different times according to the total error value and the number of pose information of the robot at different times;
and determining the pose information of the robot at different moments according to the error value.
The device further comprises:
the pose information output module is used for acquiring pose information of the robot at the current position according to the observed value of the sensor in the motion process after the image establishing process is finished; and outputting the pose information of the current position of the robot.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the above-described apparatus may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
EXAMPLE III
Fig. 3 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention, and fig. 3 is a schematic structural diagram of an exemplary device suitable for implementing the embodiment of the present invention. The device 12 shown in fig. 3 is only an example and should not bring any limitations to the functionality and scope of use of the embodiments of the present invention.
As shown in FIG. 3, device 12 is in the form of a general purpose computing device. The components of device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 3, and commonly referred to as a "hard drive"). Although not shown in FIG. 3, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of embodiments described herein.
Device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with device 12, and/or with any devices (e.g., network card, modem, etc.) that enable device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, the device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via the network adapter 20. As shown in FIG. 3, the network adapter 20 communicates with the other modules of the device 12 via the bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 16 executes various functional applications and data processing by executing programs stored in the system memory 28, and for example, implements a robot pose information determination method provided by an embodiment of the present invention, including:
moving according to a preset track in the process of drawing construction, and determining the observed values of the position information of the robot at different moments; wherein the observation is acquired by a sensor built in the robot;
adjusting a total error value of the preset track according to the observed value of the position information of the robot at different moments and the actual value of the corresponding position information, wherein the actual value corresponds to the preset track;
and determining the pose information of the robot at different moments according to the total error value.
Example four
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program (or referred to as a computer-executable instruction) is stored, and when the program is executed by a processor, the method for determining pose information of a robot according to any of the above embodiments may be implemented, where the method includes:
moving according to a preset track in the process of drawing construction, and determining the observed values of the position information of the robot at different moments; wherein the observation is acquired by a sensor built in the robot;
adjusting a total error value of the preset track according to the observed value of the position information of the robot at different moments and the actual value of the corresponding position information, wherein the actual value corresponds to the preset track;
and determining the pose information of the robot at different moments according to the total error value.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (9)

1. A robot pose information determination method is characterized by comprising the following steps:
moving according to a preset track in the process of drawing construction, and determining the observed values of the position information of the robot at different moments; wherein the observation is acquired by a sensor built in the robot;
adjusting a total error value of the preset track according to the observed value of the position information of the robot at different moments and the actual value of the corresponding position information, wherein the actual value corresponds to the preset track;
determining pose information of the robot at different moments according to the total error value;
the total error value includes:
correcting error items at different moments on the preset track through a preset algorithm rule, taking a difference value between the observed value and the corresponding true value as an error item, and taking the sum of the corrected error items on the preset track as the total error value;
the determining pose information of the robot at different moments comprises:
determining the pose information of the robot at different moments according to the total error value and the number of the pose information of the robot at different moments;
the predetermined algorithm rule is that a correction variable is obtained by estimating the whole trend change of the error items, and the total error value closest to a preset error value is obtained after the variable is adjusted for all the error items.
2. The method of claim 1, wherein the observations are adjusted separately based on the total error value, and pose information for the robot at different times for adjusting the observations is obtained.
3. The method according to claim 1, wherein the map of the preset trajectory is divided into grids, a side length of the grids is a predetermined value, and an error term of a start point position or an end point position of the preset trajectory is within a range of the predetermined value.
4. The method according to claim 3, wherein if there is at least one coincident position in the preset trajectory, the position error range of each of the coincident positions is within the predetermined value range.
5. The method of claim 4, wherein the total error value is calculated according to the following formula:
F(X)＝min||ek||＝min||Zk-(Xk+Δ)||＝(Zk-(Xk+Δ))T·(Zk-(Xk+Δ))；
f (X) is the total error value of the robot position information, k is different time, ekIs an error term at time k, XkIs the true value of the corresponding position information of the robot at different moments, delta is the correcting variable, ZkIs the observed value.
6. The method of claim 1, wherein after determining pose information of the robot at different times based on the total error value, further comprising:
after the image building process is completed, acquiring pose information of the robot at the current position according to the observed value of the sensor in the motion process;
and outputting the pose information of the current position of the robot.
7. A robot pose information determination apparatus, characterized by comprising:
the observation value determining module is used for moving according to a preset track in the process of drawing construction and determining the observation values of the position information of the robot at different moments; wherein the observation is acquired by a sensor built in the robot;
the total error value adjusting module is used for adjusting the total error value of the preset track according to the observed value of the position information of the robot at different moments and the actual value of the corresponding position information, wherein the actual value corresponds to the preset track;
the pose information determining module is used for determining pose information of the robot at different moments according to the total error value;
specifically, the total error value adjusting module is configured to correct, by using a predetermined algorithm rule, error items at different times on the preset trajectory by using a difference between the observed value and the corresponding true value as an error item, and use a sum of corrected error items on the preset trajectory as the total error value;
specifically, the pose information determining module is configured to determine error values of the pose information of the robot at different times according to the total error value and the number of pose information of the robot at different times;
determining pose information of the robot at different moments according to the error value;
the predetermined algorithm rule is that a correction variable is obtained by estimating the whole trend change of the error items, and the total error value closest to a preset error value is obtained after the variable is adjusted for all the error items.
8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the robot pose information determination method according to any one of claims 1 to 6 when executing the program.
9. A computer-readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing the robot pose information determination method according to any one of claims 1 to 6.
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