The embodiment of the invention provides a high-altitude robot, a positioning method, equipment and a medium. The positioning method comprises the following steps: acquiring multi-frame first point cloud data of an environment through a laser radar; determining target frame point cloud data from multiple frames of first point cloud data according to the feature number of the first point cloud data, and obtaining a first coordinate value of a positioning point of the target frame point cloud data; controlling the laser radar to move according to the first coordinate value, enabling the optical center axis of the laser radar to point to the positioning point, and obtaining second point cloud data; determining target position information according to the predicted pose information of the high-altitude robot and the second point cloud data; the target frame point cloud data of the feature number is tracked, and the target frame point cloud data is used for positioning, so that the positioning accuracy is improved.

    本申请实施例提供了高空机器人、定位方法、设备及介质,其中定位方法包括通过激光雷达获取环境的多帧第一点云数据;根据第一点云数据的特征数量从多帧第一点云数据中确定目标帧点云数据,并获取目标帧点云数据的定位点的第一坐标值;根据第一坐标值控制激光雷达运动,使激光雷达的光学中心轴指向定位点,并获取第二点云数据;根据高空机器人的预测位姿信息和第二点云数据,确定目标位置信息;通过跟踪特征数量的目标帧点云数据,并利用目标帧点云数据进行定位,提高定位准确性。


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    Title :

    High-altitude robot, positioning method, equipment and medium


    Additional title:

    高空机器人、定位方法、设备及介质


    Contributors:
    JIANG XIN (author) / LU HAN (author) / WU SUNWEI (author) / LIU YUNHUI (author)

    Publication date :

    2023-03-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last




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