Pose determining method for mobile robot and apparatus and mobile robot thereof

A pose determining apparatus for a mobile robot having one or more sensors, comprising:

• a local map building module configured to obtain environment data of a current environment of the mobile robot through the one or more sensors, and build local maps corresponding to the current environment based on the environment data;
• a first position obtaining module configured to rotate the local maps according to a first preset angular interval, and obtain a first position of the mobile robot in each of the local maps;
• a relative position obtaining module configured to determine first environmental contour points of each of the local maps and a first gradient direction corresponding to each of the first environmental contour points, and obtain a relative position of each of the first environmental contour points and the corresponding first position in each of the local maps;
• an angle histogram building module configured to build an angle histogram in each of the local maps corresponding to the relative position based on a second present angular interval anal the first gradient direction of each of the local maps;
• a second gradient direction determining module configured to determine a second position corresponding to second environmental contour points of a pre-built global map in the mobile robot and a second gradient direction of each of the second environmental contour points;
• and
• a target pose determining module configured to predict a third position its the global map of the mobile robot in each of the local maps based on the second gradient direction, the second position, and the angle histogram in each of the local maps, count an appearance amount of the third positions, and determine a target pose of the mobile robot in the global map based on the appearance amount.

A mobile robot, comprising:

• one or more sensors;
• a memory;
• a processor;
• and
• one or more computer programs stored in the memory and executable on the processor, wherein the one or more computer programs comprise:
• instructions for obtaining environment data of a current environment of the mobile robot through the one or more sensors, and building an initial local map corresponding to the current environment based on the environment data;
• instructions for rotating the initial local map according to a first preset angular interval to obtain rotated local maps, and obtaining a first position of the mobile robot in each of the rotated local maps;
• instructions for determining first environmental contour points of each of the rotated local maps and a first gradient direction corresponding to each of the first environmental contour points, and obtaining a relative position of each of the first environmental contour points and the corresponding first position in each of the rotated local maps;
• instructions for building an angle histogram in each of the rotated local maps corresponding to the relative position based on a second preset angular interval and the first gradient direction of each of the rotated local maps;
• instructions for determining a second position corresponding to second environmental contour points of a pre-built global map and a second gradient direction of each of the second environmental contour points;
• and
• instructions for predicting a third position in the global map of the mobile robot in each of the rotated local maps based on the second gradient direction, the second position, and the angle histogram in each of the rotated local maps, counting an appearance amount of the third positions, and determining a target pose of the mobile robot in the global map based on the appearance amount.