A mobile robot, a sensor calibration method, and a computer-readable storage medium

Abstract

The invention provides a mobile robot, a sensor calibration method, and a computer-readable storage medium. The mobile robot includes: a machine body, a drive module, a sensor, and a moving line segment record storage module, which records the information of the moving line segment of the mobile robot, and obtains the distance of the straight line segment. The module is connected with the moving line segment record storage module, and extracts the distance of the straight line segment that currently ends the straight line movement in the information of the moving line segment; the processing module is connected with the straight line segment distance acquisition module and the sensor, and calculates the preset record point on the straight line segment The mean value and mean value floating value of the value on the sensor within the range; the dynamic calibration module of the sensor is connected with the processing module, and when the fluctuation range of the value on the sensor within the preset recording point range on the straight line segment is not greater than the mean value floating value, the mean value is used as The dynamic calibration value of the sensor. The invention can realize dynamic and stable calibration of the sensor according to the actual detection value of the sensor.

Description

technical field [0001] The invention relates to the technical field of sensor calibration, in particular to a mobile robot, a sensor calibration method and a computer-readable storage medium. Background technique [0002] With the popularization of the concept of smart home, mobile robots (commonly known as sweeping robots) for automatic cleaning have gradually entered people's lives. In the related art, when the sweeping robot identifies obstacles, it compares the sensor value of the infrared sensor with the calibration value set at the factory, and determines whether it encounters an obstacle according to the comparison result. For example, when the sensor value gradually increases and exceeds the calibration value, it is determined that there is an obstacle ahead. [0003] However, in practical applications, the sensor is easily affected by ambient light, which causes differences in the sensor value compared with the sensor value not affected by ambient light, and compar...

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Problems solved by technology

[0003] However, in practical applications, the sensor is easily affected by ambient light, which causes differences in the sensor value compared with the sensor value not affected by ambient light, and comparing the sensor value affected by ambient light with the calibration value will easily cause Misjudgment leads to the situation that the front is not an obstacle but mistakenly thinks that the obstacle slows down ahead of time or the front is an obstacle but mistakenly thinks that it is not an obstacle and collides with the obstacle, which reduces the user experience of the sweeping robot

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