Calibration method and device of mobile equipment, equipment and storage medium

Abstract

The invention relates to a calibration method and device of mobile equipment, equipment and a storage medium, and belongs to the technical field of automatic guide trolleys, the orientation of a radar is parallel to the moving direction of the mobile equipment, and the method comprises the following steps: controlling the mobile equipment to move to a first set position; detecting a first identifier around the first set position through a radar to obtain radar calibration data; obtaining a conversion relation between a radar coordinate system of the mobile equipment and a vehicle body coordinate system of the mobile equipment according to the radar calibration data; wherein the conversion relation is used for the mobile device to convert the first position, output by the radar, in the radar coordinate system into the second position in the vehicle body coordinate system.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the technical field of automatic guided vehicles, and more specifically, to a calibration method, apparatus, device and storage medium for a mobile device. Background Art

[0002] With the intelligent development of Automated Guided Vehicle (AGV), AGV can be used as the main logistics transportation tool to speed up the efficiency of material transportation. At present, the existing AGV needs to manually measure the distance between the AGV and the reference object before it is put into use, and combine the distance feedback from the radar to realize the radar calibration of the AGV, but the manual measurement efficiency is low. Summary of the invention

[0003] One purpose of the embodiments of the present disclosure is to provide a new technical solution for calibration of mobile devices.

[0004] According to a first aspect of the present disclosure, a calibration method for a mobile device is provided, wherein the mobile device is configured with a radar, and the orientation of the radar is parallel to the moving direction of the mobile device, and the method comprises:

[0005] Controlling the mobile device to move to a first set position;

[0006] Detecting, by the radar, a first marker around the first set position to obtain radar calibration data;

[0007] According to the radar calibration data, a conversion relationship between the radar coordinate system of the mobile device and the body coordinate system of the mobile device is obtained; wherein the conversion relationship is used by the mobile device to convert the radar output at a first position in the radar coordinate system into a second position in the body coordinate system.

[0008] Optionally, the radar includes a first radar facing the same direction as the forward direction of the mobile device and a second radar facing the same direction as the backward direction of the mobile device;

[0009] The step of detecting, by the radar, a first marker around the first set position to obtain radar calibration data includes:

[0010] Detecting, by means of a first radar configured on the mobile device, a first marker at a first set position and located in front of the mobile device, and obtaining first position information about the first set position relative to the mobile device;

[0011] Detecting, by a second radar configured on the mobile device, a first marker at a first set position and located behind the mobile device, and obtaining second position information about the first set position relative to the mobile device;

[0012] The first position information and the second position information are respectively compared with the set standard position information to obtain comparison results, which are used as radar calibration data.

[0013] Optionally, the first mark is a reflective mark, and a geometric center of the reflective mark around the first set position is related to the first set position.

[0014] Optionally, there are four reflective marks, the relative distances between the four reflective marks and the first set position are the same, and the number of the first marks located in front of the mobile device and the number of the first marks located behind the mobile device are both two.

[0015] Optionally, the first set position coincides with a vertical center and a diagonal center, wherein the vertical center is the intersection of vertical lines connecting the geometric centers of adjacent reflective markings, and the diagonal center is the intersection of lines connecting the geometric centers of relative reflective markings.

[0016] Optionally, the mobile device is equipped with a camera, and the camera is oriented perpendicular to the moving direction of the mobile device; before detecting the first marker around the first set position by the radar and obtaining the radar calibration data, the method further includes:

[0017] Detecting, by the camera, a second mark in a vertical direction of the first set position to obtain mark information;

[0018] Determining, according to the identification information, that the moving direction of the mobile device corresponds to the first direction of the second identification;

[0019] When the first direction is different from a set direction, the mobile device is controlled to rotate to a set angle according to a deviation angle corresponding to the first direction and the set direction; wherein the deviation angle is related to the set angle.

[0020] According to a second aspect of the present disclosure, a calibration device for a mobile device is also provided, including:

[0021] A mobile control module, used for controlling the mobile device to move to a first set position;

[0022] A data obtaining module, used for detecting a first marker around the first set position by the radar to obtain radar calibration data;

[0023] A relationship obtaining module is used to obtain the conversion relationship between the radar coordinate system of the mobile device and the body coordinate system of the mobile device according to the radar calibration data; wherein the conversion relationship is used by the mobile device to convert the first position of the radar output in the radar coordinate system into the second position in the body coordinate system.

[0024] According to a third aspect of the present disclosure, an electronic device is also provided, including a processor, wherein the processor is connected to a memory, and the memory is used to store a computer program; the processor is used to execute the computer program to implement the method described in the first aspect of the present disclosure.

[0025] According to a fourth aspect of the present disclosure, a mobile device is further provided, comprising the mobile device as described in the second aspect or the electronic device as described in the third aspect.

[0026] According to a fifth aspect of the present disclosure, a computer storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the method according to the first aspect of the present disclosure is implemented.

[0027] One beneficial effect of the embodiments of the present disclosure is that the calibration method of the mobile device provided by the present invention can obtain radar calibration data by detecting the first identifier through radar, and obtain the conversion relationship between the radar coordinate system and the vehicle body coordinate system according to the radar calibration data, so as to realize the calibration of the radar coordinate system and the vehicle body coordinate system, and effectively improve the accuracy and efficiency of the calibration.

[0028] Other features and advantages of the embodiments of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the embodiments of the present disclosure.

[0030] Figure 1 is a flow chart of a calibration method for a mobile device according to an embodiment;

[0031] Figure 2 is a schematic diagram of a ground marker according to one embodiment;

[0032] Figure 3 is a block diagram of a calibration device for a mobile device according to an embodiment;

[0033] Figure 4 is a schematic diagram of the hardware structure of an electronic device according to an embodiment. DETAILED DESCRIPTION

[0034] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0035] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0036] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0037] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0038] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0039] <Method Example>

[0040] Figure 1 The present invention is a flow chart of a method for calibrating a mobile device according to an embodiment. The implementation subject is, for example, a mobile device, such as an automated guided vehicle (AGV), and the mobile device is equipped with a radar, and the direction of the radar is parallel to the moving direction of the mobile device.

[0041] like Figure 1 As shown, the calibration method of the mobile device of this embodiment may include the following steps S110 to S130:

[0042] Step S110, controlling the mobile device to move to a first set position.

[0043] In some examples, such as Figure 2 As shown, the first set position is point A, and the mobile device can scan the ground mark at point A through the configured downward-looking camera. The ground mark can be a QR code or a pattern, etc., which is not limited here. The ground mark can indicate the direction. When the mobile device moves to point A, the mobile device can determine whether the front of the mobile device is facing the X direction according to the ground mark, and control the mobile device to turn so that the forward direction of the mobile device is parallel to the X direction.

[0044] Step S120: Detect a first marker around a first set position by radar to obtain radar calibration data.

[0045] In some examples, such as Figure 2 As shown, the first markers are, for example, four markers B. Since the markers B are all reflective markers, the point cloud intensity of the area where the markers B are located in the point cloud image output by the radar is higher than that of other areas.

[0046] In the present application, the radar calibration data may be a comparison result of the relative distance between the mobile device and the first identifier obtained by radar observation of the first identifier and a set standard distance. The comparison result may be the distance difference between the relative distance and the standard distance, and the distance difference may include a distance component in the X direction and a distance component in the Y direction. The mobile device may obtain a conversion relationship between the radar coordinate system and the vehicle body coordinate system based on the two distance components. Obtaining the conversion relationship based on the two distance components is a prior art and will not be elaborated on herein.

[0047] In some embodiments, the radar includes a first radar facing the same direction as the mobile device is moving forward and a second radar facing the same direction as the mobile device is moving backward. Step S120 may include the following steps S1201 and S1203:

[0048] Step S1201: Detect a first marker at a first set position and located in front of the mobile device through a first radar configured on the mobile device to obtain first position information about the first set position relative to the mobile device.

[0049] In some examples, such as Figure 2 As shown, the first radar C1 and the second radar C2 can be arranged on the diagonal line of the mobile device, and when the front of the mobile device faces the X direction, the first radar C1 faces the X direction, and the second radar C2 faces the Y direction.

[0050] In the present application, the current center position of the mobile device, i.e., the first set position, is the origin position of the radar coordinate system. The first radar can scan the first marker in front of the mobile device, and then determine the coordinates of the geometric center of the first marker in the radar coordinate system as the first position information.

[0051] Step S1202: Detect a first marker at a first set position and located behind the mobile device through a second radar configured on the mobile device to obtain second position information about the first set position relative to the mobile device.

[0052] In the present application, the current center position of the mobile device, i.e., the first set position, is the origin position of the radar coordinate system. The first radar can scan the first marker behind the mobile device, and then determine the coordinates of the geometric center of the first marker in the radar coordinate system as the second position information.

[0053] Step S1203, comparing the first position information and the second position information with the set standard position information respectively, obtaining comparison results, and using them as radar calibration data.

[0054] In some examples, the current center position of the mobile device, that is, the first set position, is the origin position of the vehicle coordinate system, and the standard position information is, for example, the coordinates of the geometric center of the preset first identifier in the vehicle coordinate system, such as Figure 2 The four markers B are (1, 1), (-1, 1), (1, -1) and (-1, -1). The first position information is, for example, (1.1, 1) and (1.1, -1). The second position information is, for example, (-1.1, 1) and (-1.1, -1). The comparison result is the X component of the first camera + 0.1 and the X component of the second camera + 0.1, which are used as radar calibration data.

[0055] In other words, when the mobile device is configured with the first radar C1 and the second radar C2, the radar coordinate system is calibrated by the first identifier, which effectively improves the accuracy and efficiency of the calibration.

[0056] In some embodiments, the first mark is a reflective mark, and the geometric center of the reflective mark around the first set position is related to the first set position.

[0057] By setting reflective markings, the radar of the mobile device can quickly identify the object with higher accuracy, thereby improving the accuracy of radar calibration of the mobile device.

[0058] In some embodiments, there are four reflective marks, the relative distances between the four reflective marks and the first set position are the same, and the number of the first marks located in front of the mobile device and the number of the first marks located behind the mobile device are both two.

[0059] In this application, if Figure 2 As shown, the coordinates of the first set position are (0, 0), and the coordinates of the four markers B are (1, 1), (-1, 1), (1, -1) and (-1, -1), that is, the relative distances between the first set position and the four markers B are the same.

[0060] In other words, by setting the relative distance between the four reflective marks and the first set position to be the same, the first position information and the second position information can be compared with the set standard position information respectively, thereby effectively improving the efficiency of radar calibration.

[0061] In some embodiments, the first set position coincides with a vertical center and a diagonal center, wherein the vertical center is the intersection of perpendicular lines connecting geometric centers of adjacent reflective markings, and the diagonal center is the intersection of lines connecting geometric centers of opposite reflective markings.

[0062] In this application, if Figure 2 As shown, the L1 line is a vertical line connecting the geometric center points of adjacent markers B, and the vertical center is the intersection of the four L1 lines. The L2 line is a diagonal line of marker B, and the center of the diagonal line is the intersection of the four L2 lines. By aligning the first set position with the vertical center and the diagonal center, it is further convenient to compare the first position information and the second position information with the set standard position information, respectively, and effectively improve the efficiency of radar calibration.

[0063] In some embodiments, the mobile device is equipped with a camera, and the camera is oriented perpendicular to the moving direction of the mobile device. Before step S120, the method further includes the following steps S210 to S230:

[0064] Step S210: Detecting a second mark in a vertical direction of the first set position by a camera to obtain mark information.

[0065] In this application, the second identifier may be a QR code identifier, such as Figure 2 As shown, the mark A is a two-dimensional code mark, and the mark information of the two-dimensional code can be that the a1 side of the mark A corresponds to the positive X direction, and the a3 side of the mark A corresponds to the negative X direction.

[0066] Step S220: Determine, based on the identification information, that the moving direction of the mobile device corresponds to the first direction of the second identification.

[0067] In the present application, the camera may be a downward-looking camera, which detects a second mark on the ground at a first set position and obtains a positional relationship of the mark relative to the mobile device, for example, Figure 2 As shown, when the forward direction of the mobile device corresponds to the a1 side of the marker A, then the forward direction of the mobile device corresponds to the positive direction of X.

[0068] Step S230, when the first direction is different from the set direction, control the mobile device to rotate to a set angle according to the deviation angle corresponding to the first direction and the set direction; wherein the deviation angle is related to the set angle.

[0069] In some examples, the set direction may be the positive X direction. When the first direction is the negative X direction, the deviation angle is 180°, and the mobile device is controlled to rotate 180° so that the forward direction of the mobile device is the positive X direction.

[0070] In other words, before the mobile device performs radar calibration, the forward direction of the mobile device is adjusted to be consistent with the set direction, so that the subsequent first position information and the second position information are compared with the set standard position information, respectively, thereby effectively improving the efficiency of radar calibration.

[0071] Step S130, obtaining a conversion relationship between the radar coordinate system of the mobile device and the body coordinate system of the mobile device based on the radar calibration data; wherein the conversion relationship is used by the mobile device to convert a first position of the radar output in the radar coordinate system into a second position in the body coordinate system.

[0072] In other words, the radar calibration data is obtained by detecting the first marker through the radar, and the conversion relationship between the radar coordinate system and the vehicle coordinate system is obtained according to the radar calibration data, so as to realize the calibration of the radar coordinate system and the vehicle coordinate system, and effectively improve the accuracy and efficiency of the calibration.

[0073] <Equipment Example 1>

[0074] Figure 3 FIG. 1 is a block diagram of a calibration device for a mobile device according to an embodiment. Figure 3 As shown, the calibration device 400 of the mobile device may include:

[0075] The mobile control module 410 is used to control the mobile device to move to a first set position;

[0076] The data obtaining module 420 is used to detect a first mark around a first set position by using a radar to obtain radar calibration data;

[0077] The relationship obtaining module 430 is used to obtain the conversion relationship between the radar coordinate system of the mobile device and the body coordinate system of the mobile device according to the radar calibration data; wherein the conversion relationship is used by the mobile device to convert the first position of the radar output in the radar coordinate system into the second position in the body coordinate system.

[0078] Optionally, the data acquisition module 420 is also used to detect a first marker at a first set position and located in front of the mobile device through a first radar configured on the mobile device, and obtain first position information about the first set position relative to the mobile device; detect a first marker at a first set position and located behind the mobile device through a second radar configured on the mobile device, and obtain second position information about the first set position relative to the mobile device; and compare the first position information and the second position information with the set standard position information respectively to obtain a comparison result, and use it as radar calibration data.

[0079] Optionally, the calibration device 400 of the mobile device also includes a rotation control module, which is used to detect a second marker in a vertical direction of a first set position through a camera to obtain marker information; determine, based on the marker information, that the forward direction of the mobile device corresponds to the first direction of the second marker; when the first direction is different from the set direction, control the mobile device to rotate to a set angle based on a deviation angle corresponding to the first direction and the set direction; wherein the deviation angle is related to the set angle.

[0080] The mobile device calibration device 400 may be a mobile device.

[0081] <Equipment Example 2>

[0082] Figure 4 is a schematic diagram of the hardware structure of an electronic device according to an embodiment.

[0083] like Figure 4 As shown, the electronic device 500 includes a processor 510 and a memory 520, wherein the memory 520 is used to store an executable computer program, and the processor 510 is used to execute a method such as any of the above method embodiments under the control of the computer program.

[0084] The electronic device 500 may be a mobile device.

[0085] Each module of the above-mentioned calibration device 400 for a mobile device may be implemented by the processor 510 in this embodiment executing a computer program stored in the memory 520, or may be implemented by other structures, which is not limited here.

[0086] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0087] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0088] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0089] The computer program instructions for performing the operation of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present invention.

[0090] Various aspects of the present invention are described herein with reference to the flow charts and / or block diagrams of the methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each box of the flow chart and / or block diagram and the combination of each box in the flow chart and / or block diagram can be implemented by computer-readable program instructions.

[0091] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0092] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0093] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a part of a module, a program segment or an instruction, and a part of the module, a program segment or an instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0094] Embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A method for calibrating a mobile device, characterized in that: The mobile device is equipped with a radar, the direction of the radar is parallel to the moving direction of the mobile device, and the method includes: Controlling the mobile device to move to a first set position; Detecting, by the radar, a first marker around the first set position to obtain radar calibration data; According to the radar calibration data, a conversion relationship between the radar coordinate system of the mobile device and the body coordinate system of the mobile device is obtained; wherein the conversion relationship is used by the mobile device to convert the radar output at a first position in the radar coordinate system into a second position in the body coordinate system.

2. The method according to claim 1, characterized in that: The radar includes a first radar facing the same direction as the forward direction of the mobile device and a second radar facing the same direction as the backward direction of the mobile device; The step of detecting, by the radar, a first marker around the first set position to obtain radar calibration data includes: Detecting, by means of a first radar configured on the mobile device, a first marker at a first set position and located in front of the mobile device, and obtaining first position information about the first set position relative to the mobile device; Detecting, by a second radar configured on the mobile device, a first marker at a first set position and located behind the mobile device, and obtaining second position information about the first set position relative to the mobile device; The first position information and the second position information are respectively compared with the set standard position information to obtain comparison results, which are used as radar calibration data.

3. The method according to claim 2, characterized in that The first mark is a reflective mark, and a geometric center of the reflective mark around the first set position is related to the first set position.

4. The method according to claim 3, characterized in that There are four reflective marks, and the relative distances between the four reflective marks and the first set position are the same. The number of the first marks located in front of the mobile device and the number of the first marks located behind the mobile device are both two.

5. The method according to claim 3 or 4, characterized in that: The first set position coincides with a vertical center and a diagonal center, wherein the vertical center is the intersection of vertical lines connecting the geometric centers of adjacent reflective markings, and the diagonal center is the intersection of lines connecting the geometric centers of opposite reflective markings.

6. The method according to claim 1, characterized in that The mobile device is equipped with a camera, and the camera is oriented perpendicular to the moving direction of the mobile device; before the radar is used to detect a first marker around the first set position and obtain radar calibration data, the method further includes: Detecting, by the camera, a second mark in a vertical direction of the first set position to obtain mark information; Determining, according to the identification information, that the moving direction of the mobile device corresponds to the first direction of the second identification; When the first direction is different from a set direction, the mobile device is controlled to rotate to a set angle according to a deviation angle corresponding to the first direction and the set direction; wherein the deviation angle is related to the set angle.

7. A calibration device for a mobile device, characterized in that: include: A mobile control module, used for controlling the mobile device to move to a first set position; A data obtaining module, used for detecting a first marker around the first set position by the radar to obtain radar calibration data; A relationship obtaining module is used to obtain the conversion relationship between the radar coordinate system of the mobile device and the body coordinate system of the mobile device according to the radar calibration data; wherein the conversion relationship is used by the mobile device to convert the first position of the radar output in the radar coordinate system into the second position in the body coordinate system.

8. An electronic device, characterized in that: The method comprises a processor connected to a memory, wherein the memory is used to store a computer program; the processor is used to execute the computer program to implement the method according to any one of claims 1 to 6.

9. A mobile device, characterized in that: A calibration device comprising the mobile device as claimed in claim 7 or the electronic device as claimed in claim 8.

10. A computer storage medium, characterized in that: The computer storage medium stores a computer-readable program, and the computer-readable program is executed by a processor to perform the steps of the method according to any one of claims 1 to 6.

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