Calibration method for mobile robot, system and electronic device thereof

Abstract

A calibration method for a mobile robot, its system, and electronic equipment. The calibration method for a mobile robot includes the following steps: providing a calibration tool, comprising a tool chassis and a tool calibration object arranged according to a preset posture relationship; correspondingly mounting the mobile robot on the tool chassis, so as to fix the geometric center of the wheel of the mobile robot via the tool chassis, so that the posture relationship of the tool calibration object relative to the geometric center of the wheel satisfies the preset posture relationship; processing sensor data obtained by collecting data from the tool calibration object by various sensors on the mobile robot, so as to obtain the posture relationship of the tool calibration object relative to each sensor as a calibration posture relationship; and based on the preset posture relationship and the calibration posture relationship, solving the posture relationship of each sensor relative to the geometric center of the wheel through a coordinate transformation relationship, as a calibration result.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-sensor calibration, and in particular to a calibration method for a mobile robot, a system thereof, and electronic equipment. Background Art

[0002] With the rapid development of mobile robotics and unmanned driving technologies, multi-sensor fusion positioning technology has become a hot topic in current research. In order to improve the accuracy of multi-sensor fusion positioning, it is necessary to calibrate the multiple sensors carried by mobile robots.

[0003] Currently, existing multi-sensor calibration methods for mobile robots typically use hand-eye calibration based on inter-frame motion changes. The accuracy and stability of these calibration results are affected by the performance of each sensor and the motion of the mobile robot, resulting in poor calibration accuracy and stability. Furthermore, different sensor types may require different motion trajectories, which increases operational difficulty and calibration time. This results in low calibration efficiency and makes existing multi-sensor calibration methods unsuitable for mass production calibration of mobile robots. Summary of the Invention

[0004] An advantage of the present invention is that it provides a calibration method for a mobile robot, a system thereof, and an electronic device, which can accurately, efficiently, and easily calibrate multiple sensors carried by the mobile robot.

[0005] Another advantage of the present invention is that it provides a calibration method for a mobile robot, a system therefor, and an electronic device. In one embodiment of the present invention, the calibration method for a mobile robot can realize static offline calibration of sensors, which is beneficial to reducing the adverse effects of the movement of the mobile robot on the calibration and improving the calibration accuracy and stability.

[0006] Another advantage of the present invention is that it provides a calibration method for a mobile robot, a system therefor, and an electronic device. In one embodiment of the present invention, the calibration method for a mobile robot can calibrate different types of sensors carried on the mobile robot and has a wide range of applications.

[0007] Another advantage of the present invention is that it provides a calibration method for a mobile robot, a system therefor, and an electronic device. In one embodiment of the present invention, the calibration method for a mobile robot can complete the required calibration with only a small space, which is conducive to being applied to mass production calibration of products.

[0008] Another advantage of the present invention is that it provides a calibration method for a mobile robot, a system thereof, and an electronic device. In one embodiment of the present invention, the calibration method for a mobile robot can greatly simplify the calibration process, has strong feasibility, and effectively improves the calibration efficiency.

[0009] Another advantage of the present invention is that it provides a calibration method for a mobile robot, a system therefor, and an electronic device. In one embodiment of the present invention, the calibration method for a mobile robot can reasonably simplify the calibration process based on the application scenario of the geometric mobile robot, thereby improving the calibration efficiency and the calibration accuracy.

[0010] Another advantage of the present invention is providing a calibration method for a mobile robot, a system therefor, and electronic equipment therefor. To achieve these advantages, the present invention does not require complex structures or extensive computational effort, and has low hardware and software requirements. Therefore, the present invention successfully and effectively provides a solution that not only provides a calibration method for a mobile robot, a system therefor, and electronic equipment therefor, but also increases the practicality and reliability of the calibration method, system therefor, and electronic equipment therefor.

[0011] In order to achieve at least one of the above advantages or other advantages and purposes, the present invention provides a calibration method for a mobile robot, which is used to calibrate the external parameters of various sensors carried by the mobile robot, wherein the calibration method for the mobile robot comprises the following steps:

[0012] Providing a calibration tool, wherein the calibration tool comprises a tool chassis and a tool calibration object, and the tool calibration object and the tool chassis are arranged according to a preset posture relationship;

[0013] Correspondingly mounting the mobile robot on the tool chassis of the calibration tool, so as to fix the geometric center of the wheels of the mobile robot through the tool chassis, so that the posture relationship of the tool calibration object relative to the geometric center of the wheels of the mobile robot satisfies the preset posture relationship;

[0014] Processing sensor data obtained by collecting data from the tool calibration object through each sensor of the mobile robot to obtain a positional relationship of the tool calibration object relative to each sensor of the mobile robot as a calibration positional relationship; and

[0015] Based on the preset posture relationship and the calibration posture relationship, the posture relationship of each sensor of the mobile robot relative to the geometric center of the wheel of the mobile robot is solved through the coordinate transformation relationship as a calibration result.

[0016] According to an embodiment of the present invention, the posture relationship of the tooling calibration object relative to the geometric center of the wheel of the mobile robot is equal to the preset posture relationship.

[0017] According to an embodiment of the present invention, the tool calibration object of the calibration tool is a tool calibration facade, and the tool calibration facade is provided with reference marks required for calibrating each of the sensors.

[0018] According to one embodiment of the present invention, a label or pattern with visual feature points is provided on the tool calibration facade.

[0019] According to one embodiment of the present invention, the step of processing the sensor data obtained by collecting data from the tool calibration object through each sensor of the mobile robot to obtain a position and posture relationship of the tool calibration object relative to each sensor of the mobile robot as a calibration position and posture relationship includes the following steps:

[0020] Collecting an image of the calibration facade of the tooling captured by a visual sensor of the mobile robot as the sensor data; and

[0021] According to the sensor data, the position and posture relationship of the tool calibration facade relative to the visual sensor is obtained through visual positioning technology as the calibration position and posture relationship.

[0022] According to one embodiment of the present invention, a reflective strip compatible with the laser radar is provided on the calibration facade of the tooling.

[0023] According to one embodiment of the present invention, the step of processing the sensor data obtained by collecting data from the tool calibration object through each sensor of the mobile robot to obtain a position and posture relationship of the tool calibration object relative to each sensor of the mobile robot as a calibration position and posture relationship includes the following steps:

[0024] Collecting the distance, angle, and reflection intensity of the tooling calibration elevation detected by the laser radar of the mobile robot as the sensor data;

[0025] Determine the distance, angle, and reflection intensity in the sensor data to filter out the reflective strip data detected by the laser radar; and

[0026] A straight line fitting is performed on the reflective strip data, and the position relationship of the center of the fitting line relative to the laser radar is used as the calibration position relationship.

[0027] According to one embodiment of the present invention, in the step of solving the pose relationship of each sensor of the mobile robot relative to the geometric center of the wheel of the mobile robot through a coordinate transformation relationship based on the preset pose relationship and the calibration pose relationship as a calibration result:

[0028] The calibration result is obtained by averaging the calibration pose relationship solved based on multiple frames of reflective strip data detected by the laser radar each time.

[0029] According to an embodiment of the present invention, the calibration method for a mobile robot further comprises the steps of:

[0030] The calibration result of each sensor of the mobile robot is verified by comparing the calibration results obtained multiple times or comparing the difference between the calibration result and the design result.

[0031] According to another aspect of the present invention, the present invention further provides a calibration system for a mobile robot, for calibrating external parameters of various sensors carried on the mobile robot, wherein the calibration system for the mobile robot includes:

[0032] A calibration tool, wherein the calibration tool comprises a tool chassis and a tool calibration object, and the tool calibration object and the tool chassis are arranged according to a preset posture relationship;

[0033] a mounting module, configured to mount the mobile robot to the tool chassis of the calibration tool, so as to fix the geometric center of the wheels of the mobile robot via the tool chassis, so that the positional relationship of the tool calibration object relative to the geometric center of the wheels of the mobile robot satisfies the preset positional relationship;

[0034] a data processing module for processing sensor data obtained by collecting data from the tool calibration object through each sensor of the mobile robot to obtain a positional relationship of the tool calibration object relative to each sensor of the mobile robot as a calibration positional relationship; and

[0035] A solution module is used to solve the posture relationship of each sensor of the mobile robot relative to the geometric center of the wheel of the mobile robot through a coordinate transformation relationship based on the preset posture relationship and the calibration posture relationship, as a calibration result.

[0036] According to an embodiment of the present invention, the tool calibration object of the calibration tool is a tool calibration facade, and the tool calibration facade is provided with reference marks required for calibrating each sensor.

[0037] According to one embodiment of the present invention, the data processing module includes the following modules that can communicate with each other: an acquisition module for collecting the distance, angle and reflection intensity of the calibration facade of the tooling detected by the laser radar of the mobile robot as the sensor data; a judgment module for judging the distance, angle and reflection intensity in the sensor data to filter out the reflective strip data detected by the laser radar; and a fitting module for performing straight line fitting on the reflective strip data to use the posture relationship of the center of the fitting straight line relative to the laser radar as the calibration posture relationship.

[0038] According to one embodiment of the present invention, the data processing module includes: an acquisition module that can communicate with each other, used to acquire the image of the tooling calibration facade captured by the visual sensor of the mobile robot as the sensor data; and a visual positioning module that is used to obtain the position relationship of the tooling calibration facade relative to the visual sensor as the calibration posture relationship based on the sensor data through visual positioning technology.

[0039] According to one embodiment of the present invention, the calibration system for the mobile robot further includes a verification module, wherein the verification module is used to verify the calibration result of each sensor of the mobile robot by comparing the calibration results obtained multiple times or comparing the difference between the calibration result and the design result.

[0040] According to another aspect of the present invention, the present invention further provides an electronic device, comprising:

[0041] at least one processor for executing instructions; and

[0042] A memory communicatively connected to the at least one processor, wherein the memory has at least one instruction, wherein the instruction is executed by the at least one processor to cause the at least one processor to perform some or all steps of a calibration method for a mobile robot, wherein the calibration method for a mobile robot comprises the steps of:

[0043] Providing a calibration tool, wherein the calibration tool comprises a tool chassis and a tool calibration object, and the tool calibration object and the tool chassis are arranged according to a preset posture relationship;

[0044] Correspondingly mounting the mobile robot on the tool chassis of the calibration tool, so as to fix the geometric center of the wheels of the mobile robot through the tool chassis, so that the posture relationship of the tool calibration object relative to the geometric center of the wheels of the mobile robot satisfies the preset posture relationship;

[0045] Processing sensor data obtained by collecting data from the tool calibration object through each sensor of the mobile robot to obtain a positional relationship of the tool calibration object relative to each sensor of the mobile robot as a calibration positional relationship; and

[0046] Based on the preset posture relationship and the calibration posture relationship, the posture relationship of each sensor of the mobile robot relative to the geometric center of the wheel of the mobile robot is solved through the coordinate transformation relationship as a calibration result.

[0047] Further objects and advantages of the present invention will be fully apparent from an understanding of the following description and accompanying drawings.

[0048] These and other objects, features and advantages of the present invention will be more fully understood from the following detailed description, accompanying drawings and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 4 is a flow chart of a calibration method for a mobile robot according to an embodiment of the present invention.

[0050] Figure 2A A flow chart showing one of the steps of the calibration method for a mobile robot according to the above embodiment of the present invention is shown.

[0051] Figure 2B A modified implementation of one of the steps of the calibration method for a mobile robot according to the above embodiment of the present invention is shown.

[0052] Figure 3 2 is a block diagram of a calibration system for a mobile robot according to an embodiment of the present invention.

[0053] Figure 4 A schematic structural diagram of a calibration tool in the calibration system for a mobile robot according to the above embodiment of the present invention is shown.

[0054] Figure 5 A modified implementation of the calibration system for a mobile robot according to the above embodiment of the present invention is shown.

[0055] Figure 6 A block diagram of an electronic device according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0056] The following description is intended to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are for illustrative purposes only, and those skilled in the art will readily appreciate other obvious variations. The basic principles of the present invention defined in the following description may be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the present invention.

[0057] In the present invention, the term "a" or "an" in the claims and the specification should be understood as "one or more." That is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple. Unless the disclosure of the present invention clearly indicates that the number of the element is only one, the term "a" or "an" should not be understood as a unique or singular element, and the term "a" or "an" should not be understood as a limitation on the quantity.

[0058] In the description of the present invention, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through a medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0060] Currently, with the rapid development of mobile robot technology and unmanned driving technology, multi-sensor fusion positioning technology has become a hot topic of research. In particular, for mobile robots such as smart cars, sweeping robots, and smart housekeepers, they are usually equipped with wheels to achieve corresponding movement and are equipped with various sensors such as lidar or visual sensors (such as TOF cameras, RGB cameras, RGBD cameras, or binocular cameras, etc.) to obtain surrounding information. In order to improve the accuracy of multi-sensor fusion positioning, it is necessary to calibrate the multiple sensors carried by the mobile robot to obtain the position and pose of each sensor relative to the geometric center of the mobile robot's wheels. This is because in various application scenarios of mobile robots, the data obtained by various sensors must be converted into data relative to the geometric center of the mobile robot's wheels before they can be used.

[0061] Therefore, the present application provides a calibration method for a mobile robot, which can quickly and accurately calibrate various sensors of the mobile robot through a uniquely designed calibration tooling, thereby improving the calibration accuracy and efficiency, and is suitable for mass production calibration of mobile robots.

[0062] Schematic method

[0063] Reference to the accompanying drawings Figure 1 As shown, a calibration method for a mobile robot according to an embodiment of the present invention is described, which is used to calibrate the external parameters of various sensors mounted on the mobile robot. Specifically, Figure 1 As shown, the calibration method for a mobile robot may include the steps of:

[0064] S100: Providing a calibration tool, wherein the calibration tool comprises a tool chassis and a tool calibration object, and the tool calibration object and the tool chassis are arranged according to a preset posture relationship;

[0065] S200: correspondingly setting the mobile robot to the tooling chassis, so as to fix the geometric center of the wheels of the mobile robot through the tooling chassis, so that the posture relationship of the tooling calibration object relative to the geometric center of the wheels of the mobile robot satisfies the preset posture relationship;

[0066] S300: processing sensor data obtained by collecting data from the tool calibration object through each sensor of the mobile robot to obtain a positional relationship of the tool calibration object relative to each sensor of the mobile robot as a calibration positional relationship; and

[0067] S400: Based on the preset posture relationship and the calibration posture relationship, the posture relationship of each sensor of the mobile robot relative to the geometric center of the wheel of the mobile robot is solved through a coordinate transformation relationship as a calibration result.

[0068] It is worth noting that since the calibration method for a mobile robot of the present application directly uses the calibration tool to calibrate the various sensors of the mobile robot without moving the mobile robot (i.e., the mobile robot does not need to move), thereby realizing static offline calibration of the sensors, the calibration method for a mobile robot can greatly reduce the adverse effects of the movement of the mobile robot on the calibration, thereby improving the calibration accuracy and stability.

[0069] More specifically, in step S100 of the calibration method for a mobile robot of the present application: the calibration tool can be, but is not limited to, implemented as a tool calibration facade, and the tool calibration facade is provided with reference marks required for calibrating each of the sensors, so that each of the sensors can collect data through the corresponding reference marks to obtain corresponding sensor data.

[0070] For example, with respect to the laser radar carried on the mobile robot, in one example of the present application, a reflective strip compatible with the laser radar can be provided on the tool calibration facade, so that by judging the distance, angle, and reflection intensity of the laser data, the reflective strip data detected by the laser radar can be screened out as the sensor data, and then the posture relationship of the tool calibration facade relative to the laser radar can be obtained through subsequent data processing. Of course, in other examples of the present application, no reflective strips may be provided on the tool calibration facade, and only the reflective characteristics of the tool calibration facade itself can enable the laser radar to directly detect the raw data such as the distance, angle, and reflection intensity of the tool calibration facade as the sensor data, and the posture relationship of the tool calibration facade relative to the laser radar can still be obtained through subsequent data preprocessing.

[0071] Alternatively, with respect to the visual sensor carried on the mobile robot, in one example of the present application, a checkerboard pattern compatible with the visual sensor may be provided on the tool calibration facade, so that the checkerboard image data obtained by photographing the checkerboard pattern with the visual sensor is used as the sensor data, and then the position and posture of the tool calibration facade relative to the visual sensor is obtained through subsequent data processing. Of course, in other examples of the present application, a QR code label or other label or pattern with visual feature points compatible with the visual sensor may also be provided on the tool calibration facade, which helps to accurately obtain the position and posture relationship of the tool calibration facade relative to the visual sensor, thereby improving the calibration accuracy of the calibration method for a mobile robot of the present application.

[0072] According to the above-mentioned embodiment of the present application, in step S200 of the calibration method for a mobile robot: after the tool chassis of the calibration tool is fixed to the geometric center of the wheel of the mobile robot, the center of the tool chassis preferably coincides with the geometric center of the wheel of the mobile robot, so that the posture relationship of the tool calibration object relative to the tool chassis is equal to the posture relationship of the tool calibration object relative to the geometric center of the wheel of the mobile robot. In other words, the posture relationship of the tool calibration object relative to the geometric center of the wheel of the mobile robot is preferably equal to the preset posture relationship.

[0073] In this way, the calibration method for a mobile robot of the present application only needs to install the mobile robot on the tooling chassis of the calibration tooling, and can directly obtain the posture of the tooling calibration object relative to the geometric center of the wheel of the mobile robot according to the preset posture relationship, without the need to calculate the posture of the mobile robot through the encoding value of the wheel odometer of the moving mobile robot like the traditional calibration method. Therefore, the calibration method for a mobile robot of the present application can avoid the adverse effects of the movement of the mobile robot on the calibration results, and can also simplify the calibration process of the mobile robot, reduce the difficulty of calibration, and improve the calibration accuracy and efficiency, and is particularly suitable for mass production calibration in industrial production.

[0074] In an example of the present application, taking the laser radar carried by the mobile robot as an example, and taking the right-hand system with the geometric center of the wheel of the mobile robot as the reference origin, the direction of the front of the vehicle as the x-axis, and the left side of the vehicle body as the y-axis as the reference coordinate system, the calibration result (i.e., the error to be calibrated) is implemented as the posture relationship (x, y, θ) of the laser radar relative to the reference coordinate system, where x and y are the horizontal distances of the center of the laser radar relative to the reference origin, and θ is the installation yaw angle of the laser radar relative to the x-axis direction of the reference coordinate system.

[0075] Thus, when the geometric center of the wheel of the mobile robot is fixed to the tool chassis, based on the size and strict alignment of the calibration tool, the pose relationship of the tool calibration elevation relative to the geometric center of the wheel of the mobile robot (i.e., the reference coordinate system) is equal to the pose relationship of the tool calibration elevation relative to the tool chassis. In other words, the preset pose relationship is equal to the pose relationship P of the tool calibration elevation relative to the reference coordinate system. m W ark =(L,0,0), where L is the straight-line distance between the tooling calibration elevation and the tooling chassis in the x-direction.

[0076] According to the above embodiments of the present application, Figure 2A As shown, the step S300 of the calibration method for a mobile robot may include the following steps:

[0077] S310: Collecting the distance, angle, and reflective intensity of the tool calibration surface detected by the laser radar of the mobile robot as the sensor data, wherein a reflective strip is provided on the tool calibration surface;

[0078] S320: judging the distance, angle, and reflection intensity in the sensor data to filter out the reflective strip data detected by the laser radar; and

[0079] S330: Perform straight line fitting on the reflective strip data, and use the pose relationship of the center of the fitting straight line relative to the laser radar as the calibration pose relationship.

[0080] Preferably, the reflective strip on the tool calibration facade has the same height as the laser radar, which helps to simplify the subsequent coordinate conversion process.

[0081] For example, after the mobile robot is fixed to the tooling chassis and is stationary, the original data such as the distance, angle, and reflective intensity of the tooling calibration elevation detected by the mobile robot's laser radar are collected; then, by judging the distance, angle, and reflective intensity of the original data of the laser radar, the reflective strip data detected by the laser radar are filtered out. A straight line fitting is performed on the reflective strip data to obtain the equation of the line where the reflective strip is located; then, outliers with large straight line fitting variance are eliminated to obtain the coordinates of the center point of the fitted line.

[0082] Finally, in step S400 of the calibration method for a mobile robot of the present application, the following coordinate transformation relationship can be obtained: Expanding it gives the following formula:

[0083]

[0084] Therefore, the above formula can be used to solve the position relationship of the laser radar relative to the geometric center of the wheel of the mobile robot based on the frame reflective strip data, that is, the calibration result (x, y, θ).

[0085] Preferably, the calibration pose relationship solved based on multiple frames of reflective strip data detected by the laser radar each time is averaged to obtain a more accurate calibration result, that is, the current calibration result or the current external parameter calibration value.

[0086] It is worth noting that although Figure 1 and Figure 2A In the above description, the sensor of the mobile robot is implemented as a laser radar as an example to illustrate the features and advantages of the calibration method for the mobile robot of the present invention. It can be understood by those skilled in the art that the attached Figure 1 and Figure 2A The laser radar disclosed in the above description is only an example and does not constitute a limitation on the content and scope of the present invention. For example, in other examples of the calibration method for a mobile robot, the sensor of the mobile robot can also be but is not limited to being implemented as a visual sensor such as a camera, etc.

[0087] In another example of the present invention, taking the visual sensor carried by the mobile robot as an example, and taking the right-hand system with the geometric center of the wheel of the mobile robot as the reference origin, the direction of the front of the vehicle as the x-axis, and the left side of the vehicle body as the y-axis as the reference coordinate system, the calibration result (i.e., the error to be calibrated) is implemented as the posture relationship of the visual sensor relative to the reference coordinate system. In this way, when the geometric center of the wheel of the mobile robot is fixed to the tooling chassis, according to the size and strict alignment relationship of the calibration tooling, the posture relationship of the tooling calibration facade relative to the geometric center of the wheel of the mobile robot (i.e., the reference coordinate system) is equal to the posture relationship of the tooling calibration facade relative to the tooling chassis. In other words, the preset posture relationship is equal to the posture relationship of the tooling calibration facade relative to the reference coordinate system. Wherein L is the straight-line distance between the tooling calibration elevation and the tooling chassis in the x-direction.

[0088] For example, Figure 2B As shown, the step S300 of the calibration method for the mobile robot may also include the steps of:

[0089] S310': collecting an image of the calibration facade of the tooling captured by the visual sensor of the mobile robot as the sensor data; and

[0090] S320': According to the sensor data, obtain the position and posture relationship of the tool calibration facade relative to the visual sensor through visual positioning technology as the calibration position and posture relationship.

[0091] It is worth mentioning that in order to avoid abnormal calibration results caused by incorrect calibration operation, such as Figure 1 As shown, the calibration method for a mobile robot of the present application may further include the steps of:

[0092] S500: Verifying the calibration result of each sensor by comparing the calibration results obtained multiple times or comparing the difference between the calibration result and the design result.

[0093] For example, in order to avoid abnormal calibration results caused by incorrect calibration operations, the calibration method for a mobile robot of the present application can repeat the above steps S300 and S400 to obtain the external parameter calibration values multiple times; thereafter, by comparing the external parameter calibration values obtained multiple times or comparing the differences between the external parameter calibration values and the design values, it is verified whether the external parameter calibration results are normal.

[0094] Schematic system

[0095] Reference to the accompanying drawings Figure 3 and Figure 4 As shown, a calibration system 600 for a mobile robot according to an embodiment of the present invention is illustrated, wherein the calibration system 600 for a mobile robot is used to calibrate the external parameters of various sensors 710 mounted on the mobile robot 700. Specifically, as Figure 3 and Figure 4As shown, the calibration system 600 for a mobile robot includes: a calibration tool 610 that is communicatively connected to each other, wherein the calibration tool 610 includes a tool chassis 611 and a tool calibration object 612, and the tool calibration object 612 and the tool chassis 611 are arranged according to a preset posture relationship; an installation module 620 for correspondingly installing the mobile robot 700 to the tool chassis 611 of the calibration tool 610, so as to fix the wheel geometric center of the mobile robot 700 through the tool chassis 611, so that the posture relationship of the tool calibration object 612 relative to the wheel geometric center of the mobile robot 700 satisfies the preset posture relationship. The preset posture relationship; a data processing module 630, which is used to process the sensor data obtained by collecting data from each sensor 710 of the mobile robot 700 on the tooling calibration object 612, so as to obtain the posture relationship of the tooling calibration object 612 relative to each sensor 710 of the mobile robot 700 as a calibration posture relationship; and a solving module 640, which is used to solve the posture relationship of each sensor 710 of the mobile robot 700 relative to the geometric center of the wheel of the mobile robot 700 through a coordinate transformation relationship based on the preset posture relationship and the calibration posture relationship, as a calibration result.

[0096] It is worth noting that in the above embodiments of the present application, Figure 4 As shown, the tool calibration object 612 of the calibration tool 610 is a tool calibration facade 6120 , and the tool calibration facade 6120 is provided with reference marks (not shown in the figure) required for calibrating each of the sensors 710 .

[0097] More specifically, if Figure 3 and Figure 4 As shown, the data processing module 630 includes: an acquisition module 631 that can communicate with each other, used to collect the distance, angle and reflection intensity of the tooling calibration facade 6120 detected by the laser radar 711 of the mobile robot 700 as the sensor data; a judgment module 632, used to judge the distance, angle and reflection intensity in the sensor data to filter out the reflective strip data detected by the laser radar 711; and a fitting module 633, used to perform straight line fitting on the reflective strip data, so as to use the posture relationship of the center of the fitting straight line relative to the laser radar 711 as the calibration posture relationship.

[0098] It is worth mentioning that, in one embodiment of the present invention, Figure 3 and Figure 4As shown, the calibration system 600 for the mobile robot may further include a verification module 650, wherein the verification module 650 is used to verify the calibration results of each sensor 710 of the mobile robot 700 by comparing the calibration results obtained multiple times or comparing the differences between the calibration results and the design results.

[0099] It is worth noting that the Figure 5 A variant embodiment of the mobile robot calibration system 600 according to the above-mentioned embodiment of the present application is shown. Compared to the above-mentioned embodiment of the present application, the mobile robot calibration system 600 according to the variant embodiment of the present application differs in that the data processing module 630 includes: a collection module 631', which is configured to communicate with each other, for collecting images of the tooling calibration facade captured by the mobile robot's visual sensor as sensor data; and a visual positioning module 632', which is configured to obtain, based on the sensor data, a positional relationship of the tooling calibration facade relative to the visual sensor using visual positioning technology as the calibration pose relationship.

[0100] Schematic electronic devices

[0101] Below, reference Figure 6 An electronic device according to an embodiment of the present invention is described below. Figure 6 As shown, the electronic device 90 includes one or more processors 91 and a memory 92 .

[0102] The processor 91 may be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 90 to perform desired functions. In other words, the processor 91 includes one or more physical devices configured to execute instructions. For example, the processor 91 may be configured to execute instructions as a part of the following: one or more applications, services, programs, routines, libraries, objects, components, data structures, or other logical structures. Such instructions may be implemented to perform tasks, implement data types, convert the state of one or more components, implement technical effects, or otherwise obtain desired results.

[0103] The processor 91 may include one or more processors configured to execute software instructions. In addition or in lieu thereof, the processor 91 may include one or more hardware or firmware logic machines configured to execute hardware or firmware instructions. The processors of the processor 91 may be single-core or multi-core, and the instructions executed thereon may be configured for serial, parallel and / or distributed processing. The various components of the processor 91 may optionally be distributed across two or more separate devices, which may be remotely located and / or configured to perform collaborative processing. Various aspects of the processor 91 may be virtualized and executed by a remotely accessible networked computing device configured in a cloud computing configuration.

[0104] The memory 92 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), a hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may execute the program instructions to implement some or all of the steps in the above-described illustrative method of the present invention, and / or other desired functions.

[0105] In other words, the memory 92 includes one or more physical devices configured to store machine-readable instructions that can be executed by the processor 91 to implement the methods and processes described herein. When implementing these methods and processes, the state of the memory 92 can be changed (e.g., to store different data). The memory 92 can include removable and / or internal devices. The memory 92 can include optical storage (e.g., CD, DVD, HD-DVD, Blu-ray Disc, etc.), semiconductor storage (e.g., RAM, EPROM, EEPROM, etc.), and / or magnetic storage (e.g., hard drive, floppy disk drive, tape drive, MRAM, etc.), etc. The memory 92 can include volatile, non-volatile, dynamic, static, read / write, read-only, random access, sequential access, location addressable, file addressable, and / or content addressable devices.

[0106] It will be appreciated that the memory 92 comprises one or more physical devices. However, various aspects of the instructions described herein may alternatively be transmitted via a communication medium (e.g., electromagnetic signals, optical signals, etc.) that is not held by a physical device for a limited period of time. Various aspects of the processor 91 and the memory 92 may be integrated together into one or more hardware logic components. These hardware logic components may include, for example, field programmable gate arrays (FPGAs), program and application specific integrated circuits (PASIC / ASICs), program and application specific standard products (PSSP / ASSPs), systems on chips (SOCs), and complex programmable logic devices (CPLDs).

[0107] In one example, if Figure 6 As shown, the electronic device 90 may also include an input device 93 and an output device 94, which are interconnected via a bus system and / or other forms of connection mechanisms (not shown). For example, the input device 93 may be, for example, a camera module for collecting image data or video data, etc. As another example, the input device 93 may include or interface with one or more user input devices such as a keyboard, a mouse, a touch screen, or a game controller. In some embodiments, the input device 93 may include or interface with selected natural user input (NUI) components. Such component parts may be integrated or peripheral, and the transduction and / or processing of input actions may be handled on-board or off-board. Example NUI components may include a microphone for language and / or speech recognition; infrared, color, stereoscopic display, and / or depth cameras for machine vision and / or gesture recognition; a head tracker, eye tracker, accelerometer, and / or gyroscope for motion detection and / or intent recognition; and an electric field sensing component for evaluating brain activity and / or body movement; and / or any other suitable sensor.

[0108] The output device 94 can output various information to the outside, including classification results, etc. The output device 94 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0109] Of course, the electronic device 90 may further include the communication device, wherein the communication device may be configured to communicatively couple the electronic device 90 to one or more other computer devices. The communication device may include wired and / or wireless communication devices compatible with one or more different communication protocols. As a non-limiting example, the communication subsystem may be configured to communicate via a wireless telephone network or a wired or wireless local area network or wide area network. In some embodiments, the communication device may allow the electronic device 90 to send messages to other devices and / or receive messages from other devices via a network such as the Internet.

[0110] It will be understood that the configurations and / or methods described herein are exemplary in nature, and that these specific embodiments or examples should not be considered restrictive, as many variations are possible. The specific routines or methods described herein may represent one or more of any number of processing strategies. Thus, the various actions shown and / or described may be performed in the order shown and / or described, in other orders, in parallel, or omitted. Likewise, the order of the above-described processes may be changed.

[0111] Of course, to simplify, Figure 6 Only some of the components related to the present invention in the electronic device 90 are shown, and components such as buses, input / output interfaces, etc. are omitted. In addition, the electronic device 90 may further include any other appropriate components according to specific application scenarios.

[0112] It should also be noted that in the apparatus, device and method of the present invention, each component or each step can be decomposed and / or recombined, and such decomposition and / or recombination should be regarded as equivalent solutions of the present invention.

[0113] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present invention. Therefore, the present invention is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0114] Those skilled in the art will appreciate that the embodiments of the present invention described above and shown in the accompanying drawings are intended to be illustrative only and are not intended to limit the present invention. The objectives of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention have been demonstrated and illustrated in the embodiments. Any variations or modifications may be made to the embodiments of the present invention without departing from the principles described.

Claims

1. A calibration method for a mobile robot, for calibrating external parameters of various sensors mounted on the mobile robot, characterized in that: The calibration method for the mobile robot comprises the following steps: Providing a calibration tool, wherein the calibration tool comprises a tool chassis and a tool calibration object, and the tool calibration object and the tool chassis are arranged according to a preset posture relationship; The mobile robot is correspondingly mounted on the tool chassis of the calibration tool, so that the geometric center of the wheels of the mobile robot is fixed by the tool chassis, so that the mobile robot is calibrated without moving, thereby reducing the adverse effect of the movement of the mobile robot on the calibration; the posture relationship of the tool calibration object relative to the geometric center of the wheels of the mobile robot is equal to the preset posture relationship; Processing sensor data obtained by collecting data from the tool calibration object through each sensor of the mobile robot to obtain a positional relationship of the tool calibration object relative to each sensor of the mobile robot as a calibration positional relationship; as well as Based on the preset posture relationship and the calibration posture relationship, the posture relationship of each sensor of the mobile robot relative to the geometric center of the wheel of the mobile robot is solved through the coordinate transformation relationship as a calibration result.

2. The calibration method for a mobile robot according to claim 1, wherein: The tool calibration object of the calibration tool is a tool calibration facade, and the tool calibration facade is provided with reference marks required for calibrating each of the sensors.

3. The calibration method for a mobile robot according to claim 2, wherein: A label or pattern with visual feature points is provided on the tooling calibration facade.

4. The calibration method for a mobile robot according to claim 3, wherein: The step of processing the sensor data obtained by collecting data from the tool calibration object through each sensor of the mobile robot to obtain a posture relationship of the tool calibration object relative to each sensor of the mobile robot as a calibration posture relationship includes the following steps: Collecting an image of the calibration facade of the tooling captured by a visual sensor of the mobile robot as the sensor data; and According to the sensor data, the position and posture relationship of the tool calibration facade relative to the visual sensor is obtained through visual positioning technology as the calibration position and posture relationship.

5. The calibration method for a mobile robot according to claim 2, wherein: The calibration facade of the tooling is provided with reflective strips that are compatible with the laser radar.

6. The calibration method for a mobile robot according to claim 5, wherein: The step of processing the sensor data obtained by collecting data from the tool calibration object through each sensor of the mobile robot to obtain a posture relationship of the tool calibration object relative to each sensor of the mobile robot as a calibration posture relationship includes the following steps: Collecting the distance, angle, and reflection intensity of the tooling calibration elevation detected by the laser radar of the mobile robot as the sensor data; The distance, angle, and reflection intensity in the sensor data are judged to filter out the reflective strip data detected by the lidar; as well as A straight line fitting is performed on the reflective strip data, and the position relationship of the center of the fitting line relative to the laser radar is used as the calibration position relationship.

7. The calibration method for a mobile robot according to claim 6, wherein: In the step of solving the pose relationship of each sensor of the mobile robot relative to the geometric center of the wheel of the mobile robot through a coordinate transformation relationship based on the preset pose relationship and the calibration pose relationship as a calibration result: The calibration result is obtained by averaging the calibration pose relationship solved based on multiple frames of reflective strip data detected by the laser radar each time.

8. The calibration method for a mobile robot according to any one of claims 1 to 7, further comprising the steps of: The calibration result of each sensor of the mobile robot is verified by comparing the calibration results obtained multiple times or comparing the difference between the calibration result and the design result.

9. A calibration system for a mobile robot, used to calibrate external parameters of various sensors carried on the mobile robot, characterized in that: The calibration system for the mobile robot includes: A calibration tool, wherein the calibration tool comprises a tool chassis and a tool calibration object, and the tool calibration object and the tool chassis are arranged according to a preset posture relationship; a mounting module for correspondingly mounting the mobile robot to the tool chassis of the calibration tool, so as to fix the geometric center of the wheels of the mobile robot via the tool chassis, so that the mobile robot can be calibrated without moving, thereby reducing the adverse effect of the movement of the mobile robot on the calibration; the positional relationship of the tool calibration object relative to the geometric center of the wheels of the mobile robot is equal to the preset positional relationship; a data processing module, configured to process sensor data obtained by collecting data from the tooling calibration object through each sensor of the mobile robot, so as to obtain a positional relationship of the tooling calibration object relative to each sensor of the mobile robot as a calibration positional relationship; as well as A solution module is used to solve the posture relationship of each sensor of the mobile robot relative to the geometric center of the wheel of the mobile robot through a coordinate transformation relationship based on the preset posture relationship and the calibration posture relationship, as a calibration result.

10. The calibration system for a mobile robot according to claim 9, wherein: The tool calibration object of the calibration tool is a tool calibration facade, and the tool calibration facade is provided with reference marks required for calibrating each sensor.

11. The calibration system for a mobile robot according to claim 10, wherein: The data processing modules include mutually communicable: a collection module for collecting the distance, angle and reflection intensity of the tooling calibration elevation detected by the laser radar of the mobile robot as the sensor data; A judgment module is used to judge the distance, angle and reflection intensity in the sensor data to filter out the reflective strip data detected by the laser radar; and a fitting module is used to perform straight line fitting on the reflective strip data to use the position relationship of the center of the fitting line relative to the laser radar as the calibration position relationship.

12. The calibration system for a mobile robot according to claim 10, wherein: The data processing modules include mutually communicable modules: a collection module for collecting images of the calibration facade of the tooling captured by the visual sensor of the mobile robot as the sensor data; and a visual positioning module for obtaining, based on the sensor data, a positional relationship of the tooling calibration facade relative to the visual sensor through visual positioning technology as the calibration positional relationship.

13. The calibration system for a mobile robot as described in any one of claims 9 to 12 further comprises a verification module, wherein the verification module is used to verify the calibration result of each sensor of the mobile robot by comparing the calibration results obtained multiple times or comparing the difference between the calibration result and the design result.

14. An electronic device, characterized in that include: at least one processor for executing instructions; and A memory communicatively connected to the at least one processor, wherein the memory has at least one instruction, wherein the instruction is executed by the at least one processor to cause the at least one processor to perform some or all steps of a calibration method for a mobile robot, wherein the calibration method for a mobile robot comprises the steps of: Providing a calibration tool, wherein the calibration tool comprises a tool chassis and a tool calibration object, and the tool calibration object and the tool chassis are arranged according to a preset posture relationship; The mobile robot is correspondingly mounted on the tool chassis of the calibration tool, so that the geometric center of the wheels of the mobile robot is fixed by the tool chassis, so that the mobile robot is calibrated without moving, thereby reducing the adverse effect of the movement of the mobile robot on the calibration; the posture relationship of the tool calibration object relative to the geometric center of the wheels of the mobile robot is equal to the preset posture relationship; Processing sensor data obtained by collecting data from the tool calibration object through each sensor of the mobile robot to obtain a positional relationship of the tool calibration object relative to each sensor of the mobile robot as a calibration positional relationship; and Based on the preset posture relationship and the calibration posture relationship, the posture relationship of each sensor of the mobile robot relative to the geometric center of the wheel of the mobile robot is solved through the coordinate transformation relationship as a calibration result.

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