Geomagnetic Calibration Method, Device, Equipment and Storage Medium for Robot

Abstract

The present application provides a geomagnetic correction method, device, equipment and storage medium for a robot, belonging to the technical field of robot calibration. The method includes: determining whether the current position information exceeds a preset geomagnetic position range based on preconfigured geomagnetic conversion parameters, where the geomagnetic position range is used to indicate the range of position information measurable by a geomagnetic sensor; if so, obtaining a sequence of position information during the rotation of the geomagnetic sensor with the target robot, where the sequence of position information includes a plurality of position information; and updating the geomagnetic position range of the target robot based on the sequence of position information. The present application can realize the update of the geomagnetic sensor of the robot and improve the accuracy of the operation of the geomagnetic sensor.

Description

Technical Field

[0001] This application relates to the technical field of robot calibration. Specifically, it relates to a geomagnetic correction method, device, equipment, and storage medium for a robot. Background Art

[0002] During the operation of a robot, a geomagnetic sensor is usually used to complete related tasks. For example, a floor-sweeping robot determines whether cleaning is required at the current position through a geomagnetic sensor.

[0003] In the prior art, a geomagnetic sensor is usually fixedly installed at a certain part of the robot. When it is needed, it is directly started, and relevant position information and other content can be obtained through the geomagnetic sensor.

[0004] However, in some special scenarios, for example, when electromagnetic devices such as speakers are installed near the geomagnetic sensor, the geomagnetic sensor will be affected. Directly starting it will cause certain errors in the obtained position information, reducing the accuracy of the geomagnetic sensor. Summary of the Invention

[0005] The purpose of this application is to provide a geomagnetic correction method, device, equipment, and storage medium for a robot, which can update the geomagnetic sensor of the robot and improve the accuracy of the geomagnetic sensor during operation.

[0006] The embodiments of this application are implemented as follows:

[0007] On the one hand, an embodiment of this application provides a geomagnetic correction method for a robot, including:

[0008] Determine whether the current position information exceeds a preset geomagnetic position range based on pre-configured geomagnetic conversion parameters, where the geomagnetic position range is used to indicate the range of position information that the geomagnetic sensor can measure;

[0009] If so, obtain a sequence of position information during the rotation of the geomagnetic sensor with the target robot, where the sequence of position information includes multiple pieces of position information;

[0010] Update the geomagnetic position range of the target robot based on the sequence of position information.

[0011] Optionally, updating the geomagnetic position range of the target robot based on the sequence of position information includes:

[0012] Establish a geomagnetic range image based on the sequence of position information;

[0013] Update the geomagnetic position range of the target robot according to the projection data in the geomagnetic range image.

[0014] Optionally, establish a geomagnetic range image based on the position information sequence, including:

[0015] Determine an initial discrete image based on the horizontal and vertical coordinates of each position information in the position information sequence;

[0016] Perform a connection process on the initial discrete image to obtain the geomagnetic range image.

[0017] Optionally, update the geomagnetic position range of the target robot based on the projection data in the geomagnetic range image, including:

[0018] Perform a projection process on the geomagnetic range image to obtain new geomagnetic conversion parameters, a horizontal range, and a vertical range;

[0019] Determine the updated geomagnetic position range based on the horizontal range and the vertical range and update the pre-configured geomagnetic conversion parameters to the new geomagnetic conversion parameters.

[0020] Optionally, perform a projection process on the geomagnetic range image to obtain new geomagnetic conversion parameters, a horizontal range, and a vertical range, including:

[0021] Determine the center position of the geomagnetic range image and determine new geomagnetic conversion parameters based on the center position and the origin position;

[0022] Translate the geomagnetic range image so that the center position of the geomagnetic range image is the origin position;

[0023] Project the translated geomagnetic range image onto the horizontal axis to obtain the horizontal range;

[0024] Project the translated geomagnetic range image onto the vertical axis to obtain the vertical range.

[0025] Optionally, determine whether the current position information collected by the geomagnetic sensor exceeds the preset geomagnetic position range based on the pre-configured geomagnetic conversion parameters, including:

[0026] Convert the current position information into standard position information according to the pre-configured geomagnetic conversion parameters;

[0027] Determine whether the standard position information exceeds the preset geomagnetic position range.

[0028] Optionally, obtain the position information sequence during the rotation of the geomagnetic sensor with the target robot, including:

[0029] Control the target robot to rotate a preset angle from the initial position;

[0030] Collect multiple position information during the rotation of the geomagnetic sensor according to the pre-configured acquisition frequency;

[0031] Combine the multiple location information collected into a location information sequence in the chronological order of collection.

[0032] On the other hand, an embodiment of the present application provides a geomagnetic correction device for a robot, including: a determination module, an acquisition module, and a correction module;

[0033] The determination module is configured to determine whether the current location information exceeds a preset geomagnetic location range based on pre-configured geomagnetic conversion parameters, and the geomagnetic location range is used to indicate the range of location information that can be measured by a geomagnetic sensor;

[0034] If so, the acquisition module is configured to acquire a location information sequence during the rotation of the geomagnetic sensor with the target robot, and the location information sequence includes multiple location information;

[0035] The correction module is configured to update the geomagnetic location range of the target robot based on the location information sequence.

[0036] Optionally, the correction module is specifically configured to establish a geomagnetic range image based on the location information sequence; update the geomagnetic location range of the target robot based on the projection data in the geomagnetic range image.

[0037] Optionally, the correction module is specifically configured to determine an initial discrete image based on the horizontal and vertical coordinates of each location information in the location information sequence; perform a connection process on the initial discrete image to obtain a geomagnetic range image.

[0038] Optionally, the correction module is specifically configured to perform a projection process on the geomagnetic range image to obtain new geomagnetic conversion parameters, a horizontal range, and a vertical range; determine the updated geomagnetic location range based on the horizontal range and the vertical range and update the pre-configured geomagnetic conversion parameters to the new geomagnetic conversion parameters.

[0039] Optionally, the correction module is specifically configured to determine the center position of the geomagnetic range image, and determine new geomagnetic conversion parameters based on the center position and the origin position; translate the geomagnetic range image so that the center position of the geomagnetic range image is the origin position; project the translated geomagnetic range image onto the horizontal axis to obtain a horizontal range; project the translated geomagnetic range image onto the vertical axis to obtain a vertical range.

[0040] Optionally, the determination module is specifically configured to convert the current location information into standard location information according to the pre-configured geomagnetic conversion parameters; determine whether the standard location information exceeds the preset geomagnetic location range.

[0041] Optionally, the acquisition module is specifically configured to control the target robot to rotate a preset angle from the initial position; collect multiple position information during the rotation of the geomagnetic sensor according to a pre-configured acquisition frequency; and combine the collected multiple position information into a position information sequence according to the acquisition time sequence.

[0042] On the other hand, an embodiment of the present application provides a computer device, including: a memory and a processor. A computer program that can run on the processor is stored in the memory. When the processor executes the computer program, the steps of the geomagnetic correction method for the robot are implemented.

[0043] On the other hand, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by the processor, the steps of the geomagnetic correction method for the robot are implemented.

[0044] The beneficial effects of the embodiments of the present application include:

[0045] In a geomagnetic correction method, device, device and storage medium for a robot provided by an embodiment of the present application, it is possible to first determine whether the current position information exceeds a preset geomagnetic position range based on pre-configured geomagnetic conversion parameters, and then, under the condition that the preset geomagnetic position range is exceeded, obtain a position information sequence during the rotation of the geomagnetic sensor with the target robot, and update the geomagnetic position range of the target robot based on the position information sequence, so as to realize the geomagnetic correction of the robot, avoid abnormal position information collected by the robot during operation due to errors in the geomagnetic position range, and improve the accuracy of the geomagnetic sensor of the robot in determining position information. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0047] Figure 1 It is a schematic flowchart of the geomagnetic correction method for the robot provided by an embodiment of the present application;

[0048] Figure 2 It is another schematic flowchart of the geomagnetic correction method for the robot provided by an embodiment of the present application;

[0049] Figure 3 It is another schematic flowchart of the geomagnetic correction method for the robot provided by an embodiment of the present application;

[0050] Figure 4Schematic diagram of the geomagnetic range image provided by the embodiment of the present application;

[0051] Figure 5 Another flowchart of the geomagnetic calibration method for the robot provided by the embodiment of the present application;

[0052] Figure 6 Another flowchart of the geomagnetic calibration method for the robot provided by the embodiment of the present application;

[0053] Figure 7 Another flowchart of the geomagnetic calibration method for the robot provided by the embodiment of the present application;

[0054] Figure 8 Another flowchart of the geomagnetic calibration method for the robot provided by the embodiment of the present application;

[0055] Figure 9 Schematic diagram of the structure of the geomagnetic calibration device for the robot provided by the embodiment of the present application;

[0056] Figure 10 Schematic diagram of the structure of the computer device provided by the embodiment of the present application. Detailed implementation manners

[0057] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Usually, the components of the embodiments of the present application described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0058] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but merely represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts fall within the scope of protection of the present application.

[0059] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0060] In the description of the present application, it should be noted that the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be construed as indicating or implying relative importance.

[0061] It should be noted that the robot in the embodiments of the present application may specifically be a bipedal robot or a wheeled robot. For example: robots used in the process of logistics transportation, robots used in stage performances, etc., and no specific limitations are made here.

[0062] Among them, a geomagnetic sensor may be provided on each robot. The geomagnetic sensor may specifically be a sensor that determines the position of the robot based on the detected geomagnetic information, and can be applied to the auxiliary positioning of the robot. Specifically, the robot can determine information such as the current posture and orientation of the robot through the geomagnetic sensor and a six-axis sensor, etc.

[0063] In the prior art, the geomagnetic sensor usually has a fixed geomagnetic position range, and this geomagnetic position range refers to the range that the geomagnetic sensor can detect. Usually, the geomagnetic range does not need to be adjusted. However, in special scenarios, for example: other electromagnetic devices are installed near the geomagnetic sensor of the robot, such as: speakers, etc., which will cause the range that the geomagnetic sensor can detect to be affected. Therefore, it is necessary to correct the geomagnetic sensor of the robot to adjust the geomagnetic position range of the geomagnetic sensor.

[0064] The following specifically explains the specific implementation process of the geomagnetic correction method for the robot provided in the embodiments of the present application.

[0065] Figure 1 For the flowchart of the geomagnetic correction method for the robot provided in the embodiments of the present application, please refer to Figure 1 , the geomagnetic correction method for the robot includes:

[0066] S110: Determine whether the current position information exceeds the preset geomagnetic position range based on the pre-configured geomagnetic conversion parameters.

[0067] Among them, the geomagnetic position range is used to indicate the range of position information that the geomagnetic sensor can measure.

[0068] Optionally, the execution subject of this method may be the target robot, specifically the controller of the target robot. The controller may be set on the target robot or communicatively connected to the target robot, and no specific limitations are made here.

[0069] Among them, the pre-configured geomagnetic conversion parameters may be a kind of parameter for realizing coordinate conversion. After the geomagnetic sensor collects the position information, it can perform coordinate conversion based on the pre-configured geomagnetic conversion parameters, so as to obtain the converted current position information, and then it can be determined whether the converted current position information exceeds the preset geomagnetic position range.

[0070] It should be noted that the geomagnetic position information can be specifically represented in the form of horizontal and vertical coordinates. Among them, the abscissa x can be used to represent the northward component of the current geomagnetic field intensity, and the ordinate y can be used to represent the eastward component of the current geomagnetic field intensity. The position information of the robot is represented by the components of the magnetic field intensity. Correspondingly, the preset geomagnetic position range can be specifically represented by the range interval of the abscissa x and the range interval of the ordinate y. The position information can be specifically used to represent information such as the orientation and attitude of the robot to represent the position of the robot.

[0071] If the abscissa x and the ordinate y corresponding to the converted current position information are within their corresponding range intervals, it can be indicated that the preset geomagnetic position range is not exceeded; relatively, if any of the abscissa x and the ordinate y corresponding to the converted current position information exceeds its corresponding range interval, it can be indicated that the preset geomagnetic position range is exceeded.

[0072] S120: If so, obtain the position information sequence during the rotation of the geomagnetic sensor with the target robot.

[0073] Among them, the position information sequence includes multiple pieces of position information.

[0074] Optionally, after determining that the current position information of the robot exceeds the preset geomagnetic position range, the position information sequence during the rotation of the geomagnetic sensor with the target robot can be obtained. During this process, the target robot can be controlled to rotate, and then the position information sequence during the rotation of the target robot can be collected through the geomagnetic sensor. Among them, specifically, multiple pieces of position information collected based on the pre-configured collection rules can be stored in the position information sequence.

[0075] For example: Position information can be obtained once every certain angle of rotation. The obtained position information can be a set of values of the abscissa and the ordinate, that is, (x, y). Multiple pieces of position information can be collected in the above manner to obtain multiple sets of values of the abscissa and the ordinate, and then the position information sequence can be obtained.

[0076] S130: Update the geomagnetic position range of the target robot based on the position information sequence.

[0077] Optionally, after obtaining the position information sequence, the geomagnetic position range of the target robot can be updated based on multiple pieces of position information in the position information sequence, so as to realize the calibration of the geomagnetic sensor of the target robot.

[0078] Based on the above update, a new geomagnetic position range can be obtained, so that the geomagnetic position range of the first sensor of the robot is updated to a new range, and the position information of the target robot is obtained according to the new range.

[0079] In a geomagnetic correction method for a robot provided by an embodiment of the present application, it is possible to first determine whether the current position information exceeds a preset geomagnetic position range based on pre-configured geomagnetic conversion parameters. Then, under the condition that the preset geomagnetic position range is exceeded, a position information sequence during the rotation of the geomagnetic sensor with the target robot is obtained, and the geomagnetic position range of the target robot is updated based on the position information sequence, thereby realizing the geomagnetic correction of the robot, avoiding abnormal position information collected due to errors in the geomagnetic position range during the operation of the robot, and improving the accuracy of the geomagnetic sensor of the robot in determining position information.

[0080] The following explains the specific implementation process of updating the geomagnetic position range of the target robot in the embodiment of the present application.

[0081] Figure 2 Another process schematic diagram of the geomagnetic correction method for the robot provided by the embodiment of the present application is shown in Figure 2 , updating the geomagnetic position range of the target robot based on the position information sequence includes:

[0082] S210: Establish a geomagnetic range image based on the position information sequence.

[0083] Optionally, specifically, it may be to determine the points corresponding to each position information in the image based on the abscissa and ordinate of each position information in the position information sequence. Then, a circular graph can be formed by these points, and after preprocessing the circular graph, it can be used as the geomagnetic range image.

[0084] S220: Update the geomagnetic position range of the target robot according to the projection data in the geomagnetic range image.

[0085] Optionally, after obtaining the geomagnetic range image, the geomagnetic range image can be projected onto the x-axis and y-axis respectively, and then the new range of the abscissa and the new range of the ordinate are obtained, so that the geomagnetic position range of the target robot can be updated based on the new coordinate range.

[0086] The following explains the specific implementation process of establishing a geomagnetic range image based on the position information sequence in the embodiment of the present application.

[0087] Figure 3 Another process schematic diagram of the geomagnetic correction method for the robot provided by the embodiment of the present application is shown in Figure 3 , establishing a geomagnetic range image based on the position information sequence includes:

[0088] S310: Determine an initial discrete image based on the abscissa and ordinate of each position information in the position information sequence.

[0089] Optionally, according to the horizontal and vertical coordinates of each position information in the position information sequence, the corresponding points can be drawn in the plane rectangular coordinate system. Repeat the above steps until the points corresponding to each position information are drawn, and an image composed of multiple discrete points can be obtained. This image is the initial discrete image.

[0090] S320: Perform a connection process on the initial discrete image to obtain the geomagnetic range image.

[0091] Optionally, since each position information in the position information sequence is the position of a point obtained after the target robot rotates in place, these points can be connected to form a circle, and the obtained circular image is the geomagnetic range image.

[0092] To more clearly show the process of obtaining the geomagnetic range image, the following is to explain the process of obtaining the geomagnetic range image through a schematic diagram of specific changes.

[0093] Figure 4 For the schematic diagram of the geomagnetic range image provided by the embodiment of the present application, please refer to Figure 4 , where the left sub-graph a is the initial discrete image, and the right sub-graph b is the geomagnetic range image. The initial discrete image is an image composed of multiple discrete points, and the geomagnetic range image is a circular image.

[0094] The following is to explain another specific implementation process for updating the geomagnetic position range of the target robot in the embodiment of the present application.

[0095] Figure 5 For another process schematic diagram of the geomagnetic correction method of the robot provided by the embodiment of the present application, please refer to Figure 5 , and update the geomagnetic position range of the target robot according to the projection data in the geomagnetic range image, including:

[0096] S510: Perform a projection process on the geomagnetic range image to obtain new geomagnetic conversion parameters, a horizontal range, and a vertical range.

[0097] Optionally, after obtaining the geomagnetic range image, a projection process can be performed on the image to respectively obtain new geomagnetic conversion parameters, a horizontal range, and a vertical range. Among them, the new geomagnetic conversion parameters can be determined according to the position of the center of the circle and the origin in the image, and the horizontal range and the vertical range can be determined based on the results of the projection process.

[0098] S520: Determine the updated geomagnetic position range based on the horizontal range and the vertical range and update the pre-configured geomagnetic conversion parameters to the new geomagnetic conversion parameters.

[0099] Optionally, after obtaining the new geomagnetic conversion parameters, the horizontal range, and the vertical range, an updated geomagnetic position range can be determined based on the horizontal range and the vertical range. Specifically, the preset geomagnetic position range can be replaced with the above-mentioned horizontal range and vertical range to determine the updated geomagnetic position range.

[0100] In addition, the pre-configured geomagnetic conversion parameters can be updated to the new geomagnetic conversion parameters, that is, the new geomagnetic conversion parameters are used to replace the pre-configured geomagnetic conversion parameters in subsequent calculations.

[0101] The following explains the specific implementation process for determining the range in the embodiments of the present application.

[0102] Figure 6 Another flowchart of the geomagnetic calibration method for the robot provided by the embodiments of the present application is shown in Figure 6 , perform projection processing on the geomagnetic range image to obtain new geomagnetic conversion parameters, a horizontal range, and a vertical range, including:

[0103] S610: Determine the center position of the geomagnetic range image, and determine the new geomagnetic conversion parameters based on the center position and the origin position.

[0104] Optionally, the center position of the geomagnetic range image can be obtained from the geomagnetic range image. The center position can be specifically represented by the horizontal and vertical coordinates. After obtaining the center position, the new geomagnetic conversion parameters can be determined through the center position and the origin position.

[0105] S620: Translate the geomagnetic range image so that the center position of the geomagnetic range image is the origin position.

[0106] Optionally, the geomagnetic range image can be translated, specifically, it can be translated along the line connecting the center position and the origin position of the geomagnetic range image towards the origin position until the center position of the geomagnetic range image is translated to the origin position.

[0107] After the above translation processing, projection processing can be performed, specifically, the translated geomagnetic range image can be projected onto the horizontal axis and the vertical axis respectively.

[0108] S630: Project the translated geomagnetic range image onto the horizontal axis to obtain the horizontal range.

[0109] S640: Project the translated geomagnetic range image onto the vertical axis to obtain the vertical range.

[0110] Optionally, the translated geomagnetic range image can be projected onto the horizontal axis (x-axis) to obtain the range after the horizontal projection of the circular image, and this range is the horizontal range; correspondingly, the translated geomagnetic range image can be projected onto the vertical axis (y-axis) to obtain the range after the vertical projection of the circular image, and this range is the vertical range.

[0111] It should be noted that to ensure the accuracy of calibration, the calculation can be performed continuously for multiple times, for example: 50 times. If the range obtained each time does not exceed the preset error interval, it can be considered that the calibration result is relatively stable, and thus the calibration can be completed; on the contrary, if there is a calculated range that exceeds the preset error interval, it can be determined that the calibration is unstable, and the foregoing calibration steps can be repeated until the preset error interval is satisfied.

[0112] Next, the specific implementation process of range determination in the embodiments of the present application will be explained.

[0113] Figure 7 Another flowchart of the geomagnetic calibration method for the robot provided by the embodiments of the present application is shown in Figure 7 , and it is determined whether the current position information collected by the geomagnetic sensor exceeds the preset geomagnetic position range based on the pre-configured geomagnetic conversion parameters, including:

[0114] S710: Convert the current position information into standard position information according to the pre-configured geomagnetic conversion parameters.

[0115] Optionally, after the geomagnetic sensor collects the current position information, the current position information can be converted into standard position information based on the pre-configured geomagnetic conversion parameters, and the standard position information can specifically be obtained by performing a translation process on the current position information.

[0116] It should be noted that the geomagnetic conversion parameters can specifically be represented by the angle between the line connecting the center position and the origin position and the x-axis.

[0117] S720: Determine whether the standard position information exceeds the preset geomagnetic position range.

[0118] Optionally, after obtaining the standard position information, it can be determined whether it exceeds the preset geomagnetic position range based on the positions of the abscissa and ordinate in the standard position information.

[0119] If the abscissa x and ordinate y corresponding to the standard position information are within the range intervals of x and y indicated by the preset geomagnetic position range, it can be indicated that it does not exceed the preset geomagnetic position range; on the contrary, if any one of the abscissa x and ordinate y corresponding to the standard position information exceeds the range intervals of x and y indicated by the preset geomagnetic position range, it can be indicated that it exceeds the preset geomagnetic position range.

[0120] The following explains the specific implementation process of obtaining the position information sequence in the embodiments of the present application.

[0121] Figure 8 Another schematic flowchart of the geomagnetic correction method for the robot provided in the embodiments of the present application is shown in Figure 8 , and obtaining a position information sequence during the rotation of the geomagnetic sensor along with the target robot, including:

[0122] S810: Control the target robot to rotate a preset angle from the initial position.

[0123] Optionally, when obtaining the position information sequence during the rotation of the geomagnetic sensor along with the target robot, specifically, the target robot can be first controlled to rotate a preset angle from the initial position. The preset angle can be, for example, 360 degrees, and the initial position can be, for example, the position where the target robot is located before rotation.

[0124] S820: Collect multiple position information during the rotation of the geomagnetic sensor according to the pre-configured acquisition frequency.

[0125] Optionally, the acquisition frequency can be pre-configured. The target robot can rotate at a constant speed, and thus multiple position information can be obtained through the geomagnetic sensor according to the pre-configured acquisition frequency. For example: the position information can be read every 15 degrees of rotation.

[0126] S830: Combine the multiple collected position information into a position information sequence according to the acquisition time sequence.

[0127] Optionally, the multiple position information collected each time can be combined into a position information sequence in the order of acquisition time. Each position information corresponding to the horizontal and vertical coordinates can be recorded in sequence according to the acquisition order.

[0128] The following explains the device, equipment, storage medium, etc. corresponding to the geomagnetic correction method for the robot provided in the present application for execution. For the specific implementation process and technical effects, refer to the above, and the following will not be elaborated.

[0129] Figure 9 The structural schematic diagram of the geomagnetic correction device for the robot provided in the embodiments of the present application is shown in Figure 9 , the geomagnetic correction device for the robot includes: a determination module 910, an acquisition module 920, and a correction module 930;

[0130] The determination module 910 is configured to determine whether the current position information exceeds the preset geomagnetic position range based on the pre-configured geomagnetic conversion parameters. The geomagnetic position range is used to indicate the range of position information that the geomagnetic sensor can measure;

[0131] If so, an acquisition module 920 is configured to acquire a sequence of position information of a geomagnetic sensor during the rotation of a target robot, where the sequence of position information includes a plurality of position information;

[0132] A calibration module 930 is configured to update the geomagnetic position range of the target robot based on the sequence of position information.

[0133] Optionally, the calibration module 930 is specifically configured to establish a geomagnetic range image based on the sequence of position information; and update the geomagnetic position range of the target robot based on the projection data in the geomagnetic range image.

[0134] Optionally, the calibration module 930 is specifically configured to determine an initial discrete image based on the horizontal and vertical coordinates of each position information in the sequence of position information; and perform a connection process on the initial discrete image to obtain a geomagnetic range image.

[0135] Optionally, the calibration module 930 is specifically configured to perform a projection process on the geomagnetic range image to obtain new geomagnetic conversion parameters, a horizontal range, and a vertical range; determine an updated geomagnetic position range based on the horizontal range and the vertical range, and update the preconfigured geomagnetic conversion parameters to the new geomagnetic conversion parameters.

[0136] Optionally, the calibration module 930 is specifically configured to determine the center position of the geomagnetic range image, and determine new geomagnetic conversion parameters based on the center position and the origin position; translate the geomagnetic range image so that the center position of the geomagnetic range image is the origin position; project the translated geomagnetic range image onto the horizontal axis to obtain a horizontal range; and project the translated geomagnetic range image onto the vertical axis to obtain a vertical range.

[0137] Optionally, the determination module 910 is specifically configured to convert the current position information into standard position information according to the preconfigured geomagnetic conversion parameters; and determine whether the standard position information exceeds a preset geomagnetic position range.

[0138] Optionally, the acquisition module 920 is specifically configured to control the target robot to rotate a preset angle from an initial position; acquire a plurality of position information of the geomagnetic sensor during the rotation according to a preconfigured acquisition frequency; and combine the acquired plurality of position information into a sequence of position information in the order of acquisition time.

[0139] In a geomagnetic correction device of a robot provided by an embodiment of the present application, it is possible to first determine whether the current position information exceeds a preset geomagnetic position range based on preconfigured geomagnetic conversion parameters. Then, under the condition that the preset geomagnetic position range is exceeded, a position information sequence during the rotation of a geomagnetic sensor with respect to a target robot is obtained, and the geomagnetic position range of the target robot is updated based on the position information sequence, thereby realizing the geomagnetic correction of the robot, avoiding abnormal position information collected due to errors in the geomagnetic position range during the operation of the robot, and improving the accuracy of the geomagnetic sensor of the robot in determining position information.

[0140] The above device is used to execute the method provided by the foregoing embodiment, and its implementation principle and technical effects are similar, and will not be elaborated here.

[0141] The above modules may be one or more integrated circuits configured to implement the above method. For example: one or more application specific integrated circuits (ASICs), or, one or more microprocessors, or, one or more field programmable gate arrays (FPGAs), etc. Again, when a certain module above is implemented in the form of a processing element dispatching program code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processors that can call program code. Again, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0142] Figure 10 For the structural schematic diagram of the computer device provided by the embodiment of the present application, please refer to Figure 10 A computer device, including: a memory 110 and a processor 120. A computer program that can run on the processor 120 is stored in the memory 110. When the processor 120 executes the computer program, the steps of the geomagnetic correction method of the robot are implemented.

[0143] Optionally, the above computer device may specifically be a controller in a robot.

[0144] On the other hand, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the geomagnetic correction method of the robot are implemented.

[0145] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections between each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be in electrical, mechanical or other forms.

[0146] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0147] In addition, each functional unit in various embodiments of the present invention can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0148] The above-mentioned integrated units implemented in the form of software functional units can be stored in a computer-readable storage medium. The above-mentioned software functional units stored in a storage medium include several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to execute some steps of the methods in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (English: Read-Only Memory, abbreviated as: ROM), random access memories (English: Random Access Memory, abbreviated as: RAM), magnetic disks or optical discs that can store program codes.

[0149] The above is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed in this application can easily think of changes or substitutions, which should all be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

[0150] The above are only the preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A geomagnetic correction method for a robot, characterized in that, Including: Determine whether the current position information exceeds a preset geomagnetic position range based on pre-configured geomagnetic conversion parameters, where the geomagnetic position range is used to indicate the range of position information measurable by a geomagnetic sensor; If so, obtain a sequence of position information during the rotation of the geomagnetic sensor with the target robot, where the sequence of position information includes multiple pieces of position information; Update the geomagnetic position range of the target robot based on the sequence of position information; The updating the geomagnetic position range of the target robot based on the sequence of position information includes: Establish a geomagnetic range image based on the sequence of position information; Perform projection processing on the geomagnetic range image to obtain new geomagnetic conversion parameters, a horizontal range, and a vertical range; Determine the updated geomagnetic position range based on the horizontal range and the vertical range, and update the pre-configured geomagnetic conversion parameters to the new geomagnetic conversion parameters.

2. The geomagnetic correction method of the robot according to claim 1, characterized in that, The establishing a geomagnetic range image based on the sequence of position information includes: Determine an initial discrete image based on the horizontal and vertical coordinates of each piece of position information in the sequence of position information; Perform a connection process on the initial discrete image to obtain a geomagnetic range image.

3. The geomagnetic correction method of the robot according to claim 1, characterized in that, The performing projection processing on the geomagnetic range image to obtain new geomagnetic conversion parameters, a horizontal range, and a vertical range includes: Determine the center position of the geomagnetic range image, and determine new geomagnetic conversion parameters based on the center position and the origin position; Translate the geomagnetic range image so that the center position of the geomagnetic range image is the origin position; Project the translated geomagnetic range image onto the horizontal axis to obtain a horizontal range; Project the translated geomagnetic range image onto the vertical axis to obtain a vertical range.

4. The geomagnetic correction method of the robot according to claim 1, wherein, The determining whether the current position information collected by the geomagnetic sensor exceeds a preset geomagnetic position range based on pre-configured geomagnetic conversion parameters includes: Convert the current position information into standard position information according to the pre-configured geomagnetic conversion parameters; Determine whether the standard position information exceeds a preset geomagnetic position range.

5. The geomagnetic correction method of the robot according to claim 1, characterized in that, The obtaining a sequence of position information during the rotation of the geomagnetic sensor with the target robot includes: Control the target robot to rotate a preset angle from an initial position; Collect multiple pieces of position information during the rotation of the geomagnetic sensor at a pre-configured acquisition frequency; Combine the multiple pieces of position information collected in the order of acquisition time into the sequence of position information.

6. A geomagnetic correction device for a robot, characterized in that Including: A determination module, an acquisition module, and a calibration module; The determination module is configured to determine whether the current position information exceeds a preset geomagnetic position range based on pre-configured geomagnetic conversion parameters, where the geomagnetic position range is used to indicate the range of position information measurable by a geomagnetic sensor; If so, the acquisition module is configured to obtain a sequence of position information during the rotation of the geomagnetic sensor with the target robot, where the sequence of position information includes multiple pieces of position information; The calibration module is configured to update the geomagnetic position range of the target robot based on the sequence of position information; The calibration module is specifically configured to establish a geomagnetic range image based on the sequence of position information; Performing projection processing on the geomagnetic range image to obtain new geomagnetic conversion parameters, a lateral range, and a longitudinal range; Determining an updated geomagnetic position range based on the lateral range and the longitudinal range, and updating the preconfigured geomagnetic conversion parameters to the new geomagnetic conversion parameters.

7. A computer device, characterized in that, Including: A memory and a processor, wherein the memory stores a computer program that can run on the processor, and when the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium, characterized in that, A computer program is stored on the storage medium, and when the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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