Calibration method and device, storage medium, program product and mobile robot

Abstract

The application provides a calibration method and device, a storage medium, a program product and a mobile robot, and belongs to the technical field of mobile robots. The calibration method of the mobile robot comprises the following steps: acquiring initial position information of the mobile robot; controlling the mobile robot to perform a preset motion operation, and acquiring updated position information of the mobile robot after the motion; and determining a steering wheel parameter of the mobile robot according to the initial position information and the updated position information.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mobile robots, in particular to a calibration method and device, a storage medium, a program product and a mobile robot. BACKGROUND

[0002] In the related art, an autonomous mobile robot (AMR) with a steering wheel omnidirectional self-moving mobile robot (AMR) realizes 360° translation movement through the self-rotation characteristics of the steering wheel, and has the characteristics of high flexibility and good adaptability.

[0003] In order to realize accurate movement, the zero position, wheel track and wheel diameter of the steering wheel need to be used, and these parameters are generally pre-set according to the parameters of the mobile robot during production. Due to production and assembly errors and other problems, manual calibration of these parameters is required, which is low in efficiency. SUMMARY

[0004] The present application aims to at least solve one of the problems in the prior art or related art.

[0005] To this end, a first aspect of the present application provides a calibration method of a mobile robot.

[0006] A second aspect of the present application provides a calibration device of a mobile robot.

[0007] A third aspect of the present application provides a calibration device of a mobile robot.

[0008] A fourth aspect of the present application provides a readable storage medium.

[0009] A fifth aspect of the present application provides a computer program product.

[0010] A sixth aspect of the present application provides a mobile robot.

[0011] Therefore, the first aspect of the present application provides a calibration method of a mobile robot, comprising: obtaining initial position information of the mobile robot; controlling the mobile robot to perform a preset movement operation, and obtaining updated position information of the mobile robot after movement; determining steering wheel parameters of the mobile robot according to the initial position information and the updated position information.

[0012] In this technical solution, the mobile robot is specifically an autonomous mobile robot (AMR) with a steering wheel omnidirectional self-moving mobile robot, i.e. an AMR mobile robot, which comprises a body and a steering wheel, and the steering wheel is arranged below the body to drive the movement of the mobile robot. Since the steering wheel can freely adjust the direction, it can realize 360° translation movement.

[0013] When the AMR mobile robot moves, the steering wheel needs to be controlled to change the orientation and rotate according to the steering wheel parameters such as the wheel diameter, the wheel track and the orientation angle, so as to control the AMR mobile robot to move accurately. In the related art, since the steering wheel of the mobile robot is produced and installed according to the pre-designed specification parameters when the mobile robot is produced, the steering wheel parameters of the mobile robot are pre-set.

[0014] However, due to the limitations of the production process and the assembly process, errors may occur in the production and installation of the steering wheel, so there may be errors between the pre-set steering wheel parameters and the actual situation. At this time, the correct steering wheel parameters need to be measured and calibrated manually, which is low in efficiency.

[0015] To solve the above problems, the embodiments of the present application can control the mobile robot to perform a set movement operation, and automatically calibrate the real parameters of the steering wheel of the mobile robot according to the position change of the mobile robot before and after performing the movement operation, thereby improving the calibration efficiency of the steering wheel parameters.

[0016] Specifically, when automatically calibrating the steering wheel parameters of the mobile robot, first, the initial position information of the mobile robot at the current position is obtained, which is the position information of the mobile robot before performing the preset movement operation.

[0017] Exemplarily, the initial position information can include the coordinates and the attitude angle of the mobile robot at the current position. For example, the data format of the initial position information can be (x, y, θ), wherein x and y are coordinates, and θ is an attitude angle.

[0018] After obtaining the initial position information, the mobile robot performs a preset movement operation according to the set program, taking the position corresponding to the initial position information as the starting point. The preset movement operation can be moving forward n meters or rotating m degrees in place.

[0019] After performing the preset movement operation, the mobile robot repositions to obtain the updated position information of the position reached by the mobile robot after the movement.

[0020] Suppose the preset movement operation is to move 3 meters along the x-axis in the coordinate system of the mobile robot. If the real steering wheel parameters of the mobile robot match the standard steering wheel parameters pre-set at the factory, the difference between the updated position information of the mobile robot after the movement and the initial position information should be that the x-coordinate difference is 3 meters, and the attitude angle and the y-coordinate remain unchanged.

[0021] In fact, the x coordinate, the y coordinate and the attitude angle of the mobile robot may be deviated in the updated position after the mobile robot performs the preset motion operation. Therefore, the position deviation of the mobile robot after performing the preset motion is determined based on the initial position information and the updated position information, and the real steering wheel parameters of the mobile robot are determined based on the position deviation and the set structure and the kinematic model of the AMR mobile robot, so that the automatic calibration of the steering wheel parameters of the mobile robot is realized.

[0022] The embodiment of the application can automatically perform the preset motion operation of the mobile robot, and automatically calibrate the real steering wheel parameters of the mobile robot according to the position information before and after the motion of the mobile robot, without manual calibration of the steering wheel parameters of the mobile robot, thereby improving the calibration efficiency of the steering wheel parameters of the mobile robot.

[0023] In addition, the calibration method of the mobile robot in the above technical solution provided by the application can have the following additional technical features:

[0024] In some technical solutions, the steering wheel parameters can include an orientation angle, and the orientation angle is the included angle between the orientation direction of the steering wheel and the preset direction.

[0025] In the technical solution, the mobile robot includes a body, and the body is connected to the steering wheel through a rotating shaft. The direction of the rotation of the wheel body of the steering wheel is defined as the orientation of the steering wheel, and the width direction or the length direction of the mobile robot when it is stationary is defined as the preset direction, so that the included angle between the orientation of the steering wheel and the preset direction is the orientation angle of the steering wheel.

[0026] It can be understood that the preset direction can also be the x-axis direction or the y-axis direction in the coordinate system of the mobile robot, and the embodiment of the application does not limit this.

[0027] When the mobile robot is in an initial state, such as a standby state, the orientation angle of the steering wheel of the mobile robot should be 0°, but due to the existence of assembly errors and the like, the actual angle between the orientation direction of the steering wheel of the mobile robot in the initial state and the preset direction can not be 0°, so it is necessary to zero the orientation angle of the mobile robot.

[0028] Therefore, by controlling the mobile robot to perform the preset motion operation, the orientation angle of the steering wheel of the mobile robot is determined according to the position change of the mobile robot before and after the motion, so that the automatic zeroing of the steering wheel of the mobile robot is realized, and the motion accuracy of the mobile robot is improved.

[0029] In some technical solutions, the updated position information can include first position information, the preset motion operation can include moving a preset distance to a target direction, and the first position information can be the position information of the mobile robot after moving the preset distance.

[0030] According to the initial position information and the updated position information, the steering wheel parameters of the mobile robot are determined, including: according to the initial position information and the first position information, determining a first offset of the mobile robot in a first direction, a second offset of the mobile robot in a second direction, and a first attitude angle offset, wherein the first direction is perpendicular to the second direction; and determining a heading angle according to the first offset, the second offset, the first attitude angle offset, and a preset wheel base.

[0031] In this technical solution, the updated position information includes the first position information, which is the position of the mobile robot after the mobile robot is controlled to perform a preset motion operation, specifically, the mobile robot is controlled to walk a preset distance in the first direction.

[0032] The first direction can be set as the x-axis direction of the mobile robot coordinate system, or can be set as the y-axis direction of the mobile robot coordinate system. Hereinafter, the first direction is taken as the y-axis direction of the mobile robot coordinate system as an example.

[0033] Exemplarily, when determining the heading angle of the steering wheel of the mobile robot, the mobile robot is first controlled to walk a preset distance along the y-axis. Assuming that the preset distance is 3 meters, the displacement y of the mobile robot in the first direction is defined as 3 meters. model .

[0034] Let the initial position information be (x s , y s , θ s ), and the first position information be (x e , y e , θ e ), then the first offset y real = y e -y s , the second offset δx real =x e -x s , and the first attitude angle offset δθ real = θ e - θ s .

[0035] Assuming that the mobile robot has two steering wheels, a first steering wheel and a second steering wheel, and the straight-line distance between the wheel axes of the first steering wheel and the second steering wheel is defined as the wheel base. According to the collection structure and kinematics model of the AMR mobile robot, the following is satisfied:

[0036]

[0037]

[0038]

[0039]

[0040]

[0041] wherein, δθ real is the first attitude angle offset, and δθ real = θ e - θ s , y real is the first offset, and y real = y e - y s , δx real is the second offset, and δx real = x e - x s , (x s , y s , θ s ) is the initial position information, (x e , y e , θ e ) is the first position information, R real is the real wheel diameter of the steering wheel, D real is the wheel base, θ l is the orientation angle of the first steering wheel, θ r is the orientation angle of the second steering wheel, T is the time for the mobile robot to move a preset distance, ω is the angular velocity of the steering wheel, y model is the preset distance, and R model is the preset wheel diameter.

[0042] From the above formula operation transformation, we can obtain:

[0043]

[0044]

[0045] wherein, θ l is the orientation angle of the first steering wheel, θ r is the orientation angle of the second steering wheel, y real is the first offset, and y real = y e - y s , δx real is the second offset, and δx real = x e - x s , δθ real is the first attitude angle offset, and δθ real = θ e - θ s , D model is the preset wheel base.

[0046] The embodiment of the application can automatically complete the calibration of the real steering wheel orientation angle, and improve the calibration efficiency of the steering wheel parameters.

[0047] In some technical solutions, the steering wheel parameters further include a wheel diameter, and the wheel diameter is the radius of the steering wheel; and the method further includes: determining the wheel diameter according to the second offset, the preset distance and the preset wheel diameter.

[0048] In the technical solution, the steering wheel parameters include the wheel diameter, and the wheel diameter is specifically the radius of the steering wheel. Specifically, in the production process of the mobile robot, the steering wheel of the mobile robot is produced according to standard parameters, and the standard wheel diameter of the steering wheel is recorded as a preset wheel diameter.

[0049] Due to errors in the production process, there may be errors between the diameter of the steering wheel and the preset wheel diameter.

[0050] The embodiment of the application determines the real wheel diameter according to the position information of the mobile robot before and after walking, i.e., the initial position information and the first position information, by controlling the mobile robot to walk in the first direction by the preset distance.

[0051] Specifically, assuming that the initial position information is (x s , y s , θ s ), the first position information is defined as (x e , y e , θ e ), and the first offset y real = y e -y s , based on the deformation result of the set structure and the kinematic model of the AMR mobile robot, the following is satisfied:

[0052]

[0053] wherein R real is the real wheel diameter of the steering wheel, R model is the preset wheel diameter, y model is the preset distance, y real is the first offset, and y real =y e -y s .

[0054] The embodiment of the application can automatically complete the calibration of the real wheel diameter of the steering wheel, and improve the calibration efficiency of the steering wheel parameters.

[0055] Optionally, after the heading angle is determined according to the first offset, the second offset, the first attitude angle offset and the preset wheel base, the method further comprises: setting the zero position of the steering wheel according to the heading angle.

[0056] In this technical solution, the heading angle of the steering wheel of the mobile robot should be 0°, but due to the existence of assembly errors and the like, the actual angle between the heading direction of the steering wheel of the mobile robot in the initial state and the preset direction may not be 0°, therefore, after the real heading angle of the steering wheel of the mobile robot is obtained, the zero position of the steering wheel is reset based on the real heading angle, which can make the steering wheel zero position match the real situation and improve the walking accuracy of the mobile robot.

[0057] In some technical solutions, the steering wheel comprises a first steering wheel and a second steering wheel, and the steering wheel parameter further comprises a wheel base, the wheel base being the distance between the first steering wheel and the second steering wheel; the updated position information comprises second position information, and the preset motion operation comprises rotating a preset angle after the zero position is set, the second position information being the position information of the mobile robot after rotating the preset angle; and the method of determining the steering wheel parameter of the mobile robot according to the initial position information and the updated position information further comprises: determining a second attitude angle offset of the mobile robot according to the first position information and the second position information; and determining the wheel base according to the second attitude angle offset, the preset angle, the preset wheel diameter, the wheel diameter and the preset wheel base.

[0058] In this technical solution, the steering wheel of the mobile robot comprises a first steering wheel and a second steering wheel, and the straight-line distance between the wheel shaft of the first steering wheel and the wheel shaft of the second steering wheel is defined as the wheel base.

[0059] The updated position comprises second position information, which is the position information of the mobile robot after the mobile robot is controlled to perform the preset motion operation, specifically, the mobile robot is controlled to rotate a preset angle in place.

[0060] Exemplarily, the preset angle is 180°.

[0061] Suppose the first position information of the mobile robot before rotating in place is (x e , y e , θ e ), and the second position information of the mobile robot after rotating 180° in place is (x f , y f , θ f ), then the movement distance of the mobile robot in the y-axis direction after rotating, i.e. the first offset, is δy real =y f -y e , and the movement distance of the mobile robot in the x-axis direction, i.e. the second offset, is δx real =x f -xe , the change of the attitude angle, i.e., the first attitude angle offset δθ real = θ f - θ e .

[0062] According to the collective structure and kinematic model of the AMR mobile robot, the following is satisfied:

[0063]

[0064]

[0065]

[0066]

[0067] wherein δx real is the second offset, δy real is the moving distance of the mobile robot in the y-axis direction, R real is the real wheel diameter, i.e., the wheel diameter obtained in the above embodiment, R model is the preset wheel diameter, θ l is the orientation angle of the first steering wheel, θ r is the orientation angle of the second steering wheel, T is the time used by the mobile robot to perform the rotating motion operation by a preset angle, ω is the angular velocity of the steering wheel, θ model is the preset angle, D real is the wheel base, specifically the real wheel base, D model is the preset wheel base.

[0068] According to the above formula operation transformation, the following can be obtained:

[0069]

[0070] wherein D real is the wheel base, specifically the real wheel base, θ model is the preset angle, R real is the real wheel diameter, R model is the preset wheel diameter.

[0071] The embodiment of the present application can automatically complete the calibration of the real wheel base of the steering wheel, and improve the calibration efficiency of the steering wheel parameters.

[0072] In some technical solutions, optionally, the calibration method further includes: determining the difference value of the orientation angles of the first steering wheel and the second steering wheel; and in the case that the difference value of the orientation angles is greater than a preset threshold, re-executing the step of determining the steering wheel parameters of the mobile robot according to the initial position information and the updated position information.

[0073] In the technical solution, in an ideal state, the two steering wheels of the mobile robot, i.e., the first steering wheel and the second steering wheel, are parallel to each other, so the first orientation angle of the first steering wheel should be equal to the second orientation angle of the second steering wheel.

[0074] Due to errors in production and assembly, the first orientation angle is not equal to the second orientation angle, so the real orientation angles of the two steering wheels can be determined, and the orientation angles of the first steering wheel and the second steering wheel are zeroed according to the real orientation angles, and the real steering wheel parameters of the steering wheels are calibrated.

[0075] The orientation angle difference can be calculated by the following formula:

[0076]

[0077] Wherein, |θ l -θ r | is the orientation angle difference, δy real is the movement distance of the mobile robot in the y-axis direction after rotation, and δy real =y f -y e , θ real is the second attitude angle offset, D real is the wheel base.

[0078] Since the operation of controlling the movement of the mobile robot and the positioning operation of the mobile robot also have errors, the calibration process of the steering wheel parameters of the mobile robot is a cyclic iteration process.

[0079] Specifically, after calibrating the steering wheel parameters, the orientation angle difference of the first steering wheel and the second steering wheel, i.e., the difference between the zeroed first orientation angle and the second orientation angle, is determined. If the orientation angle difference is less than or equal to a preset threshold, it means that the calibration and adjustment of the steering wheel parameters are completed, and the mobile robot can realize high-precision walking.

[0080] If the orientation angle difference is greater than the preset threshold, it means that the calibration and adjustment do not meet the requirements, and the steps of determining the steering wheel parameters of the mobile robot according to the initial position information and the updated position information are re-executed, i.e., the steering wheel parameters of the mobile robot are re-calibrated.

[0081] Specifically, the repeated calibration process is also a cyclic iteration process of the steering wheel parameters. Assuming that in the n-th calibration process, the wheel base D real (n) and the wheel diameter R real (n) are obtained, in the n+1-th calibration process, the iteration formula of the orientation angle is determined as:

[0082]

[0083]

[0084] Where, θ l Let θ be the orientation angle of the first steering wheel. r The y-angle is the orientation angle of the second steering wheel. real The first offset is y real =y e -y s ,δx real This is the second offset, and δx real =x e -x s ,δθ real Let δθ be the first attitude angle offset. real =θ e -θ s D real (n) represents the actual wheel track obtained during the nth calibration process.

[0085] Similarly, the formula for determining the wheelbase is iterated as follows:

[0086]

[0087] Among them, D real The track width is θ, specifically the actual track width. model R is the preset angle. real (n) represents the actual wheel diameter obtained during n calibration cycles, R model This is the preset wheel diameter.

[0088] It is understandable that during the (n+2)th calibration process, the formula for determining the orientation angle iterates as follows:

[0089]

[0090]

[0091] Where, θ l Let θ be the orientation angle of the first steering wheel. r The y-angle is the orientation angle of the second steering wheel. real The first offset is y real =y e -y s ,δx real This is the second offset, and δx real =x e -x s ,δθ real Let δθ be the first attitude angle offset. real =θ e -θ s D real (n+1) represents the actual wheel track obtained during the (n+1)th calibration process.

[0092] Similarly, the formula for determining the wheel track is iterated as follows:

[0093]

[0094] where D is the wheel track, specifically the real wheel track, θ is the preset angle, R n is the real wheel diameter obtained in the n th calibration process, and R is the preset wheel diameter. real model real model

[0095] Similarly, until the difference in the heading angle | θ n+1 - θ n | is less than the preset threshold. l r

[0096] The embodiments of the present application can improve the accuracy of calibrating the steering wheel parameters and the movement precision of the mobile robot after calibration by cyclically iterating the calibration process of the steering wheel parameters.

[0097] In some embodiments, the mobile robot comprises an image sensor configured to capture image information of the positioning mark, and the initial position information and the updated position information are determined based on the image information.

[0098] In the embodiments of the present application, the mobile robot comprises an image sensor arranged at the lower part of the mobile robot body. When calibrating the steering wheel parameters of the mobile robot, positioning identification codes are arranged at the initial position of the mobile robot and the target position of the preset movement operation. The mobile robot can capture the positioning identification codes by the image sensor, and obtain the corresponding initial position information and updated position information based on the captured image information.

[0099] In some embodiments, the mobile robot comprises a body, a first target ball and a second target ball. The first target ball and the second target ball are arranged on the body and distributed along a preset direction. The initial position information comprises a first coordinate of the first target ball and a second coordinate of the second target ball. The updated position information comprises a third coordinate of the first target ball and a fourth coordinate of the second target ball.

[0100] In this embodiment, the mobile robot comprises a body, and a steering wheel arranged below the body to drive the movement of the mobile robot. The body further comprises a first target ball and a second target ball, which are distributed along a preset direction.

[0101] Suppose the preset direction is the y-axis direction in the coordinate system of the mobile robot. The first target ball and the second target ball can be distributed along the y-axis, wherein the arrangement heights of the first target ball and the second target ball can be the same or different.

[0102] ​​​​​​In the positioning of the mobile robot, the coordinates of the first target ball and the second target ball can be tracked by a laser tracker. The first coordinate of the first target ball and the second coordinate of the second target ball before the mobile robot performs the preset motion operation are determined as initial position information, and the third coordinate of the first target ball and the fourth coordinate of the second target ball after the mobile robot performs the preset operation are determined as updated position information.

[0103] Exemplarily, the first coordinate is The second coordinate is The third coordinate is The fourth coordinate is

[0104] In some technical solutions, optionally, according to the initial position information and the first position information, the first offset in the first direction, the second offset in the second direction and the first attitude angle offset of the mobile robot are determined, comprising: determining a target vector according to the first coordinate, the second coordinate, the third coordinate and the fourth coordinate; determining the first offset, the second offset and the first attitude angle offset according to the target vector.

[0105] In this technical solution, when the first position information includes the first coordinate and the second coordinate, and the second position information includes the third coordinate and the fourth coordinate, the target vector is defined, and the target vector includes:

[0106]

[0107]

[0108]

[0109] Wherein, The first coordinate is The second coordinate is The third coordinate is The fourth coordinate is The target vector is

[0110] After obtaining the target vector, the first offset, the second offset and the first attitude angle offset are further determined.

[0111] Specifically, after the mobile robot moves a preset distance in the first direction, the first offset, the second offset and the first attitude angle offset are determined by the following formula:

[0112]

[0113]

[0114]

[0115] wherein, is a first coordinate, is a second coordinate, is a third coordinate, is a fourth coordinate, is a target vector, δθ real is a first attitude angle offset, y real is a first offset, δx real is a second offset.

[0116] After the mobile robot moves a preset distance in the first direction and then rotates a preset angle in place, if the mobile robot rotates clockwise, the second attitude angle offset is calculated by the following formula:

[0117]

[0118] wherein, θ real is a second attitude angle offset, is a target vector.

[0119] After the mobile robot moves a preset distance in the first direction and then rotates a preset angle in place, if the mobile robot rotates counterclockwise, the second attitude angle offset is calculated by the following formula:

[0120]

[0121] wherein, θ real is a second attitude angle offset, is a target vector.

[0122] The second aspect of the present application provides a calibration device for a mobile robot, comprising: an acquisition module configured to acquire initial position information of the mobile robot; a control module configured to control the mobile robot to perform a preset movement operation and acquire updated position information of the mobile robot after movement; and a calibration module configured to determine steering wheel parameters of the mobile robot based on the initial position information and the updated position information.

[0123] In this technical solution, the mobile robot is specifically a steering wheel omnidirectional autonomous mobile robot, i.e., an AMR mobile robot, which comprises a body and a steering wheel. The steering wheel is arranged below the body and is used to drive the movement of the mobile robot. Since the steering wheel can freely adjust the orientation, it can achieve 360° translational movement.

[0124] When the AMR mobile robot moves, the steering wheel needs to be controlled to change the orientation and rotate according to the steering wheel parameters such as the wheel diameter, the wheel track and the orientation angle, so as to control the AMR mobile robot to move accurately. In the related art, since the steering wheel of the mobile robot is produced and installed according to the pre-designed specification parameters when the mobile robot is produced, the steering wheel parameters of the mobile robot are pre-set.

[0125] However, due to the limitations of the production process and the assembly process, errors may occur in the production and installation of the steering wheel, so there may be errors between the pre-set steering wheel parameters and the actual situation. At this time, the correct steering wheel parameters need to be measured and calibrated manually, which is low in efficiency.

[0126] To solve the above problems, the embodiments of the present application can control the mobile robot to perform a set movement operation, and automatically calibrate the real parameters of the steering wheel of the mobile robot according to the position change of the mobile robot before and after performing the movement operation, thereby improving the calibration efficiency of the steering wheel parameters.

[0127] Specifically, when automatically calibrating the steering wheel parameters of the mobile robot, first, the initial position information of the mobile robot at the current position is obtained, which is the position information of the mobile robot before performing the preset movement operation.

[0128] For example, the initial position information can include the coordinates and the attitude angle of the mobile robot at the current position. For example, the data format of the initial position information can be (x, y, θ), wherein x and y are coordinates, and θ is an attitude angle.

[0129] After obtaining the initial position information, the mobile robot performs a preset movement operation according to the set program, taking the position corresponding to the initial position information as the starting point. The preset movement operation can be moving forward n meters or rotating m degrees in place.

[0130] After performing the preset movement operation, the mobile robot repositions to obtain the updated position information of the position reached by the mobile robot after the movement.

[0131] Suppose the preset movement operation is to move 3 meters along the x-axis in the mobile robot coordinate system. If the real steering wheel parameters of the mobile robot match the standard steering wheel parameters pre-set at the factory, the difference between the updated position information of the mobile robot after the movement and the initial position information should be that the x-coordinate difference is 3 meters, and the attitude angle and the y-coordinate remain unchanged.

[0132] In fact, the x coordinate, the y coordinate and the attitude angle of the mobile robot may be deviated in the updated position after performing the preset motion operation. Therefore, the position deviation of the mobile robot after performing the preset motion is determined based on the initial position information and the updated position information, and the real steering wheel parameters of the mobile robot are determined based on the position deviation and the set structure and the kinematic model of the AMR mobile robot, so that the automatic calibration of the steering wheel parameters of the mobile robot is realized.

[0133] The embodiment of the application automatically performs the preset motion operation of the mobile robot, and automatically calibrates the real steering wheel parameters of the mobile robot according to the position information before and after the motion of the mobile robot, without manual calibration of the steering wheel parameters of the mobile robot, so that the calibration efficiency of the steering wheel parameters of the mobile robot is improved.

[0134] The third aspect of the application provides a calibration device of a mobile robot, which comprises a memory for storing programs or instructions, and a processor for executing the programs or instructions to realize the calibration method provided in any of the above technical solutions, so as to achieve all the technical effects thereof. To avoid repetition, the calibration device will not be described here again.

[0135] The fourth aspect of the application provides a readable storage medium having programs or instructions stored thereon, and the programs or instructions are executed by a processor to realize the calibration method provided in any of the above technical solutions, so as to achieve all the technical effects thereof. To avoid repetition, the readable storage medium will not be described here again.

[0136] The fifth aspect of the application provides a computer program product stored in a storage medium, and the computer program product is executed by at least one processor to realize the calibration method provided in any of the above technical solutions, so as to achieve all the technical effects thereof. To avoid repetition, the computer program product will not be described here again.

[0137] The sixth aspect of the application provides a mobile robot comprising the calibration device of the mobile robot provided in any of the above technical solutions, and / or the readable storage medium provided in any of the above technical solutions, and / or the computer program product provided in any of the above technical solutions, so as to achieve all the technical effects thereof. To avoid repetition, the mobile robot will not be described here again. BRIEF DESCRIPTION OF DRAWINGS

[0138] The above and / or additional aspects and advantages of the application will become apparent and be readily understood from the following description, taken in connection with the accompanying drawings, in which:

[0139] Figure 1 One of the flowcharts of the calibration method of the steering wheel parameters of the mobile robot according to the embodiment of the application is shown;

[0140] Figure 2A structural schematic diagram of a mobile robot according to an embodiment of the present application is shown.

[0141] Figure 3 A flowchart of a second method for calibrating a steering wheel parameter of a mobile robot according to an embodiment of the present application is shown.

[0142] Figure 4 A structural block diagram of a calibration device of a mobile robot according to an embodiment of the present application is shown.

[0143] Figure 5 A structural block diagram of a calibration device of a mobile robot according to an embodiment of the present application is shown.

[0144] Reference signs:

[0145] 200 AMR mobile robot, 202 body, 204 steering wheel, 2042 first steering wheel, 2044 second steering wheel, 206 control circuit board, 208 image sensor. DETAILED DESCRIPTION

[0146] In order to enable a more complete understanding of the above-mentioned objects, features and advantages of the present application, the present application will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0147] In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the present application, but the present application can also be implemented in other ways different from those described herein, and therefore the scope of protection of the present application is not limited by the specific embodiments disclosed below.

[0148] The following refers to Figures 1 to 5 The calibration method and device, storage medium, program product and mobile robot provided according to some embodiments of the present application are described.

[0149] In some embodiments of the present application, a calibration method of a mobile robot is provided, Figure 1 A flowchart of a calibration method of a mobile robot according to an embodiment of the present application is shown, as Figure 1 As shown, the calibration method of the mobile robot comprises:

[0150] Step 102, obtaining initial position information of the mobile robot;

[0151] Step 104, controlling the mobile robot to perform a preset motion operation, and obtaining updated position information of the mobile robot after the motion;

[0152] Step 106, determining a steering wheel parameter of the mobile robot according to the initial position information and the updated position information.

[0153] In the embodiments of the present application, the mobile robot is specifically a steering wheel omnidirectional autonomous mobile robot, that is, an AMR mobile robot, Figure 2 A structural schematic diagram of a mobile robot according to an embodiment of the present application is shown in FIG. 1. Figure 2 As shown in FIG. 1, the AMR mobile robot 200 includes a body 202 and a steering wheel 204, the body 202 is provided with a control circuit board 206, and the steering wheel 204 is arranged below the body 202 to drive the AMR mobile robot 200 to move. Since the steering wheel 204 can be freely adjusted in orientation, the AMR mobile robot 200 can realize 360° translational movement.

[0154] When the AMR mobile robot moves, the steering wheel needs to be controlled to change orientation and rotate according to the steering wheel parameters such as wheel diameter, wheel track and orientation angle, so as to control the AMR mobile robot to move accurately. In the related art, since the steering wheel of the mobile robot is produced and installed according to the pre-designed specification parameters when the mobile robot is produced, the steering wheel parameters of the mobile robot are pre-set.

[0155] However, due to the limitations of production process and assembly process, errors may occur during production and installation of the steering wheel, so there may be errors between the pre-set steering wheel parameters and the actual situation. At this time, the correct steering wheel parameters need to be measured and calibrated manually, which is low in efficiency.

[0156] To solve the above problems, the embodiments of the present application can control the mobile robot to perform a set movement operation, and automatically calibrate the real parameters of the steering wheel of the mobile robot according to the position change of the mobile robot before and after performing the movement operation, thereby improving the calibration efficiency of the steering wheel parameters.

[0157] Specifically, when automatically calibrating the steering wheel parameters of the mobile robot, first, initial position information of the mobile robot at the current position is obtained, which is the position information of the mobile robot before performing a pre-set movement operation.

[0158] For example, the initial position information can include coordinates and an attitude angle of the mobile robot at the current position, such as the data format of the initial position information can be (x, y, θ), wherein x and y are coordinates, and θ is an attitude angle.

[0159] After obtaining the initial position information, the mobile robot performs a pre-set movement operation according to the set program, taking the position corresponding to the initial position information as the starting point. The pre-set movement operation can be moving forward n meters or rotating m degrees in place.

[0160] After performing the pre-set movement operation, the mobile robot repositions to obtain updated position information of the position reached by the mobile robot after the movement operation.

[0161] Suppose the preset motion operation is to move 3 meters along the x-axis direction in the mobile robot coordinate system, if the real steering wheel parameters of the mobile robot match the standard steering wheel parameters preset at factory, the difference between the updated position information of the mobile robot after motion and the initial position information should be that the x-coordinate difference is 3 meters, and the attitude angle and y-coordinate are unchanged.

[0162] However, in the real situation, the x-coordinate, y-coordinate and attitude angle of the mobile robot after performing the preset motion operation may all have deviations. Therefore, based on the initial position information and the updated position information, the position deviations of the mobile robot after performing the preset motion are determined, and based on these position deviations and the set structure and kinematic model of the AMR mobile robot, the real steering wheel parameters of the mobile robot can be determined, so as to realize automatic calibration of the steering wheel parameters of the mobile robot.

[0163] The preset motion operation is automatically performed by the mobile robot, and the real steering wheel parameters of the mobile robot are automatically calibrated according to the position information before and after the motion of the mobile robot, without manual calibration of the steering wheel parameters of the mobile robot, so that the calibration efficiency of the steering wheel parameters of the mobile robot is improved.

[0164] In some embodiments of the present application, optionally, the steering wheel parameters include a heading angle, and the heading angle is an included angle between the heading direction of the steering wheel and a preset direction.

[0165] In the embodiment of the present application, the mobile robot includes a body, and the body is connected to the steering wheel through a rotating shaft. The direction of rotation of the wheel body of the steering wheel is defined as the heading of the steering wheel, and the width direction or the length direction of the mobile robot when stationary is defined as the preset direction, so that the included angle between the heading of the steering wheel and the preset direction is the heading angle of the steering wheel.

[0166] It can be understood that the preset direction can also be the x-axis direction or the y-axis direction in the mobile robot coordinate system, which is not limited in the embodiment of the present application.

[0167] When the mobile robot is in an initial state, such as a standby state, the heading angle of the steering wheel of the mobile robot should be 0°, but due to the existence of assembly errors and the like, the actual angle between the heading direction of the steering wheel of the mobile robot in the initial state and the preset direction may not be 0°, so it is necessary to zero the heading angle of the mobile robot.

[0168] Therefore, by controlling the mobile robot to perform the preset motion operation, the heading angle of the steering wheel of the mobile robot is determined according to the position change of the mobile robot before and after the motion, so that the automatic zeroing of the steering wheel of the mobile robot can be realized, and the motion accuracy of the mobile robot is improved.

[0169] In some embodiments of the present application, the updated position information comprises first position information, the preset motion operation comprises moving a preset distance in a target direction, and the first position information is position information of the mobile robot after moving the preset distance.

[0170] According to the initial position information and the updated position information, the rudder parameters of the mobile robot are determined, comprising: according to the initial position information and the first position information, determining a first offset in a first direction, a second offset in a second direction, and a first attitude angle offset of the mobile robot, wherein the first direction is perpendicular to the second direction; and determining a heading angle according to the first offset, the second offset, the first attitude angle offset, and a preset wheel base.

[0171] In the embodiments of the present application, the updated position information comprises first position information, which is the position of the mobile robot after the mobile robot is controlled to perform a preset motion operation, specifically, after the mobile robot is controlled to travel a preset distance in a first direction.

[0172] The first direction can be set as the x-axis direction of the mobile robot coordinate system, or can be set as the y-axis direction of the mobile robot coordinate system. Hereinafter, the first direction is taken as the y-axis direction of the mobile robot coordinate system as an example.

[0173] For example, when determining the heading angle of the rudder of the mobile robot, the mobile robot is first controlled to travel a preset distance along the y-axis. Assuming that the preset distance is 3 meters, the displacement y of the mobile robot in the first direction is defined as 3 meters. model .

[0174] Suppose the initial position information is (x s , y s , θ s ), and the first position information is (x e , y e , θ e ), then the first offset y real = y e - y s , the second offset δx real = x e - x s , and the first attitude angle offset δθ real = θ e - θ s .

[0175] Suppose the mobile robot has two rudders, namely a first rudder and a second rudder, and the straight-line distance between the wheel axes of the first rudder and the second rudder is defined as the wheel base. According to the collective structure and kinematics model of the AMR mobile robot, the following is satisfied:

[0176]

[0177]

[0178]

[0179]

[0180]

[0181] wherein, δθ real is the first attitude angle offset, and δθ real = θ e - θ s , y real is the first offset, and y real = y e - y s , δx real is the second offset, and δx real = x e - x s , (x s , y s , θ s ) is the initial position information, (x e , y e , θ e ) is the first position information, R real is the real wheel diameter of the steering wheel, D real is the wheel base, θ l is the orientation angle of the first steering wheel, θ r is the orientation angle of the second steering wheel, T is the time for the mobile robot to move a preset distance, ω is the angular velocity of the steering wheel, y model is the preset distance, and R model is the preset wheel diameter.

[0182] From the above formula operation transformation, we can obtain:

[0183]

[0184]

[0185] wherein, θ l is the orientation angle of the first steering wheel, θ r is the orientation angle of the second steering wheel, y real is the first offset, and y real = y e - y s , δx real is the second offset, and δx real = x e - x s, δθ real is a first attitude angle offset, and δθ real = θ e - θ s , D model is a preset wheelbase.

[0186] The embodiment of the present application can automatically complete the calibration of the real steering wheel orientation angle, and improve the calibration efficiency of the steering wheel parameters.

[0187] In some embodiments of the present application, the steering wheel parameters further include a wheel diameter, and the wheel diameter is the radius of the steering wheel; and the determining the steering wheel parameters of the mobile robot according to the initial position information and the updated position information further includes: determining the wheel diameter according to the second offset, the preset distance and the preset wheel diameter.

[0188] In the embodiment of the present application, the steering wheel parameters include a wheel diameter, and the wheel diameter is specifically the radius of the steering wheel. Specifically, in the production process of the mobile robot, the steering wheel of the mobile robot is produced according to standard parameters, and the standard wheel diameter of the steering wheel production is recorded as a preset wheel diameter.

[0189] Due to errors in the production process, there may be errors between the diameter of the steering wheel and the preset wheel diameter.

[0190] The embodiment of the present application determines the real wheel diameter according to the position information before and after the mobile robot moves, i.e., the initial position information and the first position information, by controlling the mobile robot to move in the first direction by a preset distance.

[0191] Specifically, assuming that the initial position information is (x s , y s , θ s ), the first position information is defined as (x e , y e , θ e ), and the first offset y real = y e -y s , based on the deformation result of the set structure and the kinematic model of the AMR mobile robot, the following is satisfied:

[0192]

[0193] wherein R real is the real wheel diameter of the steering wheel, R model is the preset wheel diameter, y model is the preset distance, y real is the first offset, and y real = y e -y s .

[0194] The embodiment of the application can automatically complete the calibration of the real wheel diameter of the steering wheel, and improves the calibration efficiency of the steering wheel parameters.

[0195] In some embodiments of the application, optionally, after the heading angle is determined according to the first offset, the second offset, the first attitude angle offset and the preset wheel base, the method further includes setting the zero position of the steering wheel according to the heading angle.

[0196] In the embodiment of the application, the heading angle of the steering wheel of the mobile robot should be 0°, but due to the existence of assembly errors and the like, the actual angle between the heading direction of the steering wheel of the mobile robot in the initial state and the preset direction may not be 0°, therefore, after the real heading angle of the steering wheel of the mobile robot is obtained, the zero position of the steering wheel is reset based on the real heading angle, which can make the steering wheel zero position match the real situation, and improve the walking accuracy of the mobile robot.

[0197] In some embodiments of the application, optionally, as shown in Figure 2 the steering wheel 204 includes a first steering wheel 2042 and a second steering wheel 2044, the steering wheel parameters further include a wheel base, the wheel base being the distance between the first steering wheel and the second steering wheel; the updated position information includes second position information, the preset motion operation including rotating a preset angle after setting the zero position, the second position information being the position information of the mobile robot after rotating the preset angle; and the determining the steering wheel parameters of the mobile robot according to the initial position information and the updated position information further includes: determining a second attitude angle offset of the mobile robot according to the first position information and the second position information; and determining the wheel base according to the second attitude angle offset, the preset angle, the preset wheel diameter, the wheel diameter and the preset wheel base.

[0198] In the embodiment of the application, the steering wheel of the mobile robot includes a first steering wheel and a second steering wheel, and the straight-line distance between the wheel shaft of the first steering wheel and the wheel shaft of the second steering wheel is defined as the wheel base.

[0199] The updated position includes second position information, which is the position information of the mobile robot after the mobile robot is controlled to perform the preset motion operation, specifically, the mobile robot is controlled to rotate a preset angle in place.

[0200] Exemplarily, the preset angle is 180°.

[0201] Suppose the first position information of the mobile robot before rotating in place is (x e , y e , θ e ), and the second position information of the mobile robot after rotating 180° in place is (x f , y f , θ f ), then the movement distance of the mobile robot in the y-axis direction after rotation, that is, the first offset is δyreal = y f - y e , the moving distance of the mobile robot in the x-axis direction, i.e., the second offset δx real = x f - x e , the change of the attitude angle, i.e., the first attitude angle offset δθ real = θ f - θ e .

[0202] According to the collective structure and kinematic model of the AMR mobile robot, the following is satisfied:

[0203]

[0204]

[0205]

[0206]

[0207] wherein δx real is the second offset, δy real is the moving distance of the mobile robot in the y-axis direction, R real is the real wheel diameter, i.e., the wheel diameter obtained in the above embodiment, R model is the preset wheel diameter, θ l is the orientation angle of the first steering wheel, θ r is the orientation angle of the second steering wheel, T is the time used by the mobile robot to perform the rotating motion operation by a preset angle, ω is the angular velocity of the steering wheel, θ model is the preset angle, D real is the wheel distance, specifically the real wheel distance, D model is the preset wheel distance.

[0208] According to the above formula, the following can be obtained:

[0209]

[0210] wherein D real is the wheel distance, specifically the real wheel distance, θ model is the preset angle, R real is the real wheel diameter, R model is the preset wheel diameter.

[0211] The embodiment of the present application can automatically complete the calibration of the real wheel distance of the steering wheel, and improve the calibration efficiency of the steering wheel parameters.

[0212] In some embodiments of the present application, optionally, the calibration method further comprises: determining a difference value of the orientation angles of the first steering wheel and the second steering wheel; and re-executing the step of determining the steering wheel parameters of the mobile robot according to the initial position information and the updated position information, in the case that the difference value of the orientation angles is greater than a preset threshold value.

[0213] In the embodiments of the present application, in an ideal state, the two steering wheels of the mobile robot, i.e., the first steering wheel and the second steering wheel, are parallel to each other, and thus the first orientation angle of the first steering wheel should be equal to the second orientation angle of the second steering wheel.

[0214] Due to errors in production and assembly, the first orientation angle is not equal to the second orientation angle, and thus the real orientation angles of the two steering wheels can be determined, and the orientation angles of the first steering wheel and the second steering wheel can be zeroed according to the real orientation angles, and the real steering wheel parameters of the steering wheels can be calibrated.

[0215] The difference value of the orientation angles can be calculated by the following formula:

[0216]

[0217] wherein, |θ l -θ r is the difference value of the orientation angles, δy real is the moving distance of the mobile robot in the y-axis direction after rotation, and δy real =y f -y e , θ real is the second attitude angle offset, D real is the wheel base.

[0218] Since the operation of controlling the movement of the mobile robot and the positioning operation of the mobile robot also have errors, the calibration process of the steering wheel parameters of the mobile robot is a cyclic iteration process.

[0219] Specifically, after the steering wheel parameters are calibrated, the difference value of the orientation angles of the first steering wheel and the second steering wheel, i.e., the difference value of the zeroed first orientation angle and the second orientation angle, is determined. If the difference value of the orientation angles is less than or equal to a preset threshold value, it indicates that the calibration and adjustment of the steering wheel parameters are completed, and the mobile robot can achieve high-precision walking.

[0220] If the difference value of the orientation angles is greater than the preset threshold value, it indicates that the calibration and adjustment do not meet the requirements, and the step of determining the steering wheel parameters of the mobile robot according to the initial position information and the updated position information is re-executed, i.e., the steering wheel parameters of the mobile robot are re-calibrated.

[0221] Specifically, the repeated calibration process is also a cyclic iteration process of the steering wheel parameters. It is assumed that in the n-th calibration process, the wheel base D real(n), wheel diameter R real (n), then in the n+1th calibration process, the formula of the orientation angle is iterated as:

[0222]

[0223]

[0224] wherein θ l is the orientation angle of the first steering wheel, θ r is the orientation angle of the second steering wheel, y real is the first offset, and y real =y e -y s , δx real is the second offset, and δx real =x e -x s , δθ real is the first attitude angle offset, and δθ real =θ e -θ s , D real (n) is the real wheelbase obtained in the nth calibration process.

[0225] Similarly, the formula of the wheelbase is iterated as:

[0226]

[0227] wherein D real is the wheelbase, specifically the real wheelbase, θ model is the preset angle, R real (n) is the real wheel diameter obtained in the nth calibration process, and R model is the preset wheel diameter.

[0228] It can be understood that in the n+2th calibration process, the formula of the orientation angle is iterated as:

[0229]

[0230]

[0231] wherein θ l is the orientation angle of the first steering wheel, θ r is the orientation angle of the second steering wheel, y real is the first offset, and y real =y e -y s , δx real is the second offset, and δx real =x e -x s, δθ real is a first attitude angle offset, and δθ real = θ e - θ s , D real (n+1) is a real wheelbase obtained in the n+1th calibration process.

[0232] Similarly, the formula for determining the wheelbase is iterated as:

[0233]

[0234] wherein D real is a wheelbase, specifically a real wheelbase, θ model is a preset angle, R real (n+1) is a real wheel diameter obtained in the nth calibration process, and R model is a preset wheel diameter.

[0235] By analogy, until the difference in the steering angle | θ l -r| is less than a preset threshold.

[0236] The embodiments of the present application can improve the accuracy of calibrating the steering wheel parameters and improve the movement precision of the mobile robot after calibration by cyclic iteration of the calibration process of the steering wheel parameters.

[0237] In some embodiments of the present application, the mobile robot comprises an image sensor 208 configured to acquire image information of the positioning identifier, and determine initial position information and updated position information based on the image information.

[0238] In the embodiments of the present application, the mobile robot comprises an image sensor arranged at the lower part of the mobile robot body. When calibrating the steering wheel parameters of the mobile robot, positioning identification codes are arranged at the initial position of the mobile robot and the target position of the preset movement operation. The mobile robot can capture the positioning identification codes through the image sensor, and obtain the corresponding initial position information and updated position information based on the captured image information.

[0239] In some embodiments of the present application, the mobile robot comprises a body, a first target ball and a second target ball. The first target ball and the second target ball are arranged on the body and distributed along a preset direction. The initial position information comprises a first coordinate of the first target ball and a second coordinate of the second target ball. The updated position information comprises a third coordinate of the first target ball and a fourth coordinate of the second target ball.

[0240] In the embodiments of the present application, the mobile robot comprises a body, and a steering wheel arranged below the body to drive the movement of the mobile robot. The body further comprises a first target ball and a second target ball, which are distributed along a preset direction.

[0241] Suppose the preset direction is the y-axis direction in the mobile robot coordinate system, the first target ball and the second target ball can be distributed along the y-axis, wherein the setting height of the first target ball and the second target ball can be the same or different.

[0242] When the mobile robot is positioned, the coordinates of the first target ball and the second target ball can be tracked by a laser tracker. Before the mobile robot performs the preset motion operation, the first coordinate of the first target ball and the second coordinate of the second target ball are determined as initial position information. After the mobile robot performs the preset operation, the third coordinate of the first target ball and the fourth coordinate of the second target ball are determined as updated position information.

[0243] Exemplarily, the first coordinate is The second coordinate is The third coordinate is The fourth coordinate is

[0244] In some embodiments of the present application, optionally, according to the initial position information and the first position information, the first offset in the first direction, the second offset in the second direction and the first attitude angle offset of the mobile robot are determined, comprising: determining a target vector according to the first coordinate, the second coordinate, the third coordinate and the fourth coordinate; determining the first offset, the second offset and the first attitude angle offset according to the target vector.

[0245] In the embodiments of the present application, in the case that the first position information includes the first coordinate and the second coordinate, and the second position information includes the third coordinate and the fourth coordinate, a target vector is defined, and the target vector includes:

[0246]

[0247]

[0248]

[0249] wherein, the first coordinate is the second coordinate is the third coordinate is the fourth coordinate is the target vector is.

[0250] After obtaining the target vector, the first offset, the second offset and the first attitude angle offset are further determined.

[0251] Specifically, after the mobile robot moves a preset distance along the first direction, the first offset, the second offset and the first attitude angle offset are determined by the following formula:

[0252]

[0253]

[0254]

[0255] wherein, is a first coordinate, is a second coordinate is, is a third coordinate, is a fourth coordinate, is a target vector, δθ real is a first attitude angle offset, y real is a first offset, δx real is a second offset.

[0256] After the mobile robot moves a preset distance in the first direction and then rotates a preset angle in place, if the mobile robot rotates clockwise, the second attitude angle offset is calculated by the following formula:

[0257]

[0258] wherein, θ real is a second attitude angle offset, is a target vector.

[0259] After the mobile robot moves a preset distance in the first direction and then rotates a preset angle in place, if the mobile robot rotates counterclockwise, the second attitude angle offset is calculated by the following formula:

[0260]

[0261] wherein, θ real is a second attitude angle offset, is a target vector.

[0262] In some embodiments of the present application, Figure 3 a flowchart of a calibration method of a mobile robot according to an embodiment of the present application is shown, as shown in FIG. 3, the method comprises: Figure 3

[0263] Step 302, the mobile robot moves 3 meters in the y-axis direction;

[0264] Step 304, the pose information of the mobile robot after moving is measured;

[0265] Step 306, the steering wheel orientation angle and wheel diameter are determined according to the pose information;

[0266] Step 308, the steering wheel zero position is adjusted according to the orientation angle;

[0267] ​Step 310, the mobile robot rotates 180°;

[0268] Step 312, the pose information after the mobile robot rotates is measured;

[0269] Step 314, the wheel track and the difference in orientation angle are determined according to the pose information after the rotation;

[0270] Step 316, it is judged whether the difference in orientation angle is less than a preset threshold; if yes, the process ends, otherwise, step 318 is entered;

[0271] Step 318, the steering wheel zero position is adjusted according to the orientation angle, and the process returns to step 302.

[0272] In some embodiments of the present application, a calibration device for a mobile robot is provided, Figure 4 One of the structure block diagrams of the calibration device for the mobile robot according to the embodiments of the present application is shown as follows: Figure 4 As shown in the figure, the calibration device 400 for the mobile robot comprises:

[0273] The acquisition module 402 is configured to acquire initial position information of the mobile robot;

[0274] The control module 404 is configured to control the mobile robot to perform a preset motion operation, and acquire updated position information of the mobile robot after the motion;

[0275] The calibration module 406 is configured to determine steering wheel parameters of the mobile robot according to the initial position information and the updated position information.

[0276] In the embodiments of the present application, the mobile robot is specifically a steering wheel omnidirectional autonomous mobile robot, i.e., an AMR mobile robot, which comprises a body and a steering wheel, and the steering wheel is arranged below the body and used to drive the mobile robot to move. Since the steering wheel can be freely adjusted in orientation, the steering wheel can realize 360° translational motion.

[0277] When the AMR mobile robot moves, the steering wheel parameters such as the wheel diameter, the wheel track and the orientation angle of the steering wheel need to be used to control the steering wheel to change the orientation and rotate, so as to control the AMR mobile robot to move accurately. In the related art, since the steering wheel of the mobile robot is produced and installed according to the pre-designed specification parameters when the mobile robot is produced, the steering wheel parameters of the mobile robot are pre-set.

[0278] However, due to the limitations of the production process and the assembly process, errors may occur in the production and installation of the steering wheel, so that the pre-set steering wheel parameters may have errors from the actual situation, and at this time, the correct steering wheel parameters need to be measured and calibrated manually, which is low in efficiency.

[0279] To solve the above problems, the embodiment of the application can control the mobile robot to perform the set motion operation, and automatically calibrate the real parameters of the steering wheel of the mobile robot according to the position change of the mobile robot before and after performing the motion operation, thereby improving the steering wheel parameter calibration efficiency.

[0280] Specifically, when automatically calibrating the steering wheel parameters of the mobile robot, first, the initial position information of the mobile robot at the current position is obtained, which is the position information of the mobile robot before performing the preset motion operation.

[0281] Exemplarily, the initial position information can include the coordinates and the attitude angle of the mobile robot at the current position, and the data format of the initial position information can be (x, y, θ), wherein x and y are coordinates, and θ is an attitude angle.

[0282] After obtaining the initial position information, the mobile robot performs the preset motion operation from the position corresponding to the initial position information as the starting point according to the set program, and the preset motion operation can be moving forward n meters or rotating m degrees in place.

[0283] After performing the preset motion operation, the mobile robot repositions to obtain the updated position information of the position reached by the mobile robot after the motion.

[0284] Suppose that the preset motion operation is to move 3 meters along the x-axis direction in the mobile robot coordinate system, then if the real steering wheel parameters of the mobile robot match the standard steering wheel parameters preset at the factory, the difference between the updated position information of the mobile robot after the motion and the initial position information should be that the x-coordinate difference is 3 meters, and the attitude angle and the y-coordinate remain unchanged.

[0285] However, in the real situation, the x-coordinate, y-coordinate and attitude angle of the mobile robot after performing the preset motion operation may all have deviations. Therefore, based on the initial position information and the updated position information, the position deviations of the mobile robot after performing the preset motion are determined, and based on the position deviations and the set structure and kinematic model of the AMR mobile robot, the real steering wheel parameters of the mobile robot are determined, thereby realizing the automatic calibration of the steering wheel parameters of the mobile robot.

[0286] The embodiment of the application automatically performs the set preset motion operation of the mobile robot, and automatically calibrates the real steering wheel parameters of the mobile robot according to the position information before and after the motion of the mobile robot, without manual calibration of the steering wheel parameters of the mobile robot, thereby improving the calibration efficiency of the steering wheel parameters of the mobile robot.

[0287] In some embodiments of the application, optionally, the steering wheel parameters include a heading angle, and the heading angle is the included angle between the heading direction of the steering wheel and the preset direction.

[0288] In the embodiment of the present application, the mobile robot comprises a body, and the body is connected with the steering wheel through a rotating shaft. The direction in which the wheel body of the steering wheel rotates is defined as the orientation of the steering wheel, and the width direction or the length direction of the mobile robot when it is stationary is defined as the preset direction, and the included angle between the orientation of the steering wheel and the preset direction is the orientation angle of the steering wheel.

[0289] It can be understood that the preset direction can also be the x-axis direction or the y-axis direction in the mobile robot coordinate system, and the embodiment of the present application does not limit this.

[0290] When the mobile robot is in an initial state, such as a standby state, the orientation angle of the steering wheel of the mobile robot should be 0°, but due to the existence of assembly errors and the like, the actual angle between the orientation direction of the steering wheel of the mobile robot in the initial state and the preset direction can not be 0°, so it is necessary to zero the orientation angle of the mobile robot.

[0291] Therefore, by controlling the mobile robot to perform a preset motion operation, the orientation angle of the steering wheel of the mobile robot is determined according to the position change of the mobile robot before and after the motion, which can realize automatic zeroing of the steering wheel of the mobile robot, and further improve the motion accuracy of the mobile robot.

[0292] In some embodiments of the present application, the updated position information comprises first position information, the preset motion operation comprises moving a preset distance in a target direction, and the first position information is the position information of the mobile robot after moving the preset distance;

[0293] The determining module is specifically configured to: determine a first offset in a first direction, a second offset in a second direction, and a first attitude angle offset of the mobile robot according to the initial position information and the first position information, wherein the first direction is perpendicular to the second direction; and determine the orientation angle according to the first offset, the second offset, the first attitude angle offset, and the preset wheel distance.

[0294] In the embodiment of the present application, the updated position information comprises first position information, which is the position of the mobile robot after the mobile robot is controlled to perform a preset motion operation, specifically, the mobile robot is controlled to walk a preset distance in a first direction.

[0295] The first direction can be set as the x-axis direction in the mobile robot coordinate system, or can be set as the y-axis direction in the mobile robot coordinate system. The first direction is taken as the y-axis direction in the mobile robot coordinate system in the following example.

[0296] Exemplarily, when determining the orientation angle of the steering wheel of the mobile robot, the mobile robot is first controlled to walk along the y-axis by a preset distance, assuming that the preset distance is 3 meters, then the displacement amount y of the mobile robot in the first direction is defined as y model = 3 meters.

[0297] Let the initial position information be (x s , y s , θ s ), define the first position information as (x e , y e , θ e ), then the first offset y real = y e - y s , the second offset δx real = x e - x s , and the first attitude angle offset δθ real = θ e - θ s .

[0298] Assuming that the mobile robot has two steering wheels, which are a first steering wheel and a second steering wheel, define the straight-line distance between the wheel axes of the first steering wheel and the second steering wheel as the wheelbase, then according to the set structure and kinematics model of the AMR mobile robot, it is satisfied that:

[0299]

[0300]

[0301]

[0302]

[0303]

[0304] wherein δθ real is the first attitude angle offset, and δθ real = θ e - θ s , y real is the first offset, and y real = y e - y s , δx real is the second offset, and δx real = x e - x s , (x s , y s , θ s ) is the initial position information, and (x e , y e, θ e is the first position information, R real is the real wheel diameter of the steering wheel, D real is the wheel track, θ l is the first steering wheel orientation angle, θ r is the second steering wheel orientation angle, T is the time used by the mobile robot to move a preset distance, ω is the angular velocity of the steering wheel, y model is the preset distance, R model is the preset wheel diameter.

[0305] The above formula can be transformed by operation as follows:

[0306]

[0307]

[0308] wherein θ l is the first steering wheel orientation angle, θ r is the second steering wheel orientation angle, y real is the first offset, and y real =y e -y s , δx real is the second offset, and δx real =x e -x s , δθ real is the first attitude angle offset, and δθ real =θ e -θ s , D model is the preset wheel track.

[0309] The embodiment of the present application can automatically complete the calibration of the real orientation angle of the steering wheel, and improve the calibration efficiency of the steering wheel parameters.

[0310] In some embodiments of the present application, optionally, the steering wheel parameters further include a wheel diameter, and the wheel diameter is determined by the radius determination module, and the radius determination module is further configured to determine the wheel diameter according to the second offset, the preset distance and the preset wheel diameter.

[0311] In the embodiment of the present application, the steering wheel parameters include a wheel diameter, and the wheel diameter is specifically a radius of the steering wheel. Specifically, in the production process of the mobile robot, the steering wheel of the mobile robot is produced according to standard parameters, and the standard wheel diameter of the steering wheel is recorded as a preset wheel diameter.

[0312] Due to errors in the production process, there may be errors between the diameter of the steering wheel and the preset wheel diameter.

[0313] The embodiment of the application determines the real wheel diameter according to the position information before and after the movement of the mobile robot, i.e., the initial position information and the first position information, by controlling the mobile robot to move in the first direction by a preset distance.

[0314] Specifically, assuming that the initial position information is (x s , y s , θ s ), the first position information is defined as (x e , y e , θ e ), and the first offset y real = y e -y s , based on the deformation result of the collection structure and the kinematic model of the AMR mobile robot, the following is satisfied:

[0315]

[0316] wherein R real is the real wheel diameter of the steering wheel, R model is the preset wheel diameter, y model is the preset distance, y real is the first offset, and y real =y e -y s .

[0317] The embodiment of the application can automatically complete the calibration of the real wheel diameter of the steering wheel, and improve the calibration efficiency of the steering wheel parameters.

[0318] In some embodiments of the application, optionally, the calibration device of the mobile robot further comprises a setting module configured to set the zero position of the steering wheel according to the orientation angle.

[0319] In the embodiment of the application, the orientation angle of the steering wheel of the mobile robot should be 0°, but due to the existence of assembly errors and the like, the actual angle between the orientation direction of the steering wheel of the mobile robot in the initial state and the preset direction may not be 0°. Therefore, after obtaining the real orientation angle of the steering wheel of the mobile robot, the zero position of the steering wheel is reset based on the real orientation angle, so that the steering wheel zero position can be matched with the real situation, and the movement accuracy of the mobile robot is improved.

[0320] In some embodiments of the application, optionally, as Figure 2As shown, the steering wheel 204 includes a first steering wheel 2042 and a second steering wheel 2044, and the steering wheel parameter further includes a wheel distance, which is the distance between the first steering wheel and the second steering wheel; the updated position information includes second position information, and the preset motion operation includes rotating a preset angle after setting a zero position, and the second position information is the position information of the mobile robot after rotating the preset angle; according to the initial position information and the updated position information, the steering wheel parameter of the mobile robot is determined, and the method further includes: determining a second attitude angle offset of the mobile robot according to the first position information and the second position information; and determining the wheel distance according to the second attitude angle offset, the preset angle, the preset wheel diameter, the wheel diameter and the preset wheel distance.

[0321] In the embodiment of the present application, the steering wheel of the mobile robot includes a first steering wheel and a second steering wheel, and a straight line distance between an axle of the first steering wheel and an axle of the second steering wheel is defined as a wheel distance.

[0322] The updated position includes second position information, which is position information of the mobile robot after the mobile robot is controlled to perform a preset motion operation, specifically, after the mobile robot is controlled to rotate a preset angle in place.

[0323] Exemplarily, the preset angle is 180°.

[0324] Suppose that the first position information of the mobile robot before rotating in place is (x e , y e , θ e ), and the second position information of the mobile robot after rotating 180° in place is (x f , y f , θ f ), then the movement distance of the mobile robot in the y-axis direction after rotating, that is, the first offset δy real = y f -y e , the movement distance of the mobile robot in the x-axis direction, that is, the second offset δx real = x f -x e , and the change of the attitude angle, that is, the first attitude angle offset δθ real = θ f -θ e .

[0325] According to the collective structure and kinematic model of the AMR mobile robot, the following is satisfied:

[0326]

[0327]

[0328]

[0329]

[0330] wherein, δx real is a second offset, δy real is a moving distance of the mobile robot in the y-axis direction, R real is a real wheel diameter, i.e., the wheel diameter obtained in the above embodiment, R model is a preset wheel diameter, θ l is a first steering angle of the first steering wheel, θ r is a second steering angle of the second steering wheel, T is a time for the mobile robot to perform a rotating motion operation by a preset angle, ω is an angular velocity of the steering wheel, θ model is the preset angle, D real is a wheel base, specifically, a real wheel base, D model is a preset wheel base.

[0331] The above formula can be transformed as follows:

[0332]

[0333] wherein, D real is a wheel base, specifically, a real wheel base, θ model is a preset angle, R real is a real wheel diameter, R model is a preset wheel diameter.

[0334] The embodiment of the present application can automatically complete the calibration of the real wheel base of the steering wheel, and improve the calibration efficiency of the steering wheel parameters.

[0335] In some embodiments of the present application, optionally, the calibration module is further configured to: determine a steering angle difference between the first steering wheel and the second steering wheel; and in a case where the steering angle difference is greater than a preset threshold, re-perform the step of determining the steering wheel parameters of the mobile robot according to the initial position information and the updated position information.

[0336] In the embodiment of the present application, in an ideal state, the two steering wheels of the mobile robot, i.e., the first steering wheel and the second steering wheel, are parallel to each other, and thus the first steering angle of the first steering wheel should be equal to the second steering angle of the second steering wheel.

[0337] Due to errors in production and assembly, the first steering angle is not equal to the second steering angle, and thus the real steering angles of the two steering wheels can be determined, and the steering angles of the first steering wheel and the second steering wheel can be zeroed according to the real steering angles, and the real steering wheel parameters of the steering wheels can be calibrated.

[0338] The steering angle difference can be calculated by the following formula:

[0339]

[0340] wherein | θ l - θ r | is the heading angle difference, δy real is the moving distance of the mobile robot in the y-axis direction after rotation, and δy real = y f - y e , θ real is the second attitude angle offset, D real is the wheel base.

[0341] Since the operation of controlling the movement of the mobile robot and the positioning operation of the mobile robot also have errors, the calibration process of the steering wheel parameters of the mobile robot is a cyclic iteration process.

[0342] Specifically, after the steering wheel parameters are calibrated, the heading angle difference of the first and second steering wheels, i.e., the difference between the first and second heading angles after zero adjustment, is determined. If the heading angle difference is less than or equal to a preset threshold, it means that the calibration and adjustment of the steering wheel parameters are completed, and the mobile robot can achieve high-precision walking.

[0343] If the heading angle difference is greater than the preset threshold, it means that the calibration and adjustment do not meet the requirements, and the steps of determining the steering wheel parameters of the mobile robot according to the initial position information and the updated position information are re-executed, i.e., the steering wheel parameters of the mobile robot are recalibrated.

[0344] Specifically, the calibration process is repeated, which is also a cyclic iteration process of the steering wheel parameters. Assuming that in the n-th calibration process, the wheel base D real (n) and the wheel diameter R realn (n) are obtained, in the n+1-th calibration process, the iteration formula of the heading angle is determined as:

[0345]

[0346]

[0347] wherein θ l is the first heading angle, θ r is the second heading angle, y real is the first offset, and y real = y e - y s , δx real is the second offset, and δx real = x e - x s , δθ real is the first attitude angle offset, and δθ real = θ e - θ s, D real (n) is the true track obtained in the n-th calibration process.

[0348] Similarly, the formula for determining the track is iterated as:

[0349]

[0350] wherein D real is the track, specifically the true track, θ model is the preset angle, R real (n) is the true wheel diameter obtained in the n-th calibration process, and R model is the preset wheel diameter.

[0351] It can be understood that in the n+2-th calibration process, the formula for determining the heading angle is iterated as:

[0352]

[0353]

[0354] wherein θ l is the heading angle of the first steering wheel, θ r is the heading angle of the second steering wheel, y real is the first offset, and y real =y e -y s , δx real is the second offset, and δx real =x e -x s , δθ real is the first attitude angle offset, and δθ real =θ e -θ s , D real (n+1) is the true track obtained in the n+1-th calibration process.

[0355] Similarly, the formula for determining the track is iterated as:

[0356]

[0357] wherein D real is the track, specifically the true track, θ model is the preset angle, R real (n+1) is the true wheel diameter obtained in the n-th calibration process, and R model is the preset wheel diameter.

[0358] By analogy, until the difference in heading angle |θ l -θ r | is less than the preset threshold value.

[0359] The application embodiment can improve the accuracy of calibrating the rudder parameters and the moving precision of the mobile robot after calibration by cyclic iteration of the rudder parameter calibration process.

[0360] In some embodiments of the application, the mobile robot comprises an image sensor configured to acquire image information of the positioning identifier, and the initial position information and the updated position information are determined based on the image information.

[0361] In the application embodiment, the mobile robot comprises an image sensor arranged at the lower part of the mobile robot body. When calibrating the rudder parameters of the mobile robot, positioning identifiers are arranged at the initial position of the mobile robot and the target position of the preset motion operation. The mobile robot can capture the positioning identifiers by the image sensor, and obtain the corresponding initial position information and updated position information based on the captured image information.

[0362] In some embodiments of the application, the mobile robot comprises a body, a first target ball and a second target ball. The first target ball and the second target ball are arranged on the body and distributed along a preset direction. The initial position information comprises a first coordinate of the first target ball and a second coordinate of the second target ball. The updated position information comprises a third coordinate of the first target ball and a fourth coordinate of the second target ball.

[0363] In the application embodiment, the mobile robot comprises a body, and a rudder arranged below the body to drive the movement of the mobile robot. The body further comprises a first target ball and a second target ball, and the first target ball and the second target ball are distributed along a preset direction.

[0364] Suppose the preset direction is the y-axis direction in the coordinate system of the mobile robot, then the first target ball and the second target ball can be distributed along the y-axis, and the arrangement height of the first target ball and the second target ball can be the same or different.

[0365] When positioning the mobile robot, the coordinates of the first target ball and the second target ball can be tracked by a laser tracker. The first coordinate of the first target ball and the second coordinate of the second target ball before the mobile robot performs the preset motion operation are determined as the initial position information, and the third coordinate of the first target ball and the fourth coordinate of the second target ball after the mobile robot performs the preset operation are determined as the updated position information.

[0366] Exemplarily, the first coordinate is The second coordinate is The third coordinate is The fourth coordinate is

[0367] In some embodiments of the present application, the determining module is configured to: determine a target vector according to the first coordinate, the second coordinate, the third coordinate and the fourth coordinate; and determine the first offset, the second offset and the first attitude angle offset according to the target vector.

[0368] In the embodiments of the present application, when the first position information comprises the first coordinate and the second coordinate, and the second position information comprises the third coordinate and the fourth coordinate, the target vector is defined, and the target vector comprises:

[0369]

[0370]

[0371]

[0372] wherein, is the first coordinate, is the second coordinate, is the third coordinate, is the fourth coordinate, is the target vector.

[0373] After the target vector is obtained, the first offset, the second offset and the first attitude angle offset are further determined.

[0374] Specifically, after the mobile robot moves a preset distance along the first direction, the first offset, the second offset and the first attitude angle offset are determined by the following formula:

[0375]

[0376]

[0377]

[0378] wherein, is the first coordinate, is the second coordinate, is the third coordinate, is the fourth coordinate, is the target vector, and real is the first attitude angle offset, and real is the first offset, and real is the second offset.

[0379] After the mobile robot moves a preset distance along the first direction and then rotates a preset angle at the original position, if the mobile robot rotates clockwise, the second attitude angle offset is calculated by the following formula:

[0380]

[0381] wherein, θ real is the second attitude angle offset, is the target vector.

[0382] After the mobile robot moves a preset distance in the first direction and then rotates a preset angle in place, if the mobile robot rotates counterclockwise, the second attitude angle offset is calculated by the following formula:

[0383]

[0384] wherein, θ real is the second attitude angle offset, is the target vector.

[0385] In some embodiments of the present application, a calibration device of a mobile robot is provided, Figure 5 a structure block diagram of the calibration device of the mobile robot according to an embodiment of the present application is shown, as Figure 5 shown, the calibration device of the mobile robot 500 comprises a memory 502 for storing programs or instructions, and a processor 504 for executing the programs or instructions to realize the calibration method provided in any of the above embodiments, thus also comprising all the technical effects thereof, to avoid repetition, which will not be repeated here.

[0386] In some embodiments of the present application, a readable storage medium is provided, which stores programs or instructions, and the programs or instructions are executed by a processor to realize the calibration method provided in any of the above embodiments, thus also comprising all the technical effects thereof, to avoid repetition, which will not be repeated here.

[0387] In some embodiments of the present application, a computer program product is provided, which is stored in a storage medium, and the computer program product is executed by at least one processor to realize the calibration method provided in any of the above embodiments, thus also comprising all the technical effects thereof, to avoid repetition, which will not be repeated here.

[0388] In some embodiments of the present application, a mobile robot is provided, comprising the calibration device of the mobile robot provided in any of the above embodiments; and / or the readable storage medium provided in any of the above embodiments; and / or the computer program product provided in any of the above embodiments, thus also comprising all the technical effects thereof, to avoid repetition, which will not be repeated here.

[0389] In the description of the application, the term "a plurality" means two or more, unless otherwise expressly specified, and the terms "upper", "lower", and the like, indicate the orientation or position relationship based on the drawings described, only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application; The terms "connection", "installation", "fixation" and the like should be understood broadly, for example, "connection" can be fixed connection, can also be detachable connection, or integral connection; It can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0390] In the description of the application, the terms "one embodiment", "some embodiments", "a specific embodiment" and the like are intended to mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the application. In the present application, the illustrative description of the above terms does 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.

[0391] The above only describes the preferred embodiments of the application and is not intended to limit the application. For those skilled in the art, the application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the application shall be included in the protection scope of the application.

Claims

1. A calibration method for a mobile robot, characterized in that, include: Obtain the initial position information of the mobile robot; Control the mobile robot to perform preset movement operations, and obtain the updated position information of the mobile robot after the movement; The steering wheel parameters of the mobile robot are determined based on the initial position information and the updated position information; The steering wheel parameters include the orientation angle, which is the angle between the orientation direction of the robot's steering wheel and a preset direction; The updated position information includes first position information, and the preset motion operation includes moving a preset distance in the target direction. The first position information is the position information of the mobile robot after moving the preset distance. The step of determining the steering wheel parameters of the mobile robot based on the initial position information and the updated position information includes: Based on the initial position information and the first position information, the mobile robot determines a first offset in a first direction, a second offset in a second direction, and a first attitude angle offset, wherein the first direction is perpendicular to the second direction; The orientation angle is determined based on the first offset, the second offset, the first attitude angle offset, and the preset wheel track. The steering wheel parameters also include the wheel diameter, which is the radius of the steering wheel; The step of determining the steering wheel parameters of the mobile robot based on the initial position information and the updated position information further includes: The wheel diameter is determined based on the second offset, the preset distance, and the preset wheel diameter.

2. The calibration method according to claim 1, characterized in that, After determining the facing angle based on the first offset, the second offset, the first attitude angle offset, and the preset wheelbase, the method further includes: The zero position of the steering wheel is set according to the orientation angle.

3. The calibration method according to claim 2, characterized in that, The steering wheel includes a first steering wheel and a second steering wheel, and the steering wheel parameters also include wheel track, which is the distance between the first steering wheel and the second steering wheel; The updated position information includes second position information, and the preset motion operation includes rotating a preset angle after setting the zero position. The second position information is the position information of the mobile robot after rotating the preset angle. The step of determining the steering wheel parameters of the mobile robot based on the initial position information and the updated position information further includes: Based on the first position information and the second position information, determine the second attitude angle offset of the mobile robot and the third offset of the mobile robot in the first direction; The wheelbase is determined based on the second attitude angle offset, the preset angle, the preset wheel diameter, the wheel diameter, and the preset wheelbase.

4. The calibration method according to claim 3, characterized in that, Also includes: Determine the difference in orientation angle between the first steering wheel and the second steering wheel; If the difference in orientation angle is greater than a preset threshold, the step of determining the steering wheel parameters of the mobile robot based on the initial position information and the updated position information is repeated.

5. The calibration method according to any one of claims 1 to 4, characterized in that, The mobile robot includes an image sensor, which is used to collect image information of the positioning marker and determine the initial position information and updated position information based on the image information.

6. The calibration method according to claim 3 or 4, characterized in that, The mobile robot includes a body, a first target ball, and a second target ball. The first target ball and the second target ball are disposed on the body and distributed along the preset direction. The initial position information includes the first coordinates of the first target ball and the second coordinates of the second target ball; The updated position information includes the third coordinate of the first target ball and the fourth coordinate of the second target ball.

7. The calibration method according to claim 6, characterized in that, The step of determining the first offset in the first direction, the second offset in the second direction, and the first attitude angle offset of the mobile robot based on the initial position information and the first position information includes: The target vector is determined based on the first coordinate, the second coordinate, the third coordinate, and the fourth coordinate; The first offset, the second offset, the first attitude angle offset, and the second attitude angle offset are determined based on the target vector.

8. A calibration device for a mobile robot, characterized in that, include: The acquisition module is used to acquire the initial position information of the mobile robot; The control module is used to control the mobile robot to perform preset motion operations and to obtain the updated position information of the mobile robot after the motion. The calibration module is used to determine the steering wheel parameters of the mobile robot based on the initial position information and the updated position information; The steering wheel parameters include the heading angle, which is the angle between the steering wheel's heading direction and the preset direction; The updated position information includes first position information, and the preset motion operation includes moving a preset distance in the target direction. The first position information is the position information of the mobile robot after moving the preset distance. The determination module is used to: determine, based on the initial position information and the first position information, the first offset of the mobile robot in the first direction, the second offset in the second direction, and the first attitude angle offset, wherein the first direction is perpendicular to the second direction; The orientation angle is determined based on the first offset, the second offset, the first attitude angle offset, and the preset wheel track. The steering wheel parameters also include the wheel diameter, which is the radius of the steering wheel; The determining module is further configured to: determine the wheel diameter based on the second offset, the preset distance, and the preset wheel diameter.

9. A calibration device for a mobile robot, characterized in that, include: Memory, used to store programs or instructions; A processor for implementing the calibration method as described in any one of claims 1 to 7 when executing the program or instructions.

10. A readable storage medium having a program or instructions stored thereon, characterized in that, When the program or instructions are executed by the processor, they implement the calibration method as described in any one of claims 1 to 7.

11. A computer program product, said computer program product being stored in a storage medium, characterized in that, When the computer program product is executed by at least one processor, it implements the calibration method as described in any one of claims 1 to 7.

12. A mobile robot, characterized in that, include: The calibration device for a mobile robot as described in claim 8 or 9; and / or The readable storage medium as described in claim 10; and / or The computer program product as described in claim 11.

Images