Correction method and device of posture detection component, storage medium and electronic device

Abstract

The application provides a pose detection component correction method and device, a storage medium and an electronic device. The method comprises: acquiring a first pose angle output by a pose detection component on a cleaning device when a device state of the cleaning device is a preset state; acquiring a plurality of pose angles output by the pose detection component during rotation control of the cleaning device when the first pose angle is within a first preset pose angle range; and correcting the pose detection component using the plurality of pose angles when the plurality of pose angles meet a preset condition. The application solves the problem of low accuracy of a calculated device pose caused by an increased pose angle error output by a pose detection component in a cleaning device in the related art.

Description

[Technical Field]

[0001] This application relates to the field of smart homes, and more specifically, to a method and apparatus for correcting an attitude detection component, a storage medium, and an electronic device. [Background Technology]

[0002] Currently, cleaning equipment (e.g., cleaning robots) can be equipped with attitude detection components (e.g., gyroscopes). The cleaning equipment can use the attitude angles output by the attitude detection components to calculate its attitude, thereby positioning the cleaning equipment. However, after the attitude detection components have been running for a long time, the error of the attitude angles output by the attitude detection components increases, resulting in low accuracy of the calculated equipment attitude, which in turn prevents the cleaning equipment from performing normal cleaning.

[0003] It is evident that the relevant technology suffers from a problem where the accuracy of the calculated device attitude is low due to the increased attitude angle error output by the attitude detection component within the cleaning equipment. [Summary of the Invention]

[0004] The purpose of this application is to provide a method and apparatus for calibrating an attitude detection component, a storage medium and an electronic device, so as to at least solve the problem in the related art that the accuracy of the calculated device attitude is low due to the increased attitude angle error output by the attitude detection component in the cleaning equipment.

[0005] The purpose of this application is to achieve the following technical solution:

[0006] According to one aspect of the embodiments of this application, a method for correcting an attitude detection component is provided, comprising: when the device state of a cleaning device is a preset state, acquiring a first attitude angle output by an attitude detection component on the cleaning device; when the first attitude angle is within a first preset attitude angle range, acquiring a plurality of attitude angles output by the attitude detection component during the process of controlling the rotation of the cleaning device; and when the plurality of attitude angles meet preset conditions, using the plurality of attitude angles to correct the attitude detection component.

[0007] In an exemplary embodiment, before acquiring the first attitude angle output by the attitude detection component on the cleaning device, the method further includes: acquiring the regional flatness of the location area where the cleaning device is located through a preset component on the cleaning device; and determining the device state of the cleaning device as the preset state when the regional flatness is within a preset flatness range.

[0008] In an exemplary embodiment, before acquiring the first attitude angle output by the attitude detection component on the cleaning device, the method further includes: acquiring the second attitude angle output by the attitude detection component when the cleaning device is located at a base station matched with the cleaning device; and determining that the attitude detection component can be corrected when the second attitude angle is within a second preset attitude angle range.

[0009] In an exemplary embodiment, during the process of controlling the rotation of the cleaning device, acquiring the multiple attitude angles output by the attitude detection component includes: during the process of controlling the rotation of the cleaning device, acquiring the attitude angles output by the attitude detection component once at a preset time interval to obtain the multiple attitude angles; or, during the process of controlling the rotation of the cleaning device, acquiring the attitude angles output by the attitude detection component once every preset angle of rotation to obtain the multiple attitude angles.

[0010] In an exemplary embodiment, after acquiring the plurality of attitude angles output by the attitude detection component, the method further includes: determining that the plurality of attitude angles satisfy the preset condition if the angle difference between the attitude angle with the largest value and the attitude angle with the smallest value is less than or equal to a preset angle difference.

[0011] In one exemplary embodiment, calibrating the attitude detection component using the plurality of attitude angles includes: using the attitude angle difference between the initial attitude angle of the attitude detection component and the average value of the plurality of attitude angles as an attitude angle correction value to calibrate the attitude detection component.

[0012] In an exemplary embodiment, after acquiring multiple attitude angles output by the attitude detection component during the process of controlling the rotation of the cleaning device, the method further includes: issuing a prompt message through the cleaning device when the multiple attitude angles do not meet preset conditions, wherein the prompt message is used to indicate that the attitude detection component has failed to correct; and performing a reset operation on the attitude detection component in response to the acquired attitude angle reset command.

[0013] According to another aspect of the embodiments of this application, a calibration device for an attitude detection component is also provided, comprising: a first acquisition unit, configured to acquire a first attitude angle output by the attitude detection component on the cleaning device when the device state of the cleaning device is a preset state; a second acquisition unit, configured to acquire multiple attitude angles output by the attitude detection component during the process of controlling the rotation of the cleaning device when the first attitude angle is within a first preset attitude angle range; and a calibration unit, configured to use the multiple attitude angles to calibrate the attitude detection component when the multiple attitude angles meet preset conditions.

[0014] In one exemplary embodiment, the apparatus further includes: a data acquisition unit, configured to acquire, via a preset component on the cleaning device, the flatness of the area where the cleaning device is located, before acquiring the first attitude angle output by the attitude detection component on the cleaning device; and a first determination unit, configured to determine the device state of the cleaning device as the preset state when the flatness of the area is within a preset flatness range.

[0015] In one exemplary embodiment, the apparatus further includes: a third acquisition unit, configured to acquire a second attitude angle output by the attitude detection component before acquiring a first attitude angle output by the attitude detection component on the cleaning device, provided that the cleaning device is located at a base station matching the cleaning device; and a second determination unit, configured to determine that the attitude detection component can be corrected if the second attitude angle is within a second preset attitude angle range.

[0016] In one exemplary embodiment, the second acquisition unit includes: a first acquisition module, configured to acquire the attitude angle output by the attitude detection component once every preset time interval during the process of controlling the rotation of the cleaning device, to obtain the plurality of attitude angles; or, a second acquisition module, configured to acquire the attitude angle output by the attitude detection component once every preset angle of rotation during the process of controlling the rotation of the cleaning device, to obtain the plurality of attitude angles.

[0017] In an exemplary embodiment, the apparatus further includes a third determining unit, configured to determine that the plurality of attitude angles satisfy the preset condition after the plurality of attitude angles output by the attitude detection component are acquired, provided that the angle difference between the attitude angle with the largest value and the attitude angle with the smallest value is less than or equal to a preset angle difference.

[0018] In an exemplary embodiment, the correction unit includes a correction module, configured to correct the attitude detection component by using the attitude angle difference between the initial attitude angle of the attitude detection component and the average value of the plurality of attitude angles as an attitude angle correction value.

[0019] In one exemplary embodiment, the apparatus further includes: an issuing unit, configured to, after acquiring multiple attitude angles output by the attitude detection component during the process of controlling the rotation of the cleaning device, issue a prompt message through the cleaning device when the multiple attitude angles do not meet preset conditions, wherein the prompt message is used to indicate that the attitude detection component has failed to correct; and a reset unit, configured to perform a reset operation on the attitude detection component in response to an acquired attitude angle reset command.

[0020] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, wherein a computer program is stored in the computer program, and the computer program is configured to execute the above-described attitude detection component correction method when running.

[0021] According to another aspect of the embodiments of this application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the above-described correction method of the attitude detection component through the computer program.

[0022] In this embodiment, when the cleaning equipment is on the ground and the acquired attitude angles are available, the attitude detection component is calibrated based on multiple attitude angles acquired during the rotation of the cleaning equipment. This is achieved by acquiring a first attitude angle output by the attitude detection component when the cleaning equipment is in a preset state; acquiring multiple attitude angles output by the attitude detection component while controlling the rotation of the cleaning equipment when the first attitude angle is within a first preset attitude angle range; and using these multiple attitude angles to calibrate the attitude detection component when they meet preset conditions. Since the attitude angle of the attitude detection component is acquired only once when the cleaning equipment is in a preset state, and multiple attitude angles are acquired during the rotation of the cleaning equipment if available, and the attitude detection component is calibrated based on these acquired angles, the error in the attitude angle output by the attitude detection component can be reduced. This achieves the technical effect of improving the accuracy of equipment attitude calculation, thereby solving the problem in related technologies where the accuracy of the calculated equipment attitude is low due to increased error in the attitude angle output by the attitude detection component within the cleaning equipment. [Attached Image Description]

[0023] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the hardware environment for an optional attitude detection component correction method according to an embodiment of this application;

[0026] Figure 2 This is a flowchart illustrating an optional posture detection component correction method according to an embodiment of this application;

[0027] Figure 3 This is a flowchart illustrating another optional attitude detection component correction method according to an embodiment of this application;

[0028] Figure 4 This is a structural block diagram of an optional attitude detection component correction device according to an embodiment of this application;

[0029] Figure 5 This is a structural block diagram of an optional electronic device according to an embodiment of this application.

Detailed Implementation Methods

[0030] The present application will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the present application can be combined with each other.

[0031] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0032] According to one aspect of the embodiments of this application, a method for correcting an attitude detection component is provided. Optionally, in this embodiment, the above-described method for correcting an attitude detection component can be applied to, for example... Figure 1 The hardware environment shown comprises cleaning equipment 102, base station 104 (e.g., charging pile), and cloud platform 106. Figure 1 As shown, the cleaning device 102 can be connected to the base station 104 and / or the cloud platform 106 (e.g., a voice cloud platform) via a network to enable interaction between the cleaning device 102 and the base station 104 and / or the cloud platform 106.

[0033] The aforementioned networks may include, but are not limited to, at least one of the following: wired network, wireless network. The aforementioned wired network may include, but is not limited to, at least one of the following: wide area network (WAN), metropolitan area network (MAN), local area network (LAN). The aforementioned wireless network may include, but is not limited to, at least one of the following: Wi-Fi (Wireless Fidelity), Bluetooth, infrared. The network used by the cleaning device 102 to communicate with the base station 104 and / or the cloud platform 106 may be the same as or different from the network used by the base station 104 to communicate with the cloud platform 106. The cleaning device 102 may include, but is not limited to: intelligent robotic vacuum cleaner, intelligent floor scrubber, etc.

[0034] The attitude detection component calibration method of this application embodiment can be executed by the cleaning device 102, the base station 104, or the cloud platform 106 individually, or it can be executed jointly by at least two of the cleaning device 102, the base station 104, and the cloud platform 106. The calibration method of the attitude detection component of this application embodiment can also be executed by a client installed on the cleaning device 102 or the base station 104.

[0035] Taking the calibration method of the attitude detection component in this embodiment, performed by the cleaning device 102, as an example, Figure 2 This is a schematic flowchart of an optional attitude detection component correction method according to an embodiment of this application, as shown below. Figure 2 As shown, the process of this method may include the following steps:

[0036] Step S202: When the cleaning equipment is in a preset state, obtain the first attitude angle output by the attitude detection component on the cleaning equipment.

[0037] The calibration method for the attitude detection component in this embodiment can be applied to scenarios where the attitude detection component within a cleaning device is calibrated. The cleaning device can be a device with cleaning functions, such as a cleaning robot (e.g., a sweeping robot, a floor scrubbing robot, a robot that integrates washing and mopping, etc.). The attitude detection component can be a gyroscope, such as a three-axis gyroscope, a six-axis gyroscope, or other types of attitude detection components installed within the cleaning device. This embodiment does not limit the type of cleaning device or the type of attitude detection component.

[0038] In this embodiment, during the operation of the cleaning equipment, the equipment can determine its posture by detecting the posture angles output by its internal posture detection component. Based on the determined posture, the equipment can be positioned and its operational safety can be assessed. For example, a cleaning robot (an example of the aforementioned cleaning equipment) can determine whether it is in a dangerous area such as a slope by detecting the posture angles output by the posture detection component.

[0039] Optionally, when the cleaning equipment is in a preset state, the first attitude angle output by the attitude detection component on the cleaning equipment can be obtained. The process of obtaining the first attitude angle output by the attitude detection component on the cleaning equipment can be: first obtaining the angular velocity output by the attitude detection component, and then integrating the angular velocity to obtain the attitude angle of the cleaning equipment; or, first obtaining the quaternion output by the attitude detection component, and then transforming the quaternion into an attitude angle according to the transformation relationship between the quaternion and the attitude angle. This embodiment does not limit this.

[0040] Optionally, the cleaning equipment can first acquire images of the area where it is located using an image sensor installed on the equipment, obtaining a target image. Then, it can perform image recognition on the target image to obtain an image recognition result. This image recognition result is used to indicate whether the cleaning equipment's state is a preset state. Only when the image recognition result indicates that the cleaning equipment's state is a preset state is the first attitude angle output by the attitude detection component on the cleaning equipment acquired. This preset state can be a state suitable for attitude angle correction of the cleaning equipment, such as being on the ground or in other areas with high flatness.

[0041] Step S204: When the first attitude angle is within the range of the first preset attitude angle, multiple attitude angles output by the attitude detection component are acquired during the process of controlling the rotation of the cleaning equipment.

[0042] In this embodiment, after obtaining the first attitude angle, it can be determined whether the first attitude angle is within the range of the first preset attitude angle based on the value of the first attitude angle. If the first attitude angle is within the range of the first preset attitude angle, the cleaning device is controlled to rotate. During the rotation of the cleaning device, multiple attitude angles output by the attitude detection component are obtained.

[0043] Optionally, the process of controlling the rotation of the cleaning equipment described above can be: controlling the drive wheel of the cleaning equipment to rotate, thereby causing the cleaning equipment to rotate, for example, rotating in place; or it can be: the user manually controls the cleaning equipment to rotate in place. The process of controlling the rotation of the drive wheel of the cleaning equipment described above can be: driving the drive wheel to rotate through a rotation program; or sending a running command to the drive wheel of the cleaning equipment, and the drive wheel can rotate in place according to the running command. In this embodiment, the method of controlling the rotation of the cleaning equipment is not limited.

[0044] The drive wheels of the aforementioned cleaning equipment can be located directly below the cleaning equipment or in other positions. For example, the drive wheels of the cleaning equipment can be omnidirectional wheels located directly below the cleaning equipment, or other types of wheels. In this embodiment, the location and type of the drive wheels are not limited.

[0045] Optionally, the process of controlling the cleaning device to rotate in place by driving the drive wheel of the cleaning device through a rotation driver can be as follows: first, start the rotation driver, and then drive the drive wheel of the cleaning device to control the cleaning device to rotate in place. During the process of controlling the cleaning device to rotate in place, the rotation angle of the cleaning device can be recorded. Every time it rotates to a preset angle, the attitude angle output by the attitude detection component is collected. During the collection of attitude angles, the rotation driver can be turned off to stop the cleaning device from rotating in place. In this embodiment, the process of collecting attitude angles during the rotation in place is not limited.

[0046] During the process of controlling the rotation of the cleaning equipment, the process of acquiring multiple attitude angles output by the attitude detection component may include, but is not limited to, one of the following: During the rotation of the cleaning equipment, the attitude angle output by the attitude detection component is collected once every preset angle rotation, thereby acquiring multiple attitude angles output by the attitude detection component; or, during the rotation of the cleaning equipment, the attitude angle output by the attitude detection component is collected once every preset time interval, thereby acquiring multiple attitude angles output by the attitude detection component. In this embodiment, the method of acquiring multiple attitude angles output by the attitude detection component is not limited. For example, during the rotation of the cleaning robot, attitude angle sampling can be performed at fixed time intervals to obtain multiple attitude angles.

[0047] Step S206: If multiple attitude angles meet preset conditions, use multiple attitude angles to calibrate the attitude detection component.

[0048] In this embodiment, after obtaining multiple attitude angles, the attitude detection component can be calibrated using these multiple attitude angles if they meet preset conditions. These preset conditions are conditions that allow the use of multiple attitude angles to calibrate the attitude detection component. These conditions can be conditions that each attitude angle must meet, conditions that some of the multiple attitude angles must meet, conditions that the angular relationships between the multiple attitude angles must meet, or other conditions. The process of calibrating the attitude detection component using multiple attitude angles can be: calibrating the attitude angles of the attitude detection component using multiple attitude angles. This embodiment does not limit this.

[0049] Optionally, the aforementioned preset conditions may include, but are not limited to, one of the following: among multiple attitude angles, the difference between the attitude angle with the largest value and the attitude angle with the smallest value is less than or equal to a preset difference; the variance calculated based on the value of each attitude angle among the multiple attitude angles is less than or equal to a preset variance value. For example, the attitude angles of multiple attitude detection components can be collected during rotation, and when the difference between the obtained largest and smallest attitude angles is less than a certain threshold, the cleaning robot is considered to be on the ground, the deviation value is valid, and the attitude detection components are corrected using the attitude angles of multiple attitude detection components.

[0050] Optionally, before using multiple attitude angles to calibrate the attitude detection component, the attitude angle of the cleaning device on the base station can be obtained. The usability of the obtained attitude angle is determined based on the attitude angle of the cleaning device on the base station. If the attitude angle is determined to be usable, the subsequent operations of determining that the robot is on the ground, obtaining the first attitude angle and multiple attitude angles are performed.

[0051] Optionally, the process of using multiple attitude angles to correct the attitude detection component can be as follows: first, calculate the average value of multiple attitude angles, and then correct the attitude detection component based on the calculated average value. For example, the average value of the attitude angles collected during the rotation can be used as the deviation value of the attitude angles for error correction of the attitude detection component, thereby correcting the output result of the attitude detection component.

[0052] Through steps S202 to S206, when the cleaning equipment is in a preset state, the first attitude angle output by the attitude detection component on the cleaning equipment is obtained; when the first attitude angle is within the range of the first preset attitude angle, multiple attitude angles output by the attitude detection component are obtained during the process of controlling the rotation of the cleaning equipment; when multiple attitude angles meet preset conditions, the attitude detection component is corrected using multiple attitude angles, which solves the problem in the related technology that the accuracy of the calculated equipment attitude is low due to the increased error of the attitude angle output by the attitude detection component in the cleaning equipment, and improves the accuracy of attitude calculation.

[0053] In one exemplary embodiment, before acquiring the first attitude angle output by the attitude detection component on the cleaning device, the method further includes:

[0054] S11, by using preset components on the cleaning equipment, the flatness of the area where the cleaning equipment is located is collected;

[0055] S12, if the flatness of the area is within the preset flatness range, determine the equipment status of the cleaning equipment to the preset status.

[0056] In this embodiment, the flatness of the area where the cleaning equipment is located can be collected by a preset component on the cleaning equipment. If the flatness of the area is within a preset flatness range, the equipment state of the cleaning equipment is determined to be a preset state, that is, the cleaning equipment can be calibrated. Optionally, the preset component can be a camera installed on the cleaning equipment, or a laser emitting component (e.g., an infrared array laser emitter), ultrasonic sensor, etc., installed on the cleaning equipment. This embodiment does not limit the specific components.

[0057] As an optional implementation, the image acquisition component on the cleaning equipment can first acquire an image of the area where the cleaning equipment is located to obtain a target acquisition image; then, an image recognition operation can be performed on the target acquisition image to obtain the flatness of the area; finally, if the flatness of the area is within a preset flatness range, the equipment state of the cleaning equipment is determined to be a preset state.

[0058] For example, the flatness of the area where the cleaning robot is located can be identified by the camera installed on the cleaning robot. When the identified flatness is less than or equal to the set flatness threshold, the device status of the cleaning equipment can be determined to be the preset state, and the attitude angle output by the gyroscope on the cleaning robot can be obtained.

[0059] As another alternative implementation method, the location area of ​​the cleaning equipment can be imaged first by the laser emitting component on the cleaning equipment to obtain a target point cloud; then, the flatness of the location area can be obtained based on the height data of each sampling point in the target point cloud; finally, if the flatness of the area is within the preset flatness range, the equipment state of the cleaning equipment is determined to be the preset state.

[0060] For example, the flatness of the area where the cleaning robot is located can be identified by an infrared array transmitter installed on the cleaning robot. When the identified flatness is less than or equal to a set flatness threshold, the device status of the cleaning equipment can be determined to be a preset state, and the attitude angle output by the gyroscope on the cleaning robot can be obtained.

[0061] In this embodiment, the flatness of the area where the cleaning equipment is located is determined by the image acquisition component, and the need for attitude angle correction is determined based on the flatness of the area, which can improve the rationality and accuracy of attitude angle correction.

[0062] In one exemplary embodiment, before acquiring the first attitude angle output by the attitude detection component on the cleaning device, the method further includes:

[0063] S21, when the cleaning equipment is located at a base station that matches the cleaning equipment, obtain the second attitude angle output by the attitude detection component;

[0064] S22, if the second attitude angle is within the range of the second preset attitude angle, determine that the attitude detection component can be corrected.

[0065] In this embodiment, before acquiring the first attitude angle output by the attitude detection component on the cleaning device, the attitude angle output by the attitude detection component within the cleaning device can be acquired when the cleaning device is on a base station. Optionally, the second attitude angle output by the attitude detection component can be acquired when the cleaning device is on a base station matched with the cleaning device. For example, the attitude angle α1 can be acquired once on the base station before the sweeper starts cleaning.

[0066] Optionally, after obtaining the second attitude angle, it can be determined whether the second attitude angle is within a second preset attitude angle range based on its value. If the second attitude angle is within the second preset attitude angle range, it can be determined that the attitude detection component can be calibrated. The aforementioned second preset attitude angle range and the first preset attitude angle range can be the same or different. Specifically, when it is determined that the attitude detection component can be calibrated, the first attitude angle output by the attitude detection component on the cleaning device can be obtained so that the subsequent calibration process can continue if the first attitude angle is within the first preset attitude angle range. It should be noted that if the second attitude angle is outside the second preset attitude angle range, the attitude angle output by the attitude detection component can be re-obtained, and if the re-obtained attitude angle is within the second preset attitude angle range, it is determined that the attitude detection component can be calibrated. Optionally, if the attitude angles of the attitude detection component obtained within a preset number of times are all outside the second preset attitude angle range, a reminder message can be sent to the user of the cleaning device. The reminder message is used to remind the user that the attitude angle of the cleaning device cannot be calibrated at this time.

[0067] In this embodiment, by acquiring the attitude angle output by the attitude detection component of the cleaning device when the cleaning device is located on the base station, and determining whether to allow the attitude detection component to be corrected based on the acquired attitude angle, the rationality and accuracy of the attitude detection component correction can be improved.

[0068] In one exemplary embodiment, during the process of controlling the rotation of the cleaning device, acquiring multiple attitude angles output by the attitude detection component includes:

[0069] S31, During the process of controlling the rotation of the cleaning equipment, the attitude angle output by the attitude detection component is collected every preset time interval to obtain multiple attitude angles; or,

[0070] S32, during the process of controlling the rotation of the cleaning equipment, the attitude angle output by the attitude detection component is collected once every time the preset angle is rotated, and multiple attitude angles are obtained.

[0071] In this embodiment, during the process of controlling the rotation of the cleaning equipment, multiple attitude angles output by the attitude detection component can be obtained by using preset rules. The preset rules may include, but are not limited to, one of the following: attitude angle acquisition is performed at fixed angles, or attitude angle acquisition is performed at fixed time intervals.

[0072] As an optional implementation, during the rotation of the cleaning equipment, the attitude angle output by the attitude detection component can be collected at preset time intervals to obtain multiple attitude angles. For example, if the preset time interval is 1 second, the cleaning robot can collect attitude angles every 1 second.

[0073] As another optional implementation, during the rotation of the cleaning equipment, the attitude angle output by the attitude detection component can be collected every time the equipment rotates by a preset angle, resulting in multiple attitude angles. For example, if the preset angle is 15 degrees, the cleaning robot can collect attitude angles every 15 degrees.

[0074] In this embodiment, the attitude angle output by the attitude detection component is collected every preset time interval or every preset rotation angle, which can improve the rationality of attitude angle collection.

[0075] In one exemplary embodiment, after acquiring multiple attitude angles output by the attitude detection component, the method further includes:

[0076] S41, if the angle difference between the attitude angle with the largest value and the attitude angle with the smallest value is less than or equal to a preset angle difference among multiple attitude angles, then determine that multiple attitude angles meet the preset conditions.

[0077] In this embodiment, after acquiring multiple attitude angles output by the attitude detection component, it can be determined whether the multiple attitude angles meet preset conditions based on their values. Optionally, if the angle difference between the attitude angle with the largest value and the attitude angle with the smallest value is less than or equal to a preset angle difference, it can be determined that the multiple attitude angles meet the preset conditions. For example, if the preset angle difference is 3 degrees, and the largest attitude angle is 4 degrees and the smallest attitude angle is 2 degrees, the difference in attitude angles is 2 degrees, which is less than the preset angle difference, and therefore the multiple attitude angles can be determined to meet the preset conditions.

[0078] Optionally, since abnormal attitude angles may occur among multiple attitude angles, in order to avoid the impact of abnormal attitude angles on determining whether multiple attitude angles meet the preset conditions, the abnormal attitude angles can be removed first, and then the values ​​of the removed multiple attitude angles can be used to determine whether the multiple attitude angles meet the preset conditions.

[0079] For example, when most of the attitude angles are between 2 and 4 degrees, but one of them is 10 degrees, the attitude angle with the value of 10 degrees can be removed first, and then it can be determined whether the multiple attitude angles meet the preset conditions.

[0080] This embodiment determines whether the acquired attitude angle is usable based on the deviation value of the acquired attitude angle, which can improve the rationality of attitude angle correction.

[0081] In one exemplary embodiment, the attitude detection component is calibrated using multiple attitude angles, including:

[0082] S51, the attitude angle difference between the initial attitude angle of the attitude detection component and the average value of multiple attitude angles is used as the attitude angle correction value to correct the attitude detection component.

[0083] In this embodiment, after determining multiple attitude angles, the attitude detection component can be calibrated using these multiple attitude angles. Optionally, the attitude angle difference between the initial attitude angle of the attitude detection component and the average value of the multiple attitude angles can be determined, and the determined attitude angle difference can be used as the attitude angle correction value to calibrate the attitude detection component.

[0084] Optionally, the aforementioned initial attitude angle may include, but is not limited to, one of the following: the attitude angle output by the attitude detection component when the cleaning device is on a base station docked with the cleaning device, i.e., the second attitude angle; the attitude angle output by the attitude detection component when the cleaning device is on the ground, i.e., the first attitude angle; or the initial attitude angle built into the cleaning device. This embodiment does not limit this.

[0085] Optionally, after using the attitude angle difference between the initial attitude angle of the attitude detection component and the average of multiple attitude angles as the attitude angle correction value, the attitude detection component can be corrected using the attitude angle correction value. Optionally, the attitude angle correction value can be input into the correction program of the attitude detection component, and the correction program can complete the correction of the attitude detection component. Other correction methods can also be used, which are not limited in this embodiment.

[0086] The above correction procedure can be performed by adjusting the attitude of the attitude detection component according to the attitude angle correction value, so that the attitude angle difference between the attitude angle output by the attitude detection component and the average of multiple attitude angles is less than or equal to a preset deviation angle threshold (which can be 0). This embodiment does not limit this.

[0087] In this embodiment, the difference between the original value and the rotation mean of the attitude angle of the attitude detection component is used as the attitude angle correction value, which can improve the convenience and accuracy of attitude angle correction of the attitude detection component.

[0088] In one exemplary embodiment, after acquiring multiple attitude angles output by the attitude detection component during the process of controlling the rotation of the cleaning device, the above method further includes:

[0089] S61, if multiple attitude angles do not meet the preset conditions, a prompt message is issued through the cleaning equipment, wherein the prompt message is used to indicate that the attitude detection component has failed to correct.

[0090] S62, in response to the acquired attitude angle reset command, performs a reset operation on the attitude detection component.

[0091] In this embodiment, after acquiring multiple attitude angles output by the attitude detection component during the process of controlling the rotation of the cleaning equipment, if the multiple attitude angles do not meet the preset conditions, the attitude detection component can be corrected in other ways. For example, when the deviation value is unavailable, the current correction can be canceled, and the user can reset the attitude angles by turning the device on and off, restoring factory settings, or executing a manual correction program.

[0092] Optionally, if multiple attitude angles do not meet preset conditions, a prompt message can be issued through the cleaning device. This prompt message is used to indicate that the attitude detection component has failed to correct. The process of issuing the prompt message through the cleaning device may include, but is not limited to, one of the following: sending a voice prompt message through the cleaning device; or sending a prompt message through the cleaning device to a terminal device associated with the cleaning device. This embodiment does not limit this to one of the following.

[0093] After receiving a prompt message from the cleaning equipment, the user can respond to it. Optionally, the user can send an attitude angle reset command to the cleaning equipment via a terminal device, or trigger the generation of the attitude angle reset command by operating the cleaning equipment, such as clicking a preset button on the cleaning equipment. The attitude angle reset command is used to reset the attitude detection component on the cleaning equipment. After receiving the attitude angle reset command, the cleaning equipment can respond to the received attitude angle reset command and perform a reset operation on the attitude detection component.

[0094] In this embodiment, when multiple attitude angles do not meet the preset conditions, other methods can be used to correct the attitude detection component, which can reduce the attitude angle error output by the attitude detection component and improve the accuracy of the calculated device attitude.

[0095] The correction method of the attitude detection component in this application embodiment will be explained below with reference to an optional example. In this optional example, the cleaning device is a robotic vacuum cleaner, and the attitude detection component is a gyroscope.

[0096] This optional example provides a gyroscope attitude correction method, which can reduce the impact of gyroscope errors on the calculation process of the cleaning equipment's attitude, ensuring the accuracy of the calculated cleaning equipment attitude. Combined with... Figure 3 As shown, the procedure for correcting the attitude detection component in this optional example may include the following steps:

[0097] Step S302: Before the robot vacuum cleaner starts cleaning, the attitude angle of the gyroscope is collected through a specific action (rotating at a certain angle), and the deviation value of the gyroscope attitude angle is calculated.

[0098] Before the robot vacuum cleaner starts cleaning, the attitude angle a1 is collected once at the base station. When the robot vacuum cleaner returns to the ground from the base station, the attitude angle a2 is collected again. As long as a2 and a1 are both within the set threshold, gyroscope correction is allowed. At this time, the program drives the main wheel to control the robot vacuum cleaner to rotate in place once. During the rotation, the attitude angle of the gyroscope is collected and the gyroscope attitude deviation value is calculated.

[0099] In step S304, if the deviation value is available, the deviation value is used for error correction of the gyroscope attitude angle to correct the gyroscope results and ensure that the machine works normally.

[0100] By correcting the attitude angle of the gyroscope using this optional example, the impact of gyroscope errors on the calculation process of the robot vacuum cleaner's attitude can be reduced, ensuring the accuracy of the calculated attitude.

[0101] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0102] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM (Read-Only Memory) / RAM (Random Access Memory), magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0103] According to another aspect of the embodiments of this application, a calibration apparatus for an attitude detection component for implementing the calibration method of the attitude detection component described above is also provided. Figure 4 This is a structural block diagram of an optional attitude detection component correction device according to an embodiment of this application, such as... Figure 4 As shown, the device may include:

[0104] The first acquisition unit 402 is used to acquire the first attitude angle output by the attitude detection component on the cleaning equipment when the cleaning equipment is on the ground.

[0105] The second acquisition unit 404 is connected to the first acquisition unit 402 and is used to acquire multiple attitude angles output by the attitude detection component when the first attitude angle is within the range of the first preset attitude angle and during the process of controlling the rotation of the cleaning equipment.

[0106] The correction unit 406 is connected to the second acquisition unit 404 and is used to correct the attitude detection component using multiple attitude angles when multiple attitude angles meet preset conditions.

[0107] It should be noted that the first acquisition unit 402 in this embodiment can be used to perform the above step S202, the second acquisition unit 404 in this embodiment can be used to perform the above step S204, and the correction unit 406 in this embodiment can be used to perform the above step S206.

[0108] Through the above module, when the cleaning equipment is in a preset state, the first attitude angle output by the attitude detection component on the cleaning equipment is obtained; when the first attitude angle is within the range of the first preset attitude angle, multiple attitude angles output by the attitude detection component are obtained during the process of controlling the rotation of the cleaning equipment; when multiple attitude angles meet preset conditions, the attitude detection component is corrected using multiple attitude angles, which solves the problem of low accuracy of the calculated equipment attitude caused by the increased error of the attitude angle output by the attitude detection component in the cleaning equipment in the related technology, and improves the accuracy of attitude calculation.

[0109] In one exemplary embodiment, the above-described apparatus further includes:

[0110] The acquisition unit is used to acquire the regional flatness of the location area where the cleaning device is located by a preset component on the cleaning device before acquiring the first attitude angle output by the attitude detection component on the cleaning device;

[0111] The first determining unit is used to determine the equipment state of the cleaning equipment as the preset state when the flatness of the area is within a preset flatness range.

[0112] In one exemplary embodiment, the above-described apparatus further includes:

[0113] The third acquisition unit is used to acquire the second attitude angle output by the attitude detection component before acquiring the first attitude angle output by the attitude detection component on the cleaning device, when the cleaning device is located at a base station that matches the cleaning device.

[0114] The second determining unit is used to determine whether the attitude detection component can be corrected when the second attitude angle is within the range of the second preset attitude angle.

[0115] In one exemplary embodiment, the second acquisition unit includes:

[0116] The first acquisition module is used to acquire the attitude angles output by the attitude detection component at preset time intervals during the process of controlling the rotation of the cleaning equipment, thereby obtaining multiple attitude angles; or,

[0117] The second acquisition module is used to acquire the attitude angle output by the attitude detection component once every time the cleaning equipment rotates by a preset angle during the process of controlling the rotation of the equipment, so as to obtain multiple attitude angles.

[0118] In one exemplary embodiment, the above-described apparatus further includes:

[0119] The third determining unit is used to determine that multiple attitude angles satisfy a preset condition after acquiring multiple attitude angles output by the attitude detection component, provided that the angle difference between the attitude angle with the largest value and the attitude angle with the smallest value is less than or equal to a preset angle difference.

[0120] In one exemplary embodiment, the correction unit includes:

[0121] The calibration module is used to calibrate the attitude detection component by using the attitude angle difference between the initial attitude angle of the attitude detection component and the average value of multiple attitude angles as the attitude angle calibration value.

[0122] In one exemplary embodiment, the above-described apparatus further includes:

[0123] The issuing unit is used to obtain multiple attitude angles output by the attitude detection component during the process of controlling the rotation of the cleaning equipment, and to issue a prompt message through the cleaning equipment if the multiple attitude angles do not meet the preset conditions. The prompt message is used to indicate that the attitude detection component has failed to correct.

[0124] The reset unit is used to perform a reset operation on the attitude detection component in response to the acquired attitude angle reset command.

[0125] It should be noted that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the content disclosed in the above embodiments. It should also be noted that the above modules, as part of a device, can operate in environments such as... Figure 1 The hardware environment shown can be implemented through software or hardware, and the hardware environment includes the network environment.

[0126] According to another aspect of the embodiments of this application, a storage medium is also provided. Optionally, in this embodiment, the storage medium can be used to execute program code for the correction method of any of the attitude detection components described above in the embodiments of this application.

[0127] Optionally, in this embodiment, the storage medium may be located on at least one of the network devices in the network shown in the above embodiment.

[0128] Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps:

[0129] S1, when the cleaning equipment is in a preset state, obtain the first attitude angle output by the attitude detection component on the cleaning equipment;

[0130] S2, when the first attitude angle is within the range of the first preset attitude angle, during the process of controlling the rotation of the cleaning equipment, multiple attitude angles output by the attitude detection component are acquired;

[0131] S3, under the condition that multiple attitude angles meet the preset conditions, use multiple attitude angles to correct the attitude detection component.

[0132] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated in this embodiment.

[0133] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, ROMs, RAMs, portable hard drives, magnetic disks, or optical disks.

[0134] According to another aspect of the embodiments of this application, an electronic device for implementing the above-described posture detection component correction method is also provided. The electronic device may be a server, a terminal, or a combination thereof.

[0135] Figure 5 This is a structural block diagram of an optional electronic device according to an embodiment of this application, such as... Figure 5 As shown, it includes a processor 502, a communication interface 504, a memory 506, and a communication bus 508. The processor 502, communication interface 504, and memory 506 communicate with each other via the communication bus 508.

[0136] Memory 506 is used to store computer programs;

[0137] When processor 502 executes a computer program stored in memory 506, it performs the following steps:

[0138] S1, when the equipment state of the cleaning equipment is in the preset state, obtain the first attitude angle output by the attitude detection component on the cleaning equipment;

[0139] S2, when the first attitude angle is within the range of the first preset attitude angle, during the process of controlling the rotation of the cleaning equipment, multiple attitude angles output by the attitude detection component are acquired;

[0140] S3, under the condition that multiple attitude angles meet the preset conditions, use multiple attitude angles to correct the attitude detection component.

[0141] Optionally, in this embodiment, the communication bus can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, Figure 5The symbol is represented by a single thick line, but this does not indicate that there is only one bus or one type of bus. The communication interface is used for communication between the aforementioned electronic device and other devices.

[0142] The aforementioned memory may include RAM, or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0143] As an example, the memory 506 described above may include, but is not limited to, the first acquisition unit 402, the second acquisition unit 404, and the correction unit 406 from the control device of the aforementioned device. Furthermore, it may include, but is not limited to, other module units from the control device of the aforementioned device, which will not be elaborated upon in this example.

[0144] The processors mentioned above can be general-purpose processors, including but not limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; they can also be DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0145] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated here.

[0146] Those skilled in the art will understand that Figure 5 The structure shown is for illustrative purposes only. The device that implements the above-described attitude detection component correction method can be a terminal device, such as a smartphone (e.g., Android phone, iOS phone), tablet computer, PDA, mobile Internet Devices (MID), PAD, etc. Figure 5 This does not limit the structure of the aforementioned electronic device. For example, the electronic device may also include components that are more... Figure 5 The more or fewer components shown (such as network interfaces, display devices, etc.), or having the same Figure 5 The different configurations shown.

[0147] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing the hardware related to the terminal device. The program can be stored in a computer-readable storage medium, which may include: flash drive, ROM, RAM, disk or optical disk, etc.

[0148] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0149] If the integrated units in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in the aforementioned computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0150] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0151] In the several embodiments provided in this application, it should be understood that the disclosed client can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection between units or modules, and may be electrical or other forms.

[0152] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the solution provided in this embodiment, depending on actual needs.

[0153] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0154] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for calibrating an attitude detection component, characterized in that, include: When the cleaning equipment is in a preset state, obtain the first attitude angle output by the attitude detection component on the cleaning equipment. When the first attitude angle is within the range of the first preset attitude angle, multiple attitude angles output by the attitude detection component are acquired during the process of controlling the rotation of the cleaning device; When the plurality of attitude angles meet preset conditions, the attitude detection component is calibrated using the plurality of attitude angles; wherein... Before acquiring the first attitude angle output by the attitude detection component on the cleaning device, the correction method further includes: acquiring the regional flatness of the area where the cleaning device is located through a preset component on the cleaning device; and determining the device state of the cleaning device as the preset state when the regional flatness is within a preset flatness range. If the angle difference between the attitude angle with the largest value and the attitude angle with the smallest value is less than or equal to a preset angle difference, then the multiple attitude angles are determined to satisfy the preset condition. The step of using the plurality of attitude angles to correct the attitude detection component includes: using the attitude angle difference between the initial attitude angle of the attitude detection component and the average value of the plurality of attitude angles as the attitude angle correction value to correct the attitude detection component.

2. The method according to claim 1, characterized in that, Before acquiring the first attitude angle output by the attitude detection component on the cleaning device, the method further includes: When the cleaning equipment is located at a base station that matches the cleaning equipment, the second attitude angle output by the attitude detection component is obtained; If the second attitude angle is within the range of the second preset attitude angle, it is determined that the attitude detection component can be corrected.

3. The method according to any one of claims 1 to 2, characterized in that, During the process of controlling the rotation of the cleaning equipment, acquiring multiple attitude angles output by the attitude detection component includes: During the process of controlling the rotation of the cleaning equipment, the attitude angle output by the attitude detection component is collected every preset time interval to obtain the plurality of attitude angles; or, During the process of controlling the rotation of the cleaning equipment, the attitude angle output by the attitude detection component is collected once every time the preset angle is rotated, and the multiple attitude angles are obtained.

4. The method according to any one of claims 1 to 2, characterized in that, After acquiring multiple attitude angles output by the attitude detection component during the process of controlling the rotation of the cleaning equipment, the method further includes: If the multiple attitude angles do not meet the preset conditions, the cleaning device will issue a prompt message, wherein the prompt message is used to indicate that the attitude detection component has failed to correct. In response to the received attitude angle reset command, a reset operation is performed on the attitude detection component.

5. A calibration device for an attitude detection component, characterized in that, include: The first acquisition unit is used to acquire the first attitude angle output by the attitude detection component on the cleaning equipment when the equipment state of the cleaning equipment is a preset state. The second acquisition unit is used to acquire multiple attitude angles output by the attitude detection component during the process of controlling the rotation of the cleaning device when the first attitude angle is within the range of the first preset attitude angle. The correction unit is used to correct the attitude detection component using the multiple attitude angles when the multiple attitude angles meet preset conditions; The acquisition unit is used to acquire the regional flatness of the area where the cleaning device is located by a preset component on the cleaning device before acquiring the first attitude angle output by the attitude detection component on the cleaning device. The first determining unit is configured to determine the equipment state of the cleaning equipment to the preset state when the flatness of the area is within a preset flatness range; wherein... The correction unit is further configured to determine that the plurality of attitude angles satisfy the preset condition when the angle difference between the attitude angle with the largest value and the attitude angle with the smallest value is less than or equal to a preset angle difference. The correction unit is further configured to use the attitude angle difference between the initial attitude angle of the attitude detection component and the average value of the plurality of attitude angles as the attitude angle correction value to correct the attitude detection component.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program, when executed, performs the method of any one of claims 1 to 4.

7. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to execute the method of any one of claims 1 to 4 through the computer program.

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