A rudder wheel calibration method and device for a mobile robot and a mobile robot

Abstract

Embodiments of the present application provide a rudder wheel calibration method and device for a mobile robot and a mobile robot, and relate to the technical field of mobile robots. The method comprises: determining a to-be-calibrated rudder wheel group of the mobile robot; performing first calibration processing on each rudder wheel in the to-be-calibrated rudder wheel group in a manner of controlling the mobile robot to perform a plurality of first movement processes based on a calibration route, to obtain a first difference value between a real angle of each rudder wheel in the to-be-calibrated rudder wheel group and an angle fed back by a corresponding rudder wheel encoder; wherein in the first movement process, a vehicle head of the mobile robot at a starting position on the calibration route is parallel to the calibration route, and each rudder wheel in the to-be-calibrated rudder wheel group is oriented to a current actual zero position and a rudder wheel other than the to-be-calibrated rudder wheel group remains in a non-force mode; and determining a calibration result of the rudder wheel based on the obtained first difference value. Through the present solution, accurate calibration of the rudder wheel of the mobile robot can be achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mobile robots, in particular to a rudder wheel calibration method and device for a mobile robot and the mobile robot. BACKGROUND

[0002] The wide application of AGV (Automated Guided Vehicle) and other mobile robots in various industries has led to a rapid increase in demand. However, errors generated during the production and installation of mobile robots cannot be avoided. Therefore, in order to ensure the navigation accuracy of mobile robots, there is a need to calibrate the angle deviation of each rudder wheel of the mobile robot.

[0003] Traditional rudder wheel calibration methods rely on machine manufacturing processes, that is, a pin hole is reserved during rudder wheel design. In this way, during calibration, a pin can be directly inserted into the pin hole, the current angle value fed back by the encoder of the rudder wheel is read, and the read angle value is taken as a new zero position to achieve calibration. However, in the above calibration process, only the angle deviation of the rudder wheel itself can be calibrated. When the rudder wheel is installed on the AGV chassis, the relationship between the chassis and the rudder wheel cannot be determined and there may be installation errors, etc. If the angle deviation calibrated in the above calibration process is taken as the calibration result of the rudder wheel of the mobile robot, the calibration result will be inaccurate.

[0004] Therefore, how to accurately calibrate the rudder wheel of the mobile robot has become a problem to be solved. SUMMARY

[0005] The purpose of the embodiments of the present application is to provide a rudder wheel calibration method and device for a mobile robot and the mobile robot to accurately calibrate the rudder wheel of the mobile robot. The specific technical solutions are as follows:

[0006] In a first aspect, the embodiments of the present application provide a rudder wheel calibration method for a mobile robot, which comprises:

[0007] determining a to-be-calibrated rudder wheel group of the mobile robot; wherein the to-be-calibrated rudder wheel group is a rudder wheel group obtained by grouping the rudder wheels of the mobile robot, and the rudder wheels in the same rudder wheel group obtained by the grouping belong to different side rudder wheels;

[0008] The first calibration processing is performed on each rudder wheel in the to-be-calibrated rudder wheel group in a manner that the mobile robot is controlled to perform a plurality of first moving processes based on a calibration route, to obtain a first difference value between a real angle of each rudder wheel in the to-be-calibrated rudder wheel group and an angle fed back by a corresponding rudder wheel encoder; in the first moving process, a starting position is on the calibration route, and a vehicle head direction of the mobile robot at the starting position is parallel to the calibration route, and a direction of each rudder wheel in the to-be-calibrated rudder wheel group is a current actual zero position, and rudder wheels other than the to-be-calibrated rudder wheel group remain in a non-force output mode;

[0009] Based on the obtained first difference value, a calibration result of each rudder wheel in the to-be-calibrated rudder wheel group is determined.

[0010] In a second aspect, an embodiment of the present application provides a rudder wheel calibration device for a mobile robot, the device comprising:

[0011] A rudder wheel group determination module is configured to determine a to-be-calibrated rudder wheel group of the mobile robot; wherein the to-be-calibrated rudder wheel group is a rudder wheel group obtained by grouping processing of rudder wheels of the mobile robot, and rudder wheels in a same rudder wheel group obtained by the grouping processing belong to different side rudder wheels;

[0012] A first control module is configured to perform first calibration processing on each rudder wheel in the to-be-calibrated rudder wheel group in a manner that the mobile robot is controlled to perform a plurality of first moving processes based on a calibration route, to obtain a first difference value between a real angle of each rudder wheel in the to-be-calibrated rudder wheel group and an angle fed back by a corresponding rudder wheel encoder; in the first moving process, a starting position is on the calibration route, and a vehicle head direction of the mobile robot at the starting position is parallel to the calibration route, and a direction of each rudder wheel in the to-be-calibrated rudder wheel group is a current actual zero position, and rudder wheels other than the to-be-calibrated rudder wheel group remain in a non-force output mode;

[0013] A result determination module is configured to determine a calibration result of each rudder wheel in the to-be-calibrated rudder wheel group based on the obtained first difference value.

[0014] In a third aspect, an embodiment of the present application provides a mobile robot with a rudder wheel, comprising:

[0015] A memory is configured to store a computer program;

[0016] A processor is configured to execute the program stored in the memory, to implement any of the rudder wheel calibration methods for a mobile robot.

[0017] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program, when executed by a processor, implements the method for calibrating the steering wheels of the mobile robot according to any of the above embodiments.

[0018] The embodiments of the present application also provide a computer program product comprising instructions which, when executed on a computer, cause the computer to carry out the method for calibrating the steering wheels of the mobile robot according to any of the above embodiments.

[0019] The embodiments of the present application have the following beneficial effects:

[0020] As can be seen above, by applying the scheme provided by the embodiments of the present application, the steering wheels of the mobile robot can be grouped in advance to obtain a steering wheel group, and the steering wheels in the same steering wheel group belong to the opposite side steering wheels. In this way, when calibrating the steering wheels of the mobile robot, first, the to-be-calibrated steering wheel group of the mobile robot can be determined. Then, according to the control of the mobile robot, the first calibration processing is performed on each steering wheel in the to-be-calibrated steering wheel group in a manner that the mobile robot performs a plurality of first moving processes based on a calibration route, so as to obtain a first difference value between the true angle of each steering wheel in the to-be-calibrated steering wheel group and the angle fed back by the corresponding steering wheel encoder; wherein in the above first moving process, the starting position of the mobile robot is on the calibration route, and the vehicle head of the mobile robot is parallel to the calibration route at the starting position. In addition, in the above first moving process, the orientation of each steering wheel in the to-be-calibrated steering wheel group is the current actual zero position, and the steering wheels other than the to-be-calibrated steering wheel group remain in the non-power mode. In this way, the calibration result of each steering wheel in the to-be-calibrated steering wheel group can be determined based on the obtained first difference value.

[0021] Based on this, by applying the scheme provided by the embodiments of the present application, the steering wheels of the mobile robot are grouped to divide the steering wheels into a to-be-calibrated steering wheel group and steering wheels other than the to-be-calibrated steering wheel group, and the steering wheels in the same steering wheel group belong to the opposite side steering wheels. In this way, when calibrating the to-be-calibrated steering wheel group, the steering wheels other than the to-be-calibrated steering wheel group can be controlled to remain in the non-power mode when the mobile robot is controlled to move, so as to reduce the coupling effect between the steering wheels in the same group and the pulling effect of the steering wheels other than the to-be-calibrated steering wheel group on the steering wheels in the to-be-calibrated steering wheel group; and when the mobile robot is moved multiple times, the starting position is on the calibration route, the vehicle head of the mobile robot is parallel to the calibration route at the starting position, and the orientation of each steering wheel in the to-be-calibrated steering wheel group is the current actual zero position, so as to ensure the posture requirement when the steering wheels are calibrated. It can be seen that, by this scheme, the accuracy of the calibration result of each steering wheel in the to-be-calibrated steering wheel group can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and other embodiments can also be obtained by those skilled in the art based on these drawings.

[0023] Figure 1 The flowchart of the first steering wheel calibration method for the mobile robot provided by the embodiments of the present application;

[0024] Fig. 2(a) is a schematic diagram of the chassis of the mobile robot with three steering wheels;

[0025] Fig. 2(b) is a schematic diagram of the chassis of the mobile robot with four steering wheels;

[0026] Figure 3 The flowchart of the second steering wheel calibration method for the mobile robot provided by the embodiments of the present application;

[0027] Figure 4 The flowchart of the third steering wheel calibration method for the mobile robot provided by the embodiments of the present application;

[0028] Figure 5 The flowchart of the fourth steering wheel calibration method for the mobile robot provided by the embodiments of the present application;

[0029] Figure 6 The schematic diagram of the rotation of the mobile robot in the moving process provided by the embodiments of the present application;

[0030] Figure 7 The schematic diagram of the moving process of the mobile robot when the steering wheel has an angle deviation provided by the embodiments of the present application;

[0031] Figure 8 The schematic diagram of the side shift of the mobile robot in the moving process provided by the embodiments of the present application;

[0032] Fig. 9(a) is a schematic diagram of the relationship between the straight moving calibration result and the initial actual zero position of one steering wheel provided by the embodiments of the present application;

[0033] Fig. 9(b) is a schematic diagram of the relationship between another straight moving calibration result and the initial actual zero position of one steering wheel provided by the embodiments of the present application;

[0034] Figure 10 The schematic diagram of the straight moving and side shift of the mobile robot after the first calibration process provided by the embodiments of the present application;

[0035] Figure 11A fifth rudder wheel calibration method for a mobile robot provided by an embodiment of the present application is shown in the flowchart.

[0036] Fig. 12(a) is a schematic diagram of the relationship between the initial actual zero position, the actual zero position after straight-line calibration, and the actual zero position after side shift calibration in a calibration state according to an embodiment of the present application.

[0037] Fig. 12(b) is a schematic diagram of the relationship between the rudder wheel encoder feedback angle and the real angle after a first calibration process and a second calibration process according to an embodiment of the present application.

[0038] Figure 13 A flowchart of a specific embodiment provided by an embodiment of the present application is shown.

[0039] Figure 14 A specific flowchart of the straight-line calibration in Fig. 1 is shown. Figure 13

[0040] A specific flowchart of the side shift calibration in Fig. 1 is shown. Figure 15 Figure 13 A structure diagram of a rudder wheel calibration device for a mobile robot provided by an embodiment of the present application is shown.

[0041] Figure 16 A block diagram of a mobile robot with a rudder wheel provided by an embodiment of the present application is shown.

[0042] DETAILED DESCRIPTION Figure 17 The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art based on the present application belong to the scope of protection of the present application.

[0043] To facilitate understanding of the solutions, the professional terms involved in the present application will be introduced first as follows.

[0044] Rudder wheel: refers to a component in a mobile robot chassis that can move and turn, usually composed of one walking wheel and one turning wheel; another differential wheel composed of one walking wheel on the left and one walking wheel on the right can be regarded as equivalent to a rudder wheel in the present application.

[0045] Rudder wheel encoder: a sensor that converts displacement into counting pulses, which can be understood as a sensor that can feedback the angle of the rudder wheel in the rudder wheel.

[0046] Rudder wheel encoder: a sensor that converts displacement into counting pulses, which can be understood as a sensor that can feedback the angle of the rudder wheel in the rudder wheel.

[0047] ​Zero and zero angle offset: the theoretical zero is the direction of the steering wheel parallel to the vehicle head, and the actual zero is the direction of the steering wheel encoder feedback angle of 0; the zero angle offset is the difference between the actual zero and the theoretical zero.

[0048] Wheeled odometry navigation: a navigation method that obtains the speed, displacement, and angle of each wheel through sensors to calculate the change in the chassis pose.

[0049] Open-loop control: open-loop control refers to the output of the system not affecting the control quantity. In this application, it refers to the mode of the electronic device remotely controlling the mobile robot to run, that is, the electronic device only controls the output of the mobile robot to move at a speed, without controlling the position and angle of the chassis of the mobile robot.

[0050] Closed-loop control: closed-loop control refers to the output of the system affecting the control quantity. In this application, it refers to the mode of the mobile robot running automatically, that is, the position and angle of the chassis of the mobile robot are controlled.

[0051] Scale error: the error between the measured value and the true value in a certain proportional relationship.

[0052] The wide application of mobile robots such as AGVs in various industries has led to a rapid increase in demand. However, errors generated during the production and installation of mobile robots cannot be avoided, which results in differences in the actual running effect of various mobile robots. The navigation accuracy of mobile robots without calibration cannot be guaranteed. In scenarios that rely on wheeled odometry for navigation and positioning for a long time, the accuracy of the steering wheel angle will directly affect the navigation accuracy. Therefore, in order to ensure the navigation accuracy of the mobile robot, there is a need to calibrate the angle deviation of each steering wheel of the mobile robot.

[0053] The traditional steering wheel calibration method relies on the manufacturing process of the machine, that is, a pin hole is reserved during the design of the steering wheel. In this way, during calibration, the pin can be directly inserted into the above-mentioned pin hole, the angle value currently fed back by the steering wheel encoder is read, and the read angle value is taken as the new zero to achieve calibration.

[0054] As can be seen, the above-mentioned traditional steering wheel calibration method has the following problems:

[0055] In the above calibration process, only the angle deviation of the steering wheel itself can be calibrated. When the steering wheel is installed on the chassis of the mobile robot, the relationship between the chassis and the steering wheel cannot be determined, and there may be installation errors, etc. If the angle deviation calibrated by the above calibration process is taken as the calibration result for the steering wheel of the mobile robot, the calibration result will be inaccurate.

[0056] And most mobile robots need to disassemble the car shell for re-calibration after leaving the factory, resulting in low efficiency of rudder calibration.

[0057] In another related technology, the staff can control each rudder to move at the same speed towards the current zero position direction, so as to confirm the angle deviation and lateral deviation generated by the mobile robot when moving through visual observation or positioning data. First, the zero position deviation angle of each rudder is adjusted separately, so that each wheel is parallel to eliminate the angle deviation, and then the zero position deviation angle of each rudder is adjusted simultaneously, so that each wheel is parallel to the chassis to eliminate the lateral deviation, and finally the deviation generated when each wheel moves along the zero position direction is within the preset range.

[0058] It can be seen that the above related technology has the following problems:

[0059] In the above calibration process, only the calibration of the zero position deviation angle of the rudder is considered, and the scale change of the rudder angle is not considered. Therefore, in the omnidirectional chassis with double rudders, the straight running effect may be good after calibration, but the side shift effect is poor when moving at 90 degrees. Therefore, the above calibration process is only suitable for mobile robots with chassis structure including 1-2 rudders, and cannot solve the coupling problem between multiple rudders.

[0060] Therefore, the above related technology and the traditional rudder calibration method cannot meet the accuracy requirement of rudder calibration.

[0061] It can be seen that how to accurately calibrate the rudder of the mobile robot has become a problem to be solved at present.

[0062] In order to solve the above technical problems, the embodiment of the present application provides a rudder calibration method, device and mobile robot for a mobile robot.

[0063] The rudder calibration method for a mobile robot can be applied to an electronic device, which can be a mobile robot itself or a control device for controlling a mobile robot. The control device is a server device of the mobile robot, and the device form of the control device can be various, such as notebook computers, desktop computers and various electronic devices. It can be understood that in specific application, preferably, the rudder calibration method for a mobile robot can be applied to a mobile robot, that is, the electronic device can be a mobile robot.

[0064] And the rudder calibration method is suitable for various application scenarios of calibrating the rudder of the mobile robot. For example, the rudder calibration is performed on a mobile robot containing three rudders. For example, the rudder calibration is performed on a mobile robot containing four rudders. The application embodiment does not specifically limit the application scenario of the rudder calibration method for a mobile robot.

[0065] This application provides a steering wheel calibration method for a mobile robot, which may include the following steps:

[0066] Determine the rudder wheel group to be calibrated for the mobile robot; wherein, the rudder wheel group to be calibrated is a rudder wheel group obtained by grouping the rudder wheels of the mobile robot, and the rudder wheels in the same rudder wheel group obtained by grouping are opposite-side rudder wheels.

[0067] According to the method of controlling the mobile robot to perform multiple first movement processes based on the calibration route, a first calibration process is performed on each steering wheel in the steering wheel group to be calibrated to obtain a first difference between the actual angle of each steering wheel in the steering wheel group to be calibrated and the angle fed back by the corresponding steering wheel encoder; wherein, during the first movement process, the starting position is on the calibration route and the direction of the mobile robot's front is parallel to the calibration route at the starting position, and the orientation of each steering wheel in the steering wheel group to be calibrated is the current actual zero position and the steering wheels other than the steering wheel group to be calibrated remain in a non-power mode;

[0068] Based on the obtained first difference, the calibration result of each steering wheel in the steering wheel group to be calibrated is determined.

[0069] Based on this, the solution provided in this application is applied to group the steering wheels of the mobile robot into a steering wheel group to be calibrated and steering wheels other than those in the calibrated steering wheel group. Furthermore, steering wheels within the same steering wheel group are on opposite sides. Thus, during the calibration of the steering wheel group to be calibrated, when controlling the mobile robot's movement, the steering wheels other than those in the calibrated steering wheel group can be controlled to remain in a non-power-operating mode. This reduces the coupling effect between steering wheels in the same group during movement and reduces the pulling effect of steering wheels other than those in the calibrated steering wheel group on the steering wheels in the calibrated steering wheel group. Moreover, during multiple movements, the starting position is on the calibration route, and at the starting position, the mobile robot's front end is parallel to the calibration route. Additionally, the orientation of each steering wheel in the calibrated steering wheel group is at its current actual zero position, ensuring the required posture during steering wheel calibration. Therefore, this solution can improve the accuracy of the calibration results for each steering wheel in the calibrated steering wheel group.

[0070] The following description, in conjunction with the accompanying drawings, provides an exemplary method for calibrating the steering wheel of a mobile robot according to an embodiment of this application.

[0071] like Figure 1 As shown in the embodiment of this application, a steering wheel calibration method for a mobile robot may include the following steps S101-S103:

[0072] S101: Determine the calibrated steering wheel assembly for the mobile robot.

[0073] wherein, the to-be-calibrated steering wheel group is a steering wheel group obtained by grouping the steering wheels of the mobile robot, and the steering wheels in the same steering wheel group obtained by grouping belong to different side steering wheels.

[0074] In the present application, the coupling and pulling effects between the steering wheels of the mobile robot during movement are considered. Therefore, when calibrating the steering wheels of the mobile robot, the steering wheels of the mobile robot can be grouped in advance to obtain a steering wheel group, and the steering wheels in the same steering wheel group obtained by grouping belong to different side steering wheels, i.e., two steering wheels located on different sides of the chassis of the mobile robot can be divided into one steering wheel group.

[0075] When calibrating the steering wheels, the to-be-calibrated steering wheel group of the mobile robot is determined directly from the steering wheel group obtained by processing.

[0076] For example, when the number of steering wheels of the mobile robot is greater than two, the steering wheels of the mobile robot can be grouped according to the following grouping rules:

[0077] 1) Each steering wheel group contains two steering wheels;

[0078] 2) The two steering wheels in each steering wheel group belong to different side steering wheels, and the two steering wheels are symmetric about the center of the chassis of the mobile robot;

[0079] 3) Each steering wheel is divided into at least one steering wheel group, and each steering wheel can be repeatedly contained in different steering wheel groups.

[0080] FIG. 2(a) is a schematic diagram of the chassis of a mobile robot with three steering wheels, and FIG. 2(b) is a schematic diagram of the chassis of a mobile robot with four steering wheels. When the mobile robot includes three steering wheels, the steering wheels can be grouped as shown in FIG. 2(a) according to the above grouping rules, and the two ends of the connecting line represent the two steering wheels contained in each steering wheel group; when the mobile robot includes four steering wheels, the steering wheels can be grouped as shown in FIG. 2(b) according to the above grouping rules, and the two ends of the connecting line represent the two steering wheels contained in each steering wheel group.

[0081] In this embodiment, the steering wheels of the mobile robot are grouped into a group of steering wheels to be calibrated and another group of steering wheels not in the calibrated group. When controlling the movement of the mobile robot, the steering wheels other than those in the calibrated group are kept in a non-power-operating mode. This reduces the pulling force exerted by the steering wheels outside the calibrated group on the steering wheels in the calibrated group, thereby improving the accuracy of the calibration results for each steering wheel in the calibrated group. Furthermore, the steering wheels in the same group obtained after grouping are on opposite sides. Thus, by grouping steering wheels located on opposite sides into a single group, the coupling effect between the steering wheels in the same group during movement can be reduced, further improving the accuracy of the calibration results for each steering wheel in the calibrated group.

[0082] S102: According to the method of controlling the mobile robot to perform multiple first movement processes based on the calibration route, perform the first calibration process on each steering wheel in the steering wheel group to be calibrated, and obtain the first difference between the actual angle of each steering wheel in the steering wheel group to be calibrated and the angle fed back by the corresponding steering wheel encoder.

[0083] During the first movement, the starting position is on the calibration route, and the robot's front is parallel to the calibration route at the starting position. Also, the orientation of each steering wheel in the steering wheel group to be calibrated is the current actual zero position, and the steering wheels outside the steering wheel group to be calibrated remain in a non-power mode.

[0084] In this application, the electronic device can perform a first calibration process on each steering wheel in the steering wheel group to be calibrated in a specific manner, thereby obtaining a first difference between the actual angle of each steering wheel in the steering wheel group to be calibrated and the angle fed back by the corresponding steering wheel encoder; wherein, the specific manner is to control the mobile robot to perform multiple first movement processes based on the calibration route, that is, to control the mobile robot to perform multiple first movement processes based on the calibration route for calibration.

[0085] During the first movement process described above, the mobile robot starts on the calibration route, and at that starting position, the robot's front end is parallel to the calibration route. Furthermore, during the first movement, the orientation of each steering wheel in the steering wheel assembly to be calibrated is at its current actual zero position. This configuration ensures that the mobile robot meets the attitude requirements during the calibration process.

[0086] The so-called actual zero position refers to the orientation when the angle fed back by the steering wheel encoder is 0. In other words, when the angle fed back by the encoder of each steering wheel in the steering wheel group to be calibrated is 0, the mobile robot is controlled to perform the first movement process based on the calibration route. During the movement, the orientation of each steering wheel in the steering wheel group to be calibrated remains unchanged, thus performing the first calibration process on each steering wheel in the steering wheel group to be calibrated. This first calibration process can also be called the straight-line calibration process.

[0087] Optionally, the first calibration process described above can only include the angle deviation process, or can include the angle deviation process and the lateral deviation process. Wherein, the specific implementation of the first calibration process is described in detail in steps S501-S503 below, the specific implementation of the angle deviation process in the first calibration process is described in detail in steps C1-C2 below, and the specific implementation of the lateral deviation process in the first calibration process is described in detail in steps D1-D3 below.

[0088] Considering that the mobile robot will have mutual pulling and coupling phenomenon between the steering wheels during movement, in order to reduce the influence of the above phenomenon on the calibration result of the steering wheel, when controlling the movement of the mobile robot, the steering wheels other than the to-be-calibrated steering wheel group need to act as driven wheels, that is, do not provide any power and only rely on the friction of the ground to rotate, so as to weaken the coupling effect between the steering wheels other than the to-be-calibrated steering wheel group and the to-be-calibrated steering wheel group. However, the movement of the mobile robot is realized by controlling the speed of the steering wheel based on the current released by the motor, and if only the motor is released to rotate freely, the orientation of the steering wheel will be uncontrollable, and thus a large resistance will be generated.

[0089] Therefore, the present application sets a steering wheel non-power mode, that is, during movement, while controlling the steering wheels other than the to-be-calibrated steering wheel group to achieve the effect of driven wheels, the orientation of the steering wheels other than the to-be-calibrated steering wheel group can still be kept controllable.

[0090] Based on this, optionally, in an implementation, the control method for keeping the steering wheels other than the to-be-calibrated steering wheel group in the non-power mode provided by the embodiments of the present application includes the following step A:

[0091] Step A: controlling the speed of the steering wheels other than the to-be-calibrated steering wheel group, so that the current fed back by the corresponding driver of the steering wheels other than the to-be-calibrated steering wheel group is within a predetermined current value range.

[0092] Wherein, the predetermined current value range is the minimum value range of the current value for making the orientation of the steering wheels other than the to-be-calibrated steering wheel group controllable.

[0093] In this embodiment, the electronic device can pre-determine the minimum value range of the current value for making the orientation of the steering wheels other than the to-be-calibrated steering wheel group controllable as the predetermined current value range.

[0094] In this way, the electronic device can control the speed of the steering wheels other than the to-be-calibrated steering wheel group, so that the current fed back by the corresponding driver of the steering wheels other than the to-be-calibrated steering wheel group is within the predetermined current value range.

[0095] For example, by controlling the speed of the steering wheels other than those in the calibration steering wheel group, the electronic device keeps the current fed back by the corresponding driver of the steering wheels other than those in the calibration steering wheel group close to 0. Near this 0 value, the mobile robot can perform closed-loop control on the orientation of the steering wheels other than those in the calibration steering wheel group. Thus, the steering wheels other than those in the calibration steering wheel group achieve a similar effect to driven wheels, while keeping the orientation of the steering wheels other than those in the calibration steering wheel group under control.

[0096] Based on this, by controlling the speed of the steering wheel, the current fed back by the corresponding driver of the steering wheel can be controlled. This allows the steering wheels other than those in the steering wheel group to achieve the effect of driven wheels while keeping their orientation controllable. This reduces the coupling effect between the steering wheels other than those in the steering wheel group and the steering wheel group to be calibrated, thereby improving the accuracy of steering wheel calibration.

[0097] S103: Based on the obtained first difference, determine the calibration result of each steering wheel in the steering wheel group to be calibrated.

[0098] In this application, the electronic device can determine the calibration result of each steering wheel in the steering wheel group to be calibrated based on the obtained first difference. Thus, the first calibration process of the mobile robot is completed, that is, the straight-line calibration of the steering wheels of the mobile robot is completed.

[0099] Optionally, based on the obtained first difference, the calibration result of each steering wheel in the steering wheel group to be calibrated is determined using the first formula, wherein the first formula includes:

[0100] θ i,real =θ i,fbk +θ i,bias ;

[0101] Where, θ i,real θ represents the true angle of steering wheel i in the steering wheel assembly to be calibrated. i,fbk θ represents the angle fed back by the encoder of the corresponding steering wheel i in the steering wheel assembly to be calibrated. i,bias The first difference in the steering wheel i of the steering wheel group to be calibrated is represented.

[0102] Optionally, in one implementation, for the first movement process, the end of a movement process is indicated when the distance between the starting position and the ending position is equal to the length of the calibrated route.

[0103] In the embodiment, since the rudder of the mobile robot without calibration has deviation, the mobile robot cannot reach the end position on the calibration route after starting from the start position on the calibration route. Therefore, the condition for characterizing the end of a moving process can be set based on the route length of the calibration route, i.e., for the first moving process, the distance between the start position and the end position is the route length of the calibration route, which characterizes the end of a moving process.

[0104] In this way, by setting the condition for characterizing the end of a moving process, the time occupied by the mobile robot in moving is reduced, thereby improving the efficiency of rudder calibration.

[0105] Based on this, by applying the scheme provided in the embodiments of the present application, the rudders of the mobile robot are grouped and processed to divide the rudders into a to-be-calibrated rudder group and rudders other than the to-be-calibrated rudder group, and the rudders in the same rudder group belong to the opposite side rudders. In this way, during the calibration of the to-be-calibrated rudder group, the rudders other than the to-be-calibrated rudder group can be controlled to remain in the non-force mode when the mobile robot moves, thereby reducing the coupling effect between the rudders in the same group during the moving process and reducing the pulling effect of the rudders other than the to-be-calibrated rudder group on the rudders in the to-be-calibrated rudder group. In addition, when moving multiple times, the vehicle head of the mobile robot at the start position is parallel to the calibration route, and the orientation of each rudder in the to-be-calibrated rudder group is the current actual zero position, so as to ensure the attitude requirement of the rudders during calibration. It can be seen that, by the scheme, the accuracy of the calibration results of the rudders in the to-be-calibrated rudder group can be improved.

[0106] In addition, since the deviation of the rudder angle is caused by not only the zero position deviation of the rudder but also the scale deviation of the rudder, for example, in the actual scene, the mobile robot needs to adjust the rudder to 90 degrees clockwise, and the scale deviation will cause the actual orientation of the rudder to be not perpendicular to the vehicle direction when the corresponding rudder encoder rotates 90 degrees clockwise. Therefore, in order to further improve the accuracy of rudder calibration, after completing the first calibration process, i.e., straight-line calibration, the rudders of the mobile robot can be subjected to a second calibration process, i.e., side shift calibration.

[0107] Based on this, optionally, in an implementation manner, as shown in Figure 3 FIG. 1 is a flowchart of a method for calibrating rudders of a mobile robot provided in an embodiment of the present application. After step S102, the method for calibrating rudders of a mobile robot provided in the embodiment of the present application can further include the following step S301:

[0108] S301: Perform a second calibration process on each rudder wheel in the to-be-calibrated rudder wheel group in a manner that the mobile robot is controlled to move multiple times based on the calibration route, to obtain a second difference between the real angle of each rudder wheel in the to-be-calibrated rudder wheel group and the angle fed back by the corresponding rudder wheel encoder.

[0109] In the second movement process, the heading of the vehicle front of the mobile robot is perpendicular to the calibration route at the starting position on the calibration route, and each rudder wheel in the to-be-calibrated rudder wheel group is oriented to a target orientation, and the rudder wheels other than the to-be-calibrated rudder wheel group remain in the non-force mode, and the target orientation is the orientation when the corresponding rudder wheel encoder feeds back 90 degrees about the counterclockwise direction or the clockwise direction.

[0110] Correspondingly, the above step S103 can include the following step S302:

[0111] S302: Determine the calibration result of each rudder wheel in the to-be-calibrated rudder wheel group based on the obtained first difference and second difference.

[0112] In the embodiment, after the first calibration process on each rudder wheel in the to-be-calibrated rudder wheel group is completed, and the first difference between the real angle of each rudder wheel in the to-be-calibrated rudder wheel group and the angle fed back by the corresponding rudder wheel encoder is obtained, in order to further improve the accuracy of the rudder wheel calibration, the electronic device can perform a second calibration process on each rudder wheel in the to-be-calibrated rudder wheel group in another specific manner, thereby obtaining a second difference between the real angle of each rudder wheel in the to-be-calibrated rudder wheel group and the angle fed back by the corresponding rudder wheel encoder; wherein the other specific manner is to control the mobile robot to move multiple times based on the calibration route, that is, to control the mobile robot to move multiple times based on the calibration route for calibration.

[0113] In the above second movement process, the starting position of the mobile robot is on the calibration route, and at this starting position, the heading of the vehicle front of the mobile robot is perpendicular to the calibration route; and in the second movement process, each rudder wheel in the to-be-calibrated rudder wheel group is oriented to a target orientation. Through such a setting, the mobile robot meets the attitude requirement in the calibration process.

[0114] In the second movement process, the starting position of the mobile robot is on the calibration route, and at this starting position, the heading of the vehicle front of the mobile robot is perpendicular to the calibration route; and in the second movement process, each rudder wheel in the to-be-calibrated rudder wheel group is oriented to a target orientation. Through such a setting, the mobile robot meets the attitude requirement in the calibration process.

[0115] And, in the same way as the first moving process, when the steering wheel encoder corresponding to each steering wheel in the to-be-calibrated steering wheel group feeds back 90 degrees in the counterclockwise direction or the clockwise direction, the control mobile robot performs a second moving process based on the calibration route, during which the orientation of each steering wheel in the to-be-calibrated steering wheel group is kept unchanged, and the steering wheels other than the to-be-calibrated steering wheel group remain in the non-power mode, so that a second calibration process is performed on each steering wheel in the to-be-calibrated steering wheel group.

[0116] Optionally, the second calibration process can only include the angle deviation process, or can include the angle deviation process and the lateral deviation process. For specific implementation modes of the second calibration process, see steps S1101-S1103 below, for specific implementation modes of the angle deviation process in the second calibration process, see steps E1-E2 below, and for specific implementation modes of the lateral deviation process in the second calibration process, see steps F1-F3 below.

[0117] In this way, the electronic device can determine the calibration result of each steering wheel in the to-be-calibrated steering wheel group based on the first difference obtained previously and the second difference obtained after the second moving process ends. Thus, on the basis of the first calibration process performed on the mobile robot, the second calibration process performed on the mobile robot is completed, i.e., on the basis of the straight-line calibration performed on the mobile robot, the lateral movement calibration performed on the mobile robot is completed, so that the calibration of each steering wheel in the to-be-calibrated steering wheel group is completed.

[0118] In this embodiment, through the first calibration process and the second calibration process performed on each steering wheel in the to-be-calibrated steering wheel group, the scale deviation of each steering wheel is further adjusted on the basis of the zero-position angle deviation of each steering wheel being adjusted, so as to improve the accuracy of the steering wheel calibration.

[0119] Optionally, in an implementation mode, the step S302 can include the following step B:

[0120] Step B: determining, as the calibration result of each steering wheel in the to-be-calibrated steering wheel group, the corresponding relationship between the true angle of the steering wheel and the angle fed back by the corresponding steering wheel encoder based on the first difference and the second difference.

[0121] In this embodiment, after the first difference and the second difference are determined, the corresponding relationship between the true angle of each steering wheel in the to-be-calibrated steering wheel group and the angle fed back by the corresponding steering wheel encoder can be determined based on the first difference and the second difference, so as to take the corresponding relationship as the calibration result of the steering wheel.

[0122] Since various factors need to be considered in the process of calibrating the steering wheels, such as the actual kinematic model of the robot, the accuracy of the sensors, and the errors in the manufacturing process, etc., using the correspondence between the real angle of each steering wheel and the angle fed back by the corresponding steering wheel encoder as the calibration result can improve the accuracy of the calibration of the steering wheels, thereby more accurately controlling the movement of the mobile robot.

[0123] Optionally, in an implementation, the step B can include the following step B1:

[0124] Step B1: based on the first difference value and the second difference value, using a predetermined formula to determine the correspondence between the real angle of each steering wheel in the group of steering wheels to be calibrated and the angle fed back by the corresponding steering wheel encoder as the calibration result of the steering wheel; wherein the predetermined formula includes:

[0125]

[0126] wherein θ i,real represents the real angle of the steering wheel i in the group of steering wheels to be calibrated, θ i,fbk represents the angle fed back by the corresponding steering wheel encoder of the steering wheel i in the group of steering wheels to be calibrated, θ i,bias represents the first difference value of the steering wheel i in the group of steering wheels to be calibrated, θ i,scal represents the second difference value of the steering wheel i in the group of steering wheels to be calibrated, 90 represents the angle fed back by the corresponding steering wheel encoder of the steering wheel i when the steering wheel i is oriented towards the target direction in the second calibration process.

[0127] Optionally, in an implementation, the distance between the start position and the end position is the length of the calibration route when the condition for indicating the end of a movement process is set.

[0128] In this embodiment, since the uncalibrated steering wheels of the mobile robot have deviations, the mobile robot cannot reach the end position on the calibration route after starting from the start position on the calibration route. Therefore, the condition for indicating the end of a movement process can be set based on the length of the calibration route, i.e., for the second movement process, when the distance between the start position and the end position is the length of the calibration route, it indicates the end of a movement process.

[0129] In this way, by setting the condition for indicating the end of a movement process, the time occupied by the mobile robot during movement is reduced, thereby improving the efficiency of the calibration of the steering wheels.

[0130] In the embodiment, based on the determined correspondence relationship, the conversion relationship between the real angle of each rudder wheel in the to-be-calibrated rudder wheel group and the angle fed back by the corresponding rudder wheel encoder can be determined. In this way, after the calibration ends, the real angle of the rudder wheel is directly converted by using the above-mentioned correspondence relationship based on the angle fed back by the corresponding rudder wheel encoder, so that the movement of the mobile robot can be more accurately controlled.

[0131] Optionally, in another embodiment of the present application, as shown in Figure 4 after the step S103, the rudder wheel calibration method for the mobile robot provided by the embodiment of the present application can further include the following step S104:

[0132] S104: in response to the existence of at least one rudder wheel group that is not used as the to-be-calibrated rudder wheel group, selecting one rudder wheel group from the at least one rudder wheel group as a new to-be-calibrated rudder wheel group, and returning to the step S102.

[0133] In the embodiment, after the electronic device determines the calibration results of the rudder wheels in the currently determined to-be-calibrated rudder wheel group based on the obtained first difference value, in response to the existence of at least one rudder wheel group that is not used as the to-be-calibrated rudder wheel group, the electronic device selects one rudder wheel from the at least one rudder wheel group as a new to-be-calibrated rudder wheel group, and returns to the step of performing the first calibration processing on the rudder wheels in the to-be-calibrated rudder wheel group in the manner of controlling the mobile robot to move based on the calibration route multiple times to obtain the first difference value between the real angle of each rudder wheel in the to-be-calibrated rudder wheel group and the angle fed back by the corresponding rudder wheel encoder, so that the rudder wheel calibration is continued on the new to-be-calibrated rudder wheel group.

[0134] It should be noted that after the rudder wheels of the mobile robot are grouped, the number of obtained rudder wheel groups is at least two. Therefore, after the electronic device completes the calibration of the rudder wheels in a to-be-calibrated rudder wheel group, the electronic device determines whether the calibration of all rudder wheels of the mobile robot is completed by determining whether there is a rudder wheel group that is not used as the to-be-calibrated rudder wheel group in each rudder wheel group obtained after the grouping.

[0135] If yes, one rudder wheel group is selected from the at least one rudder wheel group as a new to-be-calibrated rudder wheel group, and the step S102 is returned to perform the rudder wheel calibration on the new to-be-calibrated rudder wheel group; if no, it indicates that the calibration of all rudder wheels of the mobile robot is completed, at this time, it indicates that the calibration process of the mobile robot is completed, and the calibration can be ended.

[0136] In this embodiment, considering that the number of obtained rudder wheel groups is at least two after grouping the rudder wheels of the mobile robot, the electronic device can continue to calibrate other rudder wheel groups included in the mobile robot after completing the calibration of each rudder wheel in a group of rudder wheels to be calibrated, thereby improving the accuracy of the overall rudder wheel calibration result of the mobile robot.

[0137] In addition, it should be noted that when the electronic device groups the rudder wheels of the mobile robot, each rudder wheel is at least divided into one rudder wheel group, and each rudder wheel can be repeatedly included in different rudder wheel groups. Therefore, after completing the calibration of all rudder wheels of the mobile robot, there can be multiple calibration results for one rudder wheel. The entire calibration process of the mobile robot is completed in a superimposed manner, that is, the calibration result of the last time is more accurate than the calibration result of the previous time. Therefore, when there are multiple calibration results for one rudder wheel, the last calibration result for the rudder wheel can be taken as the final calibration result of the rudder wheel.

[0138] Optionally, in another embodiment of the present application, as shown in Figure 5 The step S102 of performing first calibration processing on each rudder wheel in the group of rudder wheels to be calibrated in the manner of controlling the mobile robot to move multiple times based on the calibration route to obtain the first difference between the real angle of each rudder wheel in the group of rudder wheels to be calibrated and the angle fed back by the corresponding rudder wheel encoder can include the following steps S501-S503:

[0139] S501: controlling the mobile robot to move based on the calibration route;

[0140] S502: in response to the end of the first movement process, determining the first angle adjustment value for the actual zero position of each rudder wheel in the group of rudder wheels to be calibrated based on the pose difference of the mobile robot at the start position and the end position of the movement, adjusting the current actual zero position of each rudder wheel in the group of rudder wheels to be calibrated according to the determined first angle adjustment value, and returning to the step of controlling the mobile robot to move based on the calibration route until a predetermined first end condition is met;

[0141] S503: after the first end condition is met, determining the total adjustment value for the actual zero position of each rudder wheel in the group of rudder wheels to be calibrated to obtain the first difference between the real angle of each rudder wheel in the group of rudder wheels to be calibrated and the angle fed back by the corresponding rudder wheel encoder.

[0142] In the embodiment, the electronic device controls the mobile robot to perform a first movement process based on a calibration route; then, in response to the end of the first movement process, the pose difference of the mobile robot after the end of the current movement process is determined based on the pose of the mobile robot at the start position and the end position of the current movement process. Thus, based on the pose difference, the first angle adjustment value of each rudder wheel in the to-be-calibrated rudder wheel set with respect to the actual zero position is determined.

[0143] Optionally, a first plane coordinate system is established at the start position of the current movement, and the start pose of the mobile robot at the start position is determined; a second plane coordinate system is established at the end position of the current movement, and the end pose of the mobile robot at the end position is determined. Then, the pose expression of the end pose of the mobile robot in the first plane coordinate system is determined by using a preset coordinate system conversion method, so as to obtain the pose difference of the mobile robot after the end of the current movement process.

[0144] It can be understood that there can be multiple preset coordinate system conversion methods, and any one of the conversion methods that can realize the conversion between position points in two coordinate systems can be applied to the present application.

[0145] Optionally, the preset coordinate system conversion method can be that the origin of the second plane coordinate system is projected onto the x-axis and the y-axis of the first plane coordinate system respectively to obtain the positions x and y of the end pose in the first plane coordinate system. The position y of the end pose in the first plane coordinate system is used to represent the lateral deviation generated by the mobile robot during the movement; and the included angle between the x-axes of the two plane coordinate systems, that is, the angle of the x-axis of the second plane coordinate system minus the angle of the x-axis of the first plane coordinate system, is the angle θ of the end pose of the mobile robot in the first plane coordinate system, which is used to represent the angle deviation generated by the mobile robot during the movement.

[0146] For example, after the first movement process is stopped, the start pose P0(x0, y0, θ0) of the mobile robot and the end pose P1(x1, y1, θ1) of the mobile robot are determined. Coordinate systems are established at P0 and P1 respectively, and P1 is converted from the current coordinate system to the coordinate system at P0, so as to obtain the pose expression of P1 in the coordinate system at P0. wherein, and is the pose difference of the mobile robot after the end of the current movement process. Wherein is the lateral deviation after the calibration of the current movement, are the angle deviations after the calibration of the current movement and the calibration of the n-th subsequent movement, which can be expressed as

[0147] ​Thus, the current actual zero position of each rudder wheel in the rudder wheel group to be calibrated can be adjusted according to the determined first angle adjustment value. Then, the above step S501 is returned to, and the electronic device controls the mobile robot to continue the first movement process based on the calibration route until the predetermined first end condition is met. It can be understood that before the mobile robot is controlled to move based on the calibration route to perform the first movement process, the mobile robot can be controlled to move to a starting position required for the current movement process on the calibration route. The starting position of each first movement process can be the same or different. For example, the calibration route has a first end point and a second end point, the first movement process takes the first end point of the calibration route as the starting position, and the second movement process takes the second end point of the calibration route as the starting position. Moreover, since the calibration route can be given in advance, the mobile robot can move to the starting position of the current movement process based on the route information of the calibration route.

[0148] Thus, after the above first end condition is met, the electronic device can determine the total adjustment value of the actual zero position of each rudder wheel in the rudder wheel group to be calibrated, thereby obtaining the first difference value between the true angle of each rudder wheel in the rudder wheel group to be calibrated and the angle corresponding to the rudder wheel encoder feedback.

[0149] Optionally, in an embodiment, in response to the end of the first movement process, based on the pose difference of the mobile robot at the starting position and the ending position of the current movement, the step of determining the first angle adjustment value of the actual zero position of each rudder wheel in the rudder wheel group to be calibrated can include the following steps C1-C2:

[0150] Step C1: in response to the end of the first movement process, determining the angle deviation value of the mobile robot at the ending position relative to the starting position in the current movement process as the first angle deviation value of the mobile robot in the current movement;

[0151] Step C2: using the first angle deviation coefficient, the first angle deviation value, and the first rotation direction of the chassis of the mobile robot in the current movement, determining the first angle adjustment value of the current zero position of each rudder wheel in the rudder wheel group to be calibrated after the current movement.

[0152] Wherein, the first angle deviation coefficient is the ratio of the first preset angle adjustment value to the first angle deviation value in the first movement process; and the first end condition includes that the first angle deviation value in the movement process is less than a preset first angle deviation threshold.

[0153] In the embodiment, the electronic device determines, in response to the first movement process ending, an angle deviation value existing between the mobile robot at the termination position relative to the start position in the current movement process as the first angle deviation value existing in the current movement process of the mobile robot.

[0154] Due to the angle deviation of the steering wheel of the mobile robot, the mobile robot rotates in the movement process. For example, as shown in Figure 6 , a schematic diagram of the rotation of the mobile robot provided by the embodiment of the application in the movement process is shown. When the actual zero position of the steering wheel near the front position in the steering wheel group to be calibrated is more left, the chassis of the mobile robot rotates counterclockwise when advancing under open-loop control in the movement process of the mobile robot; on the contrary, it rotates clockwise.

[0155] However, the steering wheels in the same steering wheel group belong to different side steering wheels, as shown in Figure 6 , therefore, when the current zero position angle of each steering wheel in the steering wheel group to be calibrated is adjusted in angle, the first rotation direction of the chassis of the mobile robot in the current movement needs to be considered, specifically:

[0156] When the first rotation direction is clockwise, the first angle adjustment value of the current zero position angle of the steering wheel near the front position in the steering wheel group to be calibrated is positive, that is, the first angle adjustment value is added to the current zero position angle of the steering wheel, and correspondingly, the first angle adjustment value of the current zero position angle of the other steering wheel in the steering wheel group to be calibrated is negative, that is, the first angle adjustment value is subtracted from the current zero position angle of the other steering wheel.

[0157] When the first rotation direction is counterclockwise, the first angle adjustment value of the current zero position angle of the steering wheel near the front position in the steering wheel group to be calibrated is negative, that is, the first angle adjustment value is subtracted from the current zero position angle of the steering wheel, and correspondingly, the first angle adjustment value of the current zero position angle of the other steering wheel in the steering wheel group to be calibrated is positive, that is, the first angle adjustment value is added to the current zero position angle of the other steering wheel.

[0158] Therefore, after determining the first angle deviation value existing in the current movement of the mobile robot, the electronic device can determine the first angle adjustment value of each steering wheel in the to-be-calibrated steering wheel group for the current zero position offset angle based on the first angle deviation coefficient, the first angle deviation value, and the first rotation direction of the chassis of the mobile robot in the current movement. Then, the electronic device can adjust the current actual zero position of each steering wheel in the to-be-calibrated steering wheel group according to the determined first angle adjustment value, and return to control the mobile robot to continue the first movement based on the calibration route until the first angle deviation value existing in the movement is less than the preset first angle deviation threshold.

[0159] The first angle deviation coefficient is a ratio of a first preset angle adjustment value to the first angle deviation value existing in the first movement. The first preset angle adjustment value is a minimum adjustment value for the rotation degree of the chassis of the mobile robot to change obviously after adjustment of the steering wheel, for example, 1 degree. The embodiments of the present application do not limit the specific value.

[0160] For example, as shown in FIG. 1, a schematic diagram of a movement process of a mobile robot when an angle deviation exists in a steering wheel provided by an embodiment of the present application is provided. Figure 7 The left side is a schematic diagram of clockwise rotation of the chassis of the mobile robot. Figure 7 The right side is a schematic diagram of counterclockwise rotation of the chassis of the mobile robot. Figure 7

[0161] After the n th first movement process ends, the current zero position offset angles of the steering wheel i and the steering wheel j included in the to-be-calibrated steering wheel group are θ i,n -θ i,real and θ i,n -θ i,real respectively, where the steering wheel i is located close to the front of the vehicle, and the steering wheel j is located close to the rear of the vehicle; θ i,real represents the theoretical zero position of the steering wheel i, that is, the real angle 0 degrees of the steering wheel i; and θ j,real represents the theoretical zero position of the steering wheel j, that is, the real angle 0 degrees of the steering wheel j.

[0162] If θ i,n -θ i,real = θ j,n -θ j,real , when the chassis of the mobile robot moves along the angle of the current zero position offset angle, the driving route is a diagonal line, and no angle deviation is generated. Therefore, it can be seen that the difference between the zero position offset angles of the two steering wheels ( θ i,n -θ i,real ) - ( θ j,n -θ j,real ) is the source of the angle deviation. ​

[0163] Therefore, after determining the first angle adjustment value of each rudder wheel in the rudder wheel group to be calibrated for the current zero position offset angle after this movement, the first angle adjustment value is superimposed on the actual zero position feedback by the corresponding rudder wheel encoder, respectively, so that by adjusting each rudder wheel for the current zero position offset angle, the angle deviation of each rudder wheel is adjusted until the first angle deviation value existing in the movement process is less than the preset first angle deviation threshold, and the calibration of the angle deviation of each rudder wheel in the rudder wheel group to be calibrated is ended.

[0164] Alternatively, the first angle adjustment value of each rudder wheel in the rudder wheel group to be calibrated for the current zero position offset angle after the nth first movement process, and the actual zero position of each rudder wheel after adjustment for the current actual zero position are expressed by the following expressions, respectively:

[0165]

[0166] Wherein, n represents the nth first movement process; n-1 represents the n-1th first movement process; K θ represents the first angle deviation coefficient; represents the first angle deviation value existing in the nth first movement process;

[0167] Δθ i,n represents the first angle adjustment value of rudder wheel i after the nth first movement process, Δθ j,n represents the first angle adjustment value of rudder wheel j after the nth first movement process; θ i,n-1 represents the actual zero position of rudder wheel i corresponding to the rudder wheel encoder feedback after the n-1th first movement process; θ j,n-1 represents the actual zero position of rudder wheel j corresponding to the rudder wheel encoder feedback after the n-1th first movement process; θ i,n represents the actual zero position of rudder wheel i corresponding to the rudder wheel encoder feedback after adjustment after the nth first movement process; θ j,n represents the actual zero position of rudder wheel j corresponding to the rudder wheel encoder feedback after adjustment after the nth first movement process;

[0168] Wherein, when the first rotation direction is clockwise, When the first rotation direction is counterclockwise,

[0169] Then, the electronic device continues to control the mobile robot to move to the starting position on the calibration route in a closed loop, controls the mobile robot to perform the first movement process based on the calibration route, until the first angle deviation value existing in the movement process is less than the preset first angle deviation threshold, at this time, θ i,n -θ i,real ≈θj,n -θ j,real That is, at this time, the angle deviation of the mobile robot in the first movement process has been calibrated, and the angle deviation of each steering wheel in the steering wheel group to be calibrated in the straight movement has been basically eliminated.

[0170] But at this time, θ i,n -θ i,real ≈θ j,n -θ j,real ≠0, that is, the mobile robot still has other deviations in the first movement process, which causes the mobile robot to deviate in the movement process, wherein the above-mentioned other deviations can be lateral deviation.

[0171] Based on this, optionally, in another embodiment, the mobile robot steering wheel calibration method provided by the application can further include the following steps:

[0172] Step D1: after the first end condition is met, the mobile robot is controlled to move based on the calibration route in the first movement process, and in response to the end of the first movement process, the lateral deviation value of the mobile robot in the termination position relative to the starting position in the movement process is determined as the first lateral deviation value of the mobile robot in the movement.

[0173] Step D2: using the first lateral deviation coefficient, the first lateral deviation value and the first deviation direction of the mobile robot in the movement, the first lateral adjustment value of each steering wheel in the steering wheel group to be calibrated for the current actual zero position after the movement is determined.

[0174] Wherein, the first lateral deviation coefficient is the ratio of the first preset lateral adjustment value to the first lateral deviation value determined for the first time;

[0175] Step D3: adjust the current actual zero position of each steering wheel in the steering wheel group to be calibrated according to the determined first lateral adjustment value, and return to the step of controlling the mobile robot to move based on the calibration route in the first movement process, and in response to the end of the first movement process, the lateral deviation value of the mobile robot in the termination position relative to the starting position in the movement process is determined as the first lateral deviation value of the mobile robot in the movement. Until the determined first lateral deviation value is less than the preset first lateral deviation threshold value.

[0176] Correspondingly, the above-mentioned step S503, after the first end condition is met, the total amount of adjustment value of each steering wheel in the steering wheel group to be calibrated for the actual zero position is determined, and the first difference value between the true angle of each steering wheel in the steering wheel group to be calibrated and the angle feedback by the corresponding steering wheel encoder is obtained, can include the following step D4:

[0177] Step D4: after the first end condition is met and it is determined that the obtained first lateral deviation value is less than the preset first lateral deviation threshold, the total adjustment value of each rudder wheel in the to-be-calibrated rudder wheel group with respect to the actual zero position is determined, to obtain a first difference value between the true angle of each rudder wheel in the to-be-calibrated rudder wheel group and the angle fed back by the corresponding rudder wheel encoder.

[0178] In this embodiment, after the first end condition is met, the electronic device can control the mobile robot to continue the first movement process based on the calibration route, so that, in response to the end of the first movement process, the lateral deviation value of the mobile robot at the termination position relative to the starting position in the current movement process is determined as the first lateral deviation value of the mobile robot in the current movement process.

[0179] Due to the lateral deviation of the rudder wheels of the mobile robot, the mobile robot will deviate laterally during the movement process. For example, as shown in FIG. 1, a schematic diagram of the mobile robot provided in the embodiment of the present application deviating laterally during the movement process is shown. When the current actual zero position of each rudder wheel in the to-be-calibrated rudder wheel group deviates to the right relative to the theoretical zero position, the mobile robot will deviate to the right during the movement process; when the current actual zero position of each rudder wheel in the to-be-calibrated rudder wheel group deviates to the left relative to the theoretical zero position, the mobile robot will deviate to the left during the movement process. Figure 8

[0180] Although the rudder wheels in the same rudder wheel group belong to different side rudder wheels, the adjustment directions of the two rudder wheels are the same when the lateral deviation adjustment is performed on the two rudder wheels. However, since the mobile robot deviates to the left or right when it deviates laterally, when the current zero deviation angle of each rudder wheel in the to-be-calibrated rudder wheel group is adjusted laterally, the first deviation direction of the mobile robot in the current movement needs to be considered, specifically:

[0181] When the first deviation direction is to the left, the first lateral adjustment value of the two rudder wheels in the to-be-calibrated rudder wheel group is positive;

[0182] When the first deviation direction is to the right, the first lateral adjustment value of the two rudder wheels in the to-be-calibrated rudder wheel group is negative.

[0183] ​Therefore, after determining the first lateral deviation value of the mobile robot in the current movement, the electronic device can determine the first lateral adjustment value of each steering wheel in the to-be-calibrated steering wheel set for the current zero position offset angle based on the first lateral deviation coefficient, the first lateral deviation value, and the first offset direction of the mobile robot in the current movement. Then, the electronic device can adjust the current actual zero position of each steering wheel in the to-be-calibrated steering wheel set according to the determined first lateral adjustment value, and then return to the step D1. After the first end condition is met, the mobile robot is controlled to perform the first movement based on the calibration route, and in response to the end of the first movement, the lateral deviation value of the mobile robot at the end position relative to the start position in the current movement is determined as the first lateral deviation value of the mobile robot in the current movement, until the determined first lateral deviation value is less than the preset first lateral deviation threshold.

[0184] Therefore, after the first end condition is met and the determined first lateral deviation value is less than the preset first lateral deviation threshold, the electronic device can determine the total adjustment value of each steering wheel in the to-be-calibrated steering wheel set for the actual zero position, and obtain the first difference value between the true angle of each steering wheel in the to-be-calibrated steering wheel set and the angle feedback by the corresponding steering wheel encoder.

[0185] The first lateral deviation coefficient is the ratio of the first preset lateral adjustment amount to the first determined lateral deviation value. The first preset lateral adjustment amount is the minimum adjustment value that causes a relatively obvious change in the lateral deviation of the mobile robot chassis after adjustment of the steering wheel, for example, 1 degree. The present application does not limit the specific value.

[0186] It should be noted that the first determined lateral deviation value refers to the lateral deviation value of the mobile robot at the end position relative to the start position determined by the electronic device when the first end condition is met, based on which the electronic device controls the mobile robot to perform the first movement based on the calibration route for the first time.

[0187] That is, the lateral deviation adjustment of the current zero position offset angle of each steering wheel in the to-be-calibrated steering wheel set is performed after the angle deviation of the current zero position offset angle of each steering wheel in the to-be-calibrated steering wheel set is adjusted to be less than the preset first angle deviation threshold. After that, the lateral deviation value of the mobile robot at the end position relative to the start position determined by the electronic device when the first end condition is met, based on which the electronic device controls the mobile robot to perform the first movement based on the calibration route for the first time, is the first determined lateral deviation value.

[0188] For example, the above-mentioned Figure 8 For example, the above-mentioned Figure 8The left side is a schematic view of the mobile robot being offset to the right, Figure 8 The right side is a schematic view of the mobile robot being offset to the left.

[0189] After the end of the n-th first movement process, the current zero position offset angle of the rudder i and the rudder j contained in the to-be-calibrated rudder group is θ i,n -θ i,real , θ i,n -θ i,real , wherein the rudder i is located close to the front of the vehicle, and the rudder j is located close to the rear of the vehicle.

[0190] After determining the first lateral adjustment value of each rudder in the to-be-calibrated rudder group for the current zero position offset angle after this movement, the first lateral adjustment value can be superimposed on the actual zero position feedback by the corresponding rudder encoder, so that by adjusting each rudder for the current zero position offset angle, the lateral deviation of each rudder is adjusted until the first lateral deviation value existing during the movement is less than the preset first lateral deviation threshold, and the calibration of the lateral deviation of each rudder in the to-be-calibrated rudder group is ended.

[0191] Optionally, the first lateral adjustment value of each rudder in the to-be-calibrated rudder group for the current zero position offset angle after the n-th first movement process, and the current actual zero position of each rudder after adjustment are expressed by the following expressions, respectively:

[0192]

[0193] Wherein n represents the n-th first movement process after the first end condition is met; n-1 represents the n-1-th first movement process after the first end condition is met; K y represents the first lateral deviation coefficient; represents the first lateral deviation value existing in the n-th first movement process after the first end condition is met;

[0194] Δθ i,n represents the first lateral adjustment value of the rudder i after the n-th first movement process after the first end condition is met, Δθ j,n represents the first lateral adjustment value of the rudder j after the n-th first movement process after the first end condition is met; θ i,n-1 represents the actual zero position feedback by the corresponding rudder encoder of the rudder i after the n-1-th first movement process after the first end condition is met; θ j,n-1 represents the actual zero position feedback by the corresponding rudder encoder of the rudder j after the n-1-th first movement process after the first end condition is met; θ i,ncharacterize the actual zero position of the steering wheel i corresponding to the steering wheel encoder after the n th first movement process after meeting the first end condition is adjusted; θ j,n characterize the actual zero position of the steering wheel j corresponding to the steering wheel encoder after the n th first movement process after meeting the first end condition is adjusted;

[0195] wherein, when the first offset direction is left, when the first offset direction is right,

[0196] Then, the electronic device continues to control the mobile robot to move to the starting position on the calibration route in a closed loop, controls the mobile robot to move in the first movement process based on the calibration route, until the first lateral deviation value existing in the movement process is less than the preset first lateral deviation threshold value, at this time, θ i,n -θ i,real ≈θ j,n -θ j,real ≈0, that is, at this time, the lateral deviation of the mobile robot in the first movement process has been calibrated, and the angle deviation and lateral deviation existing in the straight movement of each steering wheel in the to-be-calibrated steering wheel group have been basically eliminated.

[0197] At this point, through multiple repetitions of the first movement process, the angle deviation calibration and lateral deviation calibration of each steering wheel in the to-be-calibrated steering wheel group are sequentially completed, that is, the first calibration process of each steering wheel in the to-be-calibrated steering wheel group is completed, which can also be called the straight movement calibration of each steering wheel in the to-be-calibrated steering wheel group.

[0198] After completing the straight movement calibration, the zero position offset angle of each steering wheel in the to-be-calibrated steering wheel group after adjustment can be obtained:

[0199]

[0200] wherein, θ i,bias characterize the zero position offset angle of the steering wheel i in the to-be-calibrated steering wheel group after the first calibration process, that is, the first difference value between the true angle of the steering wheel i and the angle feedback by the corresponding steering wheel encoder; characterize the total amount of adjustment value of the actual zero position of the steering wheel i in the n+1 first movement process; θ j,bias characterize the zero position offset angle of the steering wheel j in the to-be-calibrated steering wheel group after the first calibration process, that is, the first difference value between the true angle of the steering wheel j and the angle feedback by the corresponding steering wheel encoder; characterize the total amount of adjustment value of the actual zero position of the steering wheel j in the n+1 first movement process.

[0201] Therefore, it can be seen that the true angle θ real of each steering wheel after the straight movement calibration and the encoder feedback angle θ fbkThe relationship between the two is simply the sum of the first difference θ between the actual angle of the steering wheel and the angle fed back by the corresponding steering wheel encoder. bias :

[0202] θ real =θ fbk +θ bias

[0203] For example, Figures 9(a) and 9(b) illustrate the relationship between a straight-line calibration result and the initial actual zero position of a steering wheel according to an embodiment of this application. The initial actual zero position is the angle fed back by the corresponding steering wheel encoder when not calibrated.

[0204] In addition, after the first calibration process, namely the straight-line calibration, the angular and lateral deviations generated by the mobile robot when moving straight under open-loop control have been basically eliminated. However, if the mobile robot has multiple steering wheels, the lateral movement effect of the mobile robot under open-loop control may still have deviations. The reason for this phenomenon in the mobile robot is that the source of the steering wheel angle deviation is not only the zero-position deflection angle of the steering wheel, but also the dimensional deviation of the steering wheel.

[0205] For example, such as Figure 10 The diagram shown is a schematic of the straight-line and lateral movement of a mobile robot after a first calibration process, provided in an embodiment of this application.

[0206] Accordingly, optionally, in one embodiment, such as Figure 11 As shown, step S301 above, which involves controlling the mobile robot to perform multiple second movement processes based on a calibration route, performs a second calibration process on each steering wheel in the steering wheel group to be calibrated, and obtains a second difference between the actual angle of each steering wheel in the steering wheel group and the angle fed back by the corresponding steering wheel encoder, may include the following steps S1101-S1103:

[0207] S1101: Control the mobile robot to perform a second movement process based on a calibrated route;

[0208] S1102: In response to the end of the second movement process, based on the pose difference of the mobile robot at the start position and end position of this movement, determine the second angle adjustment value of each steering wheel in the steering wheel group to be calibrated relative to the actual zero position, adjust the current actual zero position of each steering wheel in the steering wheel group to be calibrated according to the determined second angle adjustment value, and return to the step of controlling the mobile robot to perform the second movement process based on the calibration route until the predetermined second end condition is met;

[0209] S1103: After the second end condition is met, a total adjustment value of each rudder wheel in the to-be-calibrated rudder wheel group for the actual zero position is determined for a plurality of second movement processes, to obtain a second difference value between the real angle of each rudder wheel in the to-be-calibrated rudder wheel group and the angle fed back by the corresponding rudder wheel encoder.

[0210] In this embodiment, the electronic device controls the mobile robot to perform the second movement process based on the calibration route; then, in response to the end of the second movement process, the pose difference of the mobile robot after the end of the movement process is determined based on the pose of the mobile robot at the starting position and the ending position of the movement. Thus, based on the above-mentioned pose difference, the second angle adjustment value of each rudder wheel in the to-be-calibrated rudder wheel group for the actual zero position is determined.

[0211] The specific implementation manner of determining the pose difference of the mobile robot after the end of the second movement process is the same as that of determining the pose difference of the mobile robot after the end of the first movement process in steps S501-S503, and will not be described here.

[0212] In this way, the electronic device can adjust the current actual zero position of each rudder wheel in the to-be-calibrated rudder wheel group according to the determined second angle adjustment value, and then return to step S1101 until the predetermined second end condition is met. It can be understood that before controlling the mobile robot to perform the second movement process based on the calibration route, the mobile robot can be controlled to move to the starting position of the movement process on the calibration route. The starting position of each second movement process can be the same or different, for example, the third endpoint and the fourth endpoint of the calibration route exist, the third endpoint of the calibration route is taken as the starting position for the first movement process, and the third endpoint of the calibration route is taken as the starting position for the second movement process. Since the calibration route can be given in advance, the mobile robot can move to the starting position of the movement process based on the route information of the calibration route. The position point represented by the third endpoint is the same as the position point represented by the first endpoint, and of course can be different. Similarly, the position point represented by the fourth endpoint can be the same as the position point represented by the second endpoint, and of course can be different. The embodiments of the present application do not make specific limitations on this.

[0213] Thus, after the second end condition is met, the electronic device can determine the total adjustment value of each rudder wheel in the to-be-calibrated rudder wheel group for the actual zero position, to obtain the second difference value between the real angle of each rudder wheel in the to-be-calibrated rudder wheel group and the angle fed back by the corresponding rudder wheel encoder.

[0214] It should be noted that the above steps S1101-S1103 are executed after the electronic device performs the first calibration process on the mobile robot, and therefore, after the electronic device ends the first second movement, the actual zero positions of each rudder wheel in the to-be-calibrated rudder wheel group based on the pose difference of the mobile robot at the start position and the end position of the movement are the actual zero positions of each rudder wheel adjusted after the first calibration process.

[0215] Optionally, in an embodiment, in the step S1102, in response to the end of the second movement, the second angle adjustment value of each rudder wheel in the to-be-calibrated rudder wheel group for the actual zero position based on the pose difference of the mobile robot at the start position and the end position of the movement can include the following steps E1-E2:

[0216] Step E1: in response to the end of the second movement, determining the angle deviation value of the mobile robot at the end position relative to the start position in the movement as the second angle deviation value of the mobile robot in the movement;

[0217] Step E2: determining the second angle adjustment value of each rudder wheel in the to-be-calibrated rudder wheel group for the current zero offset angle after the movement by using the second angle deviation coefficient, the second angle deviation value, and the second rotation direction of the chassis of the mobile robot in the movement;

[0218] Wherein, the second angle deviation coefficient is the ratio of the second preset angle adjustment value to the second angle deviation value in the first movement; and the second end condition includes that the second angle deviation value in the movement is less than a preset second angle deviation threshold.

[0219] In this embodiment, in response to the end of the second movement, the electronic device determines the angle deviation value of the mobile robot at the end position relative to the start position in the movement as the second angle deviation value of the mobile robot in the movement.

[0220] Similar to the above first movement, since the rudder wheels of the mobile robot have a scale deviation, the mobile robot will rotate during the movement. Therefore, when adjusting the angle of the current zero offset angle of each rudder wheel in the to-be-calibrated rudder wheel group, the second rotation direction of the chassis of the mobile robot in the movement needs to be considered, specifically:

[0221] When the second rotation direction is clockwise, the second angle adjustment value of the rudder wheel located close to the left side of the vehicle in the rudder wheel group to be calibrated for the current zero position offset angle is positive, that is, the current zero position offset angle of the rudder wheel is increased by the second angle adjustment value, and correspondingly, the second angle adjustment value of another rudder wheel in the rudder wheel group to be calibrated for the current zero position offset angle is negative, that is, the current zero position offset angle of the rudder wheel is reduced by the second angle adjustment value.

[0222] When the second rotation direction is counterclockwise, the second angle adjustment value of the rudder wheel located close to the left side of the vehicle in the rudder wheel group to be calibrated for the current zero position offset angle is negative, that is, the current zero position offset angle of the rudder wheel is reduced by the second angle adjustment value, and correspondingly, the second angle adjustment value of another rudder wheel in the rudder wheel group to be calibrated for the current zero position offset angle is positive, that is, the current zero position offset angle of the rudder wheel is increased by the second angle adjustment value.

[0223] Therefore, after determining the second angle deviation value existing in the current movement of the mobile robot, the electronic device can determine the second angle adjustment value of each rudder wheel in the rudder wheel group to be calibrated for the current zero position offset angle by using the second angle deviation coefficient, the second angle deviation value, and the second rotation direction of the chassis of the mobile robot in the current movement. Then, the electronic device can adjust the current actual zero position of each rudder wheel in the rudder wheel group to be calibrated according to the determined second angle adjustment value, and return to the step of controlling the mobile robot to continue the second movement process based on the calibration route until the second angle deviation value existing in the movement is less than the preset second angle deviation threshold.

[0224] The second angle deviation coefficient is the ratio of the second preset angle adjustment value to the second angle deviation value existing in the first movement of the second movement process after the first calibration process is completed. The second preset angle adjustment value is the minimum adjustment value that causes a relatively obvious change in the rotation degree of the chassis of the mobile robot after the adjustment of the rudder wheel, for example, 1 degree. The embodiments of the present application do not limit the specific numerical value.

[0225] Then, the electronic device can continue to control the mobile robot to move to the starting position on the calibration route, control the mobile robot to perform the second movement process based on the calibration route, and the second angle deviation value existing in the movement is less than the preset second angle deviation threshold, at this time, θ i,n -θ i,real ≈θ j,n -θ j,real That is, at this time, the angle deviation of the mobile robot in the second movement process has been calibrated, and the angle deviation existing in the side movement of each rudder wheel in the rudder wheel group to be calibrated has been basically eliminated.

[0226] But at this time, θ i,n -θ i,real ≈θ j,n -θ j,real ≠0, that is, the mobile robot also has other deviations in the second movement process, which causes the mobile robot to deviate in the movement process, wherein the other deviations can be lateral deviations.

[0227] Based on this, optionally, in another embodiment, the application provides a rudder calibration method for a mobile robot, which can further include the following steps:

[0228] Step F1: after the second end condition is met, the mobile robot is controlled to move based on the calibration route in a second movement process, and in response to the end of the second movement process, a lateral deviation value of the mobile robot in the termination position relative to the starting position in the current movement process is determined as a second lateral deviation value of the mobile robot in the current movement;

[0229] Step F2: using the second lateral deviation coefficient, the second lateral deviation value, and the second deviation direction of the mobile robot in the current movement, a second lateral adjustment value of each rudder in the to-be-calibrated rudder group for the current actual zero position after the current movement is determined;

[0230] Wherein, the second lateral deviation coefficient is the ratio of the second preset lateral adjustment value to the first determined second lateral deviation value;

[0231] Step F3: adjust the current actual zero position of each rudder in the to-be-calibrated rudder group according to the determined second lateral adjustment value, and return to the step of controlling the mobile robot to move based on the calibration route in a second movement process, and in response to the end of the second movement process, determining a lateral deviation value of the mobile robot in the termination position relative to the starting position in the current movement process as a second lateral deviation value of the mobile robot in the current movement, until the determined second lateral deviation value is less than the preset second lateral deviation threshold;

[0232] Correspondingly, the step S1103, after the second end condition is met, determining the total adjustment value of each rudder in the to-be-calibrated rudder group for the actual zero position for multiple second movement processes to obtain a second difference value between the real angle of each rudder in the to-be-calibrated rudder group and the angle feedback by the corresponding rudder encoder, can include the following step F4:

[0233] Step F4: after the second end condition is met and the determined second lateral deviation value is less than the preset second lateral deviation threshold, the total adjustment value of each rudder in the to-be-calibrated rudder group for the actual zero position is determined to obtain the second difference value between the real angle of each rudder in the to-be-calibrated rudder group and the angle feedback by the corresponding rudder encoder.

[0234] In this embodiment, after the second end condition is met, the electronic device can control the mobile robot to continue the second movement process based on the calibration route, so as to determine, in response to the end of the second movement process, a lateral deviation value of the mobile robot at the termination position relative to the starting position in the current movement process as a second lateral deviation value of the mobile robot in the current movement process.

[0235] Due to the lateral deviation of the steering wheels of the mobile robot, the mobile robot will deviate laterally in the movement process. When the current actual zero position of each steering wheel in the steering wheel group to be calibrated deviates to the right relative to the theoretical zero position, the mobile robot will deviate to the right in the movement process; when the current actual zero position of each steering wheel in the steering wheel group to be calibrated deviates to the left relative to the theoretical zero position, the mobile robot will deviate to the left in the movement process.

[0236] Although the steering wheels in the same steering wheel group belong to different steering wheels, the adjustment directions of the two steering wheels are the same when the lateral deviation of the two steering wheels is adjusted. However, since the mobile robot has two deviation directions when it deviates laterally, i.e., deviation to the left or right, when the current zero deviation angle of each steering wheel in the steering wheel group to be calibrated is adjusted, the second deviation direction of the mobile robot in the current movement needs to be considered, specifically:

[0237] When the second deviation direction is to the left, the second lateral adjustment value of the two steering wheels in the steering wheel group to be calibrated is positive;

[0238] When the second deviation direction is to the right, the second lateral adjustment value of the two steering wheels in the steering wheel group to be calibrated is negative.

[0239] Therefore, after the electronic device determines the second lateral deviation value of the mobile robot in the current movement process, it can determine the second lateral adjustment value of each steering wheel in the steering wheel group to be calibrated for the current zero deviation angle based on the second lateral deviation coefficient, the second lateral deviation value, and the second deviation direction of the mobile robot in the current movement. Then, the electronic device can adjust the current actual zero position of each steering wheel in the steering wheel group to be calibrated according to the determined second lateral adjustment value, and then return to step F1. After the second end condition is met, the mobile robot is controlled to perform the second movement process based on the calibration route, and in response to the end of the second movement process, the lateral deviation value of the mobile robot at the termination position relative to the starting position in the current movement process is determined as the second lateral deviation value of the mobile robot in the current movement, until the determined second lateral deviation value is less than the preset second lateral deviation threshold.

[0240] Thus, after satisfying the second end condition and determining that the obtained second lateral deviation value is less than the preset second lateral deviation threshold, the electronic device can determine the total adjustment value of each steering wheel in the to-be-calibrated steering wheel group with respect to the actual zero position, and obtain a second difference value between the real angle of each steering wheel in the to-be-calibrated steering wheel group and the angle fed back by the corresponding steering wheel encoder.

[0241] The second lateral deviation coefficient is a ratio of the second preset lateral adjustment amount to the second lateral deviation value existing in the first movement process. The second preset lateral adjustment amount is the minimum adjustment value that causes a relatively obvious change in the lateral deviation of the robot chassis after adjustment of the steering wheel, for example, 1 degree. The embodiments of the present application do not limit the specific value.

[0242] It should be noted that the first determined second lateral deviation value refers to the lateral deviation value existing between the starting position and the termination position of the robot determined by the electronic device during the first control of the robot to perform the second movement process based on the calibration route after the first calibration process ends and the first end condition is satisfied.

[0243] That is, the lateral deviation adjustment of the current zero position offset angle of each steering wheel in the to-be-calibrated steering wheel group is performed after the angle deviation of the current zero position offset angle of each steering wheel in the to-be-calibrated steering wheel group is adjusted to be less than the preset second angle deviation threshold. After that, the lateral deviation value existing between the starting position and the termination position of the robot determined by the electronic device during the first control of the robot to perform the second movement process based on the calibration route is the second lateral deviation value existing in the first movement process.

[0244] Then, the electronic device continues to control the robot to move to the starting position on the calibration route in a closed loop, and controls the robot to perform the second movement process based on the calibration route, until the second lateral deviation value existing in the movement process is less than the preset second lateral deviation threshold. At this time, θ i,n -θ i,real ≈θ j,n -θ j,real ≈0, that is, at this time, the lateral deviation of the robot in the second movement process has been calibrated, and the angle deviation and lateral deviation existing in the side movement of each steering wheel in the to-be-calibrated steering wheel group have been basically eliminated.

[0245] At this point, through multiple repetitions of the second movement process, the angle deviation calibration and lateral deviation calibration of each steering wheel in the to-be-calibrated steering wheel group are sequentially completed, that is, the second calibration process of each steering wheel in the to-be-calibrated steering wheel group is completed, which can also be referred to as the side movement calibration of each steering wheel in the to-be-calibrated steering wheel group being completed.

[0246] Exemplary, for example, one side, the completion of the second calibration process to be calibrated rudder group of each rudder side shift calibration of the zero position angle is:

[0247]

[0248] Wherein, θ i,scal Characterized in that the second calibration process after the zero position angle of the rudder i in the rudder group to be calibrated, that is, the second difference between the actual angle of the rudder i and the angle feedback by the corresponding rudder encoder; Characterized in that the total amount of adjustment value for the actual zero position of the rudder i in the m+1 second movement process; θ j,scal Characterized in that the second calibration process after the zero position angle of the rudder j in the rudder group to be calibrated, that is, the second difference between the actual angle of the rudder j and the angle feedback by the corresponding rudder encoder; Characterized in that the total amount of adjustment value for the actual zero position of the rudder j in the n+1 second movement process.

[0249] As can be seen, for each rudder, the relationship between the initial actual zero position in the uncalibrated state, the actual zero position after straight-line calibration, and the actual zero position after side shift calibration is shown in FIG. 12(a). It can be seen that the angle difference φ between the 0 degree position after straight-line calibration and the 90 degree position after side shift calibration is not necessarily exactly 90 degrees. As shown in FIG. 12(b), which is a schematic diagram of the relationship between the angle feedback by the rudder encoder and the actual angle after the first calibration process and the second calibration process provided by the embodiment of the present application, when θ scal >0, |φ|>90°, and vice versa when θ scal <0, |φ|<90°.

[0250] Next, an embodiment of the rudder calibration method for a mobile robot according to the present application will be described by way of example, Figure 13 A flowchart of a specific embodiment provided by the embodiment of the present application is shown in FIG. 13. In this specific implementation, the following steps can be included:

[0251] S1301: The electronic device groups the rudders of the mobile robot and sets the rudders other than the rudder group to be calibrated to the non-output mode;

[0252] S1302: The electronic device performs straight-line calibration on the rudder group to be calibrated of the mobile robot;

[0253] S1303: The electronic device determines whether the mobile robot includes multiple rudder groups; if so, step S1304 is performed; otherwise, step S1306 is performed;

[0254] S1304: The electronic device performs lateral calibration on the to-be-calibrated rudder group of the mobile robot;

[0255] S1305: The electronic device determines whether all rudder groups are calibrated, if yes, step S1306 is performed; otherwise, step S1301 is performed.

[0256] S1306: The electronic device saves the calibration result for subsequent use, and ends the calibration.

[0257] In this embodiment, the electronic device remotely controls the mobile robot to the calibration site, and after inputting the start and end point coordinates of the calibration route, the rudder calibration can be started. The rudders of the mobile robot are grouped and processed, and the rudders outside the to-be-calibrated rudder group are set to the non-output mode.

[0258] In this way, by grouping the rudders, the rudders outside the to-be-calibrated rudder group are set to the non-output mode, thereby weakening the rudders outside the to-be-calibrated rudder group and reducing the pulling and coupling effect of each rudder in the to-be-calibrated rudder group during the rudder calibration. Moreover, the rudders in each rudder group belong to different side rudders, thereby reducing the coupling effect between the two rudders in the same rudder group, and further improving the accuracy of the obtained rudder calibration result.

[0259] Exemplarily, Figure 14 For Figure 13 a specific flowchart of the straight-line calibration in the embodiment, the straight-line calibration process can include the following steps:

[0260] S1401: The electronic device performs closed-loop control on the mobile robot to automatically adjust the mobile robot to the end point of the calibration route closest to it, and turns to the parallel direction of the calibration route, and records the current start pose of the mobile robot;

[0261] S1402: The electronic device performs open-loop control on the mobile robot to move the mobile robot straight to the termination position, during which the rudder angle is kept unchanged;

[0262] S1403: The electronic device determines the termination pose of the mobile robot, and calculates the angle deviation and the lateral deviation according to the termination pose and the start pose;

[0263] S1404: The electronic device determines whether the angle deviation is within the angle threshold, if not, step S1405 is performed, if yes, step S1406 is performed;

[0264] S1405: The electronic device sets an adjustment value according to the angle deviation, and returns to step S1401;

[0265] S1406: The electronic device controls the mobile robot in a closed loop to automatically adjust the mobile robot to the nearest calibration route endpoint and turn to a direction parallel to the calibration route, and records a current start pose of the mobile robot;

[0266] S1407: The electronic device controls the mobile robot in an open loop to move the mobile robot in a straight line to a termination position while keeping the rudder angle unchanged;

[0267] S1408: The electronic device determines a termination pose of the mobile robot, and calculates an angle deviation and a lateral deviation according to the termination pose and the start pose;

[0268] S1409: The electronic device determines whether the angle deviation is within an angle threshold, and if not, executes step S1405, and if yes, executes step S1410;

[0269] S1410: The electronic device determines whether the lateral deviation is within a lateral threshold, and if not, executes step S1411, and if yes, executes step S1412;

[0270] S1411: The electronic device sets an adjustment value according to the lateral deviation, and returns to step S1406;

[0271] S1412: The electronic device records a straight-line calibration result.

[0272] In this embodiment, the electronic device obtains a start pose of the mobile robot when performing straight-line calibration on the mobile robot, and a termination pose of the mobile robot after controlling the mobile robot to move in a straight line to a termination position, so as to determine an angle deviation and a lateral deviation generated by the mobile robot in a straight-line movement by the start pose and the termination pose.

[0273] If the angle deviation generated in the straight-line movement is not within the angle threshold, an angle adjustment value is set according to the angle deviation, and then the mobile robot is controlled to perform the straight-line movement again until the angle deviation generated in the movement is within the angle threshold.

[0274] At this time, the mobile robot can continue to be controlled to perform the straight-line movement, so as to determine the angle deviation and the lateral deviation generated by the mobile robot in the movement.

[0275] In order to improve the accuracy of the rudder calibration result, the electronic device determines whether the angle deviation generated by the mobile robot in the movement is within the angle threshold again.

[0276] If the angle deviation is not within the angle threshold, the method returns to step S1405, sets an adjustment value according to the angle deviation, and returns to step S1401 until the angle deviation generated in the moving process is within the angle threshold.

[0277] If the angle deviation is within the angle threshold, the electronic device can continue to determine whether the lateral deviation generated in the moving process of the mobile robot is within the lateral threshold.

[0278] If the lateral deviation is not within the lateral threshold, a lateral adjustment value is set according to the lateral deviation, and then the method returns to step S1406 until the angle deviation generated in the moving process of the to-be-calibrated rudder group is within the angle threshold and the lateral deviation is within the lateral threshold, so as to end the straight-line calibration of the to-be-calibrated rudder group and record the straight-line calibration result.

[0279] In the embodiment, in the process of performing the straight-line calibration on the to-be-calibrated rudder group of the mobile robot, the angle deviation generated in the moving process of each rudder of the to-be-calibrated rudder group is controlled within the angle threshold and the lateral deviation is controlled within the lateral threshold by repeatedly performing steps S1401-S1412, so as to improve the accuracy of the obtained calibration result.

[0280] Another exemplary, Figure 15 For Figure 13 a specific flowchart of the side shift calibration in the embodiment, the side shift calibration process can include the following steps:

[0281] S1501: The electronic device performs closed-loop control on the mobile robot to automatically adjust the mobile robot to the end point of the nearest calibration route and turn to the direction perpendicular to the calibration route, and records the current starting pose of the mobile robot;

[0282] S1502: The electronic device performs open-loop control on the mobile robot to make the mobile robot side shift to the termination position while keeping the rudder angle unchanged;

[0283] S1503: The electronic device determines the termination pose of the mobile robot and calculates the angle deviation and the lateral deviation according to the termination pose and the starting pose;

[0284] S1504: The electronic device determines whether the angle deviation is within the angle threshold, and if not, step S1505 is performed, and if yes, step S1506 is performed;

[0285] S1505: The electronic device sets an adjustment value according to the angle deviation and returns to step S1501;

[0286] S1506: The electronic device controls the mobile robot in a closed loop to automatically adjust the mobile robot to the nearest calibration route endpoint and turn to a direction perpendicular to the calibration route, and records a current start pose of the mobile robot;

[0287] S1507: The electronic device controls the mobile robot in an open loop to laterally move the mobile robot to a termination position while keeping the rudder angle unchanged;

[0288] S1508: The electronic device determines a termination pose of the mobile robot, and calculates an angle deviation and a lateral deviation according to the termination pose and the start pose;

[0289] S1509: The electronic device determines whether the angle deviation is within an angle threshold, if not, step S1505 is performed, and if yes, step S1510 is performed;

[0290] S1510: The electronic device determines whether the lateral deviation is within a lateral threshold, if not, step S1511 is performed, and if yes, step S1512 is performed;

[0291] S1511: The electronic device sets an adjustment value according to the lateral deviation, and returns to step S1506;

[0292] S1512: The electronic device records a lateral calibration result.

[0293] In this embodiment, the electronic device obtains a start pose of the mobile robot when performing lateral calibration on the mobile robot, and a termination pose of the mobile robot after controlling the mobile robot to laterally move to a termination position, so as to determine an angle deviation and a lateral deviation generated by the mobile robot in a lateral movement process by using the start pose and the termination pose.

[0294] If the angle deviation generated in the lateral movement process is not within the angle threshold, an angle adjustment value is set according to the angle deviation, and then the mobile robot is controlled to perform the lateral movement process again until the angle deviation generated in the movement process is within the angle threshold.

[0295] At this time, the mobile robot can continue to be controlled to perform the lateral movement process, so as to determine the angle deviation and the lateral deviation generated by the mobile robot in the movement process.

[0296] In order to improve the rudder calibration result, the electronic device determines whether the angle deviation generated by the mobile robot in the movement process is within the angle threshold again, if the angle deviation is not within the angle threshold, step S1505 is returned to, an adjustment value is set according to the angle deviation, and step S1501 is returned to, until the angle deviation generated in the movement process is within the angle threshold.

[0297] If the angle deviation is within the angle threshold, the electronic device can continue to determine whether the lateral deviation generated by the mobile robot in the current movement is within the lateral threshold.

[0298] If the lateral deviation is not within the lateral threshold, a lateral adjustment value is set according to the lateral deviation, and then the step S1506 is returned until the angle deviation generated by the to-be-calibrated rudder group in the movement is within the angle threshold and the lateral deviation is within the lateral threshold, so that the lateral shift calibration of the to-be-calibrated rudder group is ended, and the lateral shift calibration result is recorded.

[0299] In the embodiment, in the process of performing the lateral shift calibration on the to-be-calibrated rudder group of the mobile robot, the angle deviation generated by each rudder of the to-be-calibrated rudder group in the lateral shift process is controlled within the angle threshold and the generated lateral deviation is controlled within the lateral threshold by repeatedly performing the steps S1501-S1512, so that the accuracy of the obtained calibration result is improved.

[0300] The specific implementation will be described below in combination with the specific flow shown in Figures 13-15 .

[0301] Step 1: The electronic device remotely controls the mobile robot to the calibration site, and inputs the start and end point coordinates of the calibration route;

[0302] Step 2: The electronic device groups the rudders of the mobile robot, and sets the rudders other than the to-be-calibrated rudder group to the non-output mode;

[0303] Step 3: The electronic device performs closed-loop control on the mobile robot to automatically adjust the mobile robot to the nearest end point of the calibration route, and turns the direction to the parallel direction of the calibration route;

[0304] Step 4: The electronic device performs open-loop control on the mobile robot to move the mobile robot straight to the termination position, during which the rudder angle is kept unchanged;

[0305] Step 5: According to the angle deviation, an adjustment value is calculated, and the adjustment value Δθ n is superimposed on the actual zero position fed back by each wheel encoder;

[0306] Steps 3-5 are repeated until the angle deviation is less than the set threshold, and then Step 6 is performed;

[0307] Step 6: The electronic device performs closed-loop control on the mobile robot to automatically adjust the mobile robot to the nearest end point of the calibration route, and turns the direction to the parallel direction of the calibration route;

[0308] Step7: The electronic device controls the mobile robot in open loop to make the mobile robot move straight to the termination position, during which the rudder wheel angle is kept unchanged;

[0309] Step8: An adjustment value is calculated according to the lateral deviation, and the adjustment value Δθ n is superimposed on the actual zero position of the wheel encoder feedback;

[0310] Steps 6-8 are repeated until the lateral deviation is less than a set threshold value, and if the number of calibration groups is 1, the calibration is completed, otherwise, it returns to Step 3 until all rudder wheels complete the straight-line calibration and then enters Step 9, at which time the zero positions of the wheel encoder feedbacks are all superimposed with θ bias ;

[0311] Step9: The electronic device controls the mobile robot in closed loop to make the mobile robot automatically adjust to the nearest calibration route endpoint and turn to the direction perpendicular to the calibration route;

[0312] Step10: The electronic device controls the mobile robot in open loop to make the mobile robot move laterally to the termination position, during which the rudder wheel angle is kept unchanged;

[0313] Step11: An adjustment value is calculated according to the angle deviation, and the adjustment value Δθ m is superimposed on the actual zero position of the wheel encoder feedback, and the left / right adjustment values are separately distinguished; wherein, for left lateral deviation, the adjustment value is positive; and for right lateral deviation, the adjustment value is negative;

[0314] Steps 9-11 are repeated until the angle deviation is less than a set threshold value;

[0315] Step12: The electronic device controls the mobile robot in closed loop to make the mobile robot automatically adjust to the nearest calibration route endpoint and turn to the direction perpendicular to the calibration route;

[0316] Step13: The electronic device controls the mobile robot in open loop to make the mobile robot move laterally to the termination position, during which the rudder wheel angle is kept unchanged;

[0317] Step14: An adjustment value is calculated according to the lateral deviation, and the adjustment value Δθ m is superimposed on the actual zero position of the wheel encoder feedback, and the left / right adjustment values are separately distinguished; wherein, for left lateral deviation, the adjustment value is positive; and for right lateral deviation, the adjustment value is negative;

[0318] Steps 12-14 are repeated until the lateral deviation is less than a set threshold value, and if the number of calibration groups is 1, the calibration is completed and enters Step 15, otherwise, it returns to Step 2 to calibrate the next group of rudder wheels;

[0319] Step 15: According to the straight line, the side shift calibration result (total adjustment value) θ bias With θ scal The relationship between the real angle θ of the steering wheel and the encoder feedback angle θ. real And the encoder feedback angle θ fbk .

[0320] In this embodiment, the specific process of calibrating the steering wheel of the mobile robot is introduced in detail. In the above Step 1 to Step 15, the mobile robot is controlled by the electronic device to perform the steering wheel calibration process according to the above Step 1 to Step 15, thereby reducing the manpower consumed by manual calibration and improving the efficiency of the steering wheel calibration.

[0321] Based on the above method embodiment, the application also provides a steering wheel calibration device for a mobile robot. As shown in Figure 16 The structure diagram of a steering wheel calibration device for a mobile robot provided by the embodiment of the application, the device comprises:

[0322] The steering wheel group determination module 1610 is configured to determine a to-be-calibrated steering wheel group of the mobile robot. The to-be-calibrated steering wheel group is a steering wheel group obtained by grouping the steering wheels of the mobile robot, and the steering wheels in the same steering wheel group obtained by the grouping belong to different side steering wheels.

[0323] The first control module 1620 is configured to perform first calibration processing on each steering wheel in the to-be-calibrated steering wheel group in a manner of controlling the mobile robot to perform a plurality of first movement processes based on a calibration route, to obtain a first difference value between the real angle of each steering wheel in the to-be-calibrated steering wheel group and the corresponding steering wheel encoder feedback angle. In the first movement process, the starting position is on the calibration route, the vehicle head of the mobile robot is parallel to the calibration route at the starting position, and the orientation of each steering wheel in the to-be-calibrated steering wheel group is the current actual zero position, and the steering wheels other than the to-be-calibrated steering wheel group remain in the non-power mode.

[0324] The result determination module 1630 is configured to determine the calibration result of each steering wheel in the to-be-calibrated steering wheel group based on the obtained first difference value.

[0325] Based on this, the scheme provided in the embodiments of the present application is applied to group the rudders of the mobile robot to divide the rudders into a to-be-calibrated rudder group and rudders other than the to-be-calibrated rudder group, and the rudders in the same rudder group belong to opposite sides; in this way, in the process of calibrating the to-be-calibrated rudder group, when the mobile robot is controlled to move, the rudders other than the to-be-calibrated rudder group can be controlled to remain in a non-force output mode, thereby reducing the coupling effect between the rudders in the same group during movement and reducing the pulling effect of the rudders other than the to-be-calibrated rudder group on the rudders in the to-be-calibrated rudder group; and when the mobile robot moves multiple times, the vehicle head of the mobile robot at the starting position on the calibration route and at the starting position is parallel to the calibration route, and the orientations of the rudders in the to-be-calibrated rudder group are the current actual zero positions, to ensure the attitude requirement of the rudders during calibration. It can be seen that, by using the scheme, the accuracy of the calibration results of the rudders in the to-be-calibrated rudder group can be improved.

[0326] Optionally, in an implementation manner, the apparatus further includes:

[0327] The rudder group reselection module is configured to, after the calibration results of the rudders in the to-be-calibrated rudder group are determined based on the obtained first difference value, in response to there being at least one rudder group that is not used as the to-be-calibrated rudder group, select one rudder group from the at least one rudder group as a new to-be-calibrated rudder group, and trigger the first control module.

[0328] Optionally, in an implementation manner, the apparatus further includes:

[0329] The second control module is configured to, after the first calibration processing is performed on the rudders in the to-be-calibrated rudder group in the manner of controlling the mobile robot to move multiple times based on the calibration route to obtain the first difference value between the actual angle of each rudder in the to-be-calibrated rudder group and the angle fed back by the corresponding rudder encoder, perform second calibration processing on the rudders in the to-be-calibrated rudder group in the manner of controlling the mobile robot to move multiple times based on the calibration route to obtain the second difference value between the actual angle of each rudder in the to-be-calibrated rudder group and the angle fed back by the corresponding rudder encoder.

[0330] In the second movement process, the vehicle head of the mobile robot at the starting position on the calibration route and at the starting position is perpendicular to the calibration route, the orientations of the rudders in the to-be-calibrated rudder group are target orientations, and the rudders other than the to-be-calibrated rudder group remain in a non-force output mode, the target orientation being an orientation of 90 degrees about the counterclockwise direction or the clockwise direction as fed back by the corresponding rudder encoder.

[0331] The result determination module 1630 is specifically configured to:

[0332] Based on the obtained first difference value and the second difference value, determine the calibration result of each steering wheel in the steering wheel group to be calibrated.

[0333] Optionally, in an implementation manner, the first control module 1620 comprises:

[0334] A first control submodule is configured to control the mobile robot to perform a first movement process based on the calibration route;

[0335] A first adjustment submodule is configured to, in response to the end of the first movement process, determine a first angle adjustment value for the actual zero position of each steering wheel in the steering wheel group to be calibrated based on the pose difference of the mobile robot at the start position and the end position of the movement, adjust the current actual zero position of each steering wheel in the steering wheel group to be calibrated according to the determined first angle adjustment value, and return to the step of controlling the mobile robot to perform the first movement process based on the calibration route until a predetermined first end condition is met.

[0336] A first difference value acquisition submodule is configured to, after the first end condition is met, determine the total adjustment value for the actual zero position of each steering wheel in the steering wheel group to be calibrated, and obtain a first difference value between the real angle of each steering wheel in the steering wheel group to be calibrated and the angle fed back by the corresponding steering wheel encoder.

[0337] Optionally, in an implementation manner, the second control module comprises:

[0338] A second control submodule is configured to control the mobile robot to perform a second movement process based on the calibration route;

[0339] A second adjustment submodule is configured to, in response to the end of the second movement process, determine a second angle adjustment value for the actual zero position of each steering wheel in the steering wheel group to be calibrated based on the pose difference of the mobile robot at the start position and the end position of the movement, adjust the current actual zero position of each steering wheel in the steering wheel group to be calibrated according to the determined second angle adjustment value, and return to the step of controlling the mobile robot to perform the second movement process based on the calibration route until a predetermined second end condition is met.

[0340] A second difference value acquisition submodule is configured to, after the second end condition is met, determine the total adjustment value for the actual zero position of each steering wheel in the steering wheel group to be calibrated for multiple second movement processes, and obtain a second difference value between the real angle of each steering wheel in the steering wheel group to be calibrated and the angle fed back by the corresponding steering wheel encoder.

[0341] Optionally, in an implementation form, the first adjusting sub-module is specifically configured to:

[0342] determine, in response to the end of the first movement process, a first angle deviation value of the mobile robot in the current movement process, as an angle deviation value of the mobile robot in the current movement process, the angle deviation value being a deviation between a position of the mobile robot at a termination position and a position of the mobile robot at a starting position;

[0343] determine, by using a first angle deviation coefficient, the first angle deviation value, and a first rotation direction of the chassis of the mobile robot in the current movement process, a first angle adjustment value of each rudder wheel in the to-be-calibrated rudder wheel group for a current zero position offset angle after the current movement process;

[0344] The first angle deviation coefficient is a ratio of a first preset angle adjustment value to a first angle deviation value in a first movement process; and the first end condition comprises that the first angle deviation value in the movement process is less than a preset first angle deviation threshold.

[0345] Optionally, in an implementation form, the apparatus further comprises:

[0346] a first lateral adjusting sub-module configured to, after the first end condition is met, control the mobile robot to perform a first movement process based on the calibration route, and determine, in response to the end of the first movement process, a first lateral deviation value of the mobile robot in the current movement process, as a lateral deviation value of the mobile robot in the current movement process, the lateral deviation value being a deviation between a position of the mobile robot at a termination position and a position of the mobile robot at a starting position;

[0347] determine, by using a first lateral deviation coefficient, the first lateral deviation value, and a first offset direction of the mobile robot in the current movement process, a first lateral adjustment value of each rudder wheel in the to-be-calibrated rudder wheel group for a current actual zero position after the current movement process; the first lateral deviation coefficient is a ratio of a first preset lateral adjustment value to a first lateral deviation value determined for the first time;

[0348] adjust the current actual zero position of each rudder wheel in the to-be-calibrated rudder wheel group according to the determined first lateral adjustment value, and return to the step of controlling the mobile robot to perform a first movement process based on the calibration route, and determining, in response to the end of the first movement process, a first lateral deviation value of the mobile robot in the current movement process, as a lateral deviation value of the mobile robot in the current movement process, the lateral deviation value being a deviation between a position of the mobile robot at a termination position and a position of the mobile robot at a starting position, until the determined first lateral deviation value is less than a preset first lateral deviation threshold;

[0349] The first difference obtaining sub-module is specifically configured to:

[0350] determining the total adjustment value of each rudder wheel in the rudder wheel group to be calibrated for the actual zero position, to obtain a first difference value between the real angle of each rudder wheel in the rudder wheel group to be calibrated and the angle fed back by the corresponding rudder wheel encoder.

[0351] Optionally, in a specific implementation, the second adjustment submodule is specifically configured to:

[0352] in response to the end of the second movement process, determining an angle deviation value existing between the starting position and the ending position of the mobile robot in the current movement process as a second angle deviation value existing in the current movement of the mobile robot;

[0353] determining a second angle adjustment value of each rudder wheel in the rudder wheel group to be calibrated for the current zero position offset angle after the current movement by using the second angle deviation coefficient, the second angle deviation value and the second rotation direction of the chassis of the mobile robot in the current movement;

[0354] wherein the second angle deviation coefficient is a ratio of a second preset angle adjustment value to the second angle deviation value existing in the first movement process; and the second end condition comprises that the second angle deviation value existing in the movement process is less than a preset second angle deviation threshold.

[0355] Optionally, in a specific implementation, the apparatus further comprises:

[0356] a second lateral adjustment submodule configured to, after the second end condition is met, control the mobile robot to perform a second movement process based on the calibration route, and in response to the end of the second movement process, determine a lateral deviation value existing between the starting position and the ending position of the mobile robot in the current movement process as a second lateral deviation value existing in the current movement of the mobile robot;

[0357] determining a second lateral adjustment value of each rudder wheel in the rudder wheel group to be calibrated for the current actual zero position after the current movement by using a second lateral deviation coefficient, the first lateral deviation value and a second offset direction of the mobile robot in the current movement; wherein the second lateral deviation coefficient is a ratio of a second preset lateral adjustment value to the second lateral deviation value determined for the first time;

[0358] adjust the current actual zero position of each steering wheel in the to-be-calibrated steering wheel group according to the determined second lateral adjustment value, and return to the step of controlling the mobile robot to perform a second movement process based on the calibration route and, in response to the end of the second movement process, determining a lateral deviation value of the mobile robot at a termination position relative to a starting position in the current movement process as a second lateral deviation value of the mobile robot in the current movement, until the determined second lateral deviation value is less than a preset second lateral deviation threshold value;

[0359] The second difference value obtaining submodule is configured to include:

[0360] After the second end condition is met and the determined second lateral deviation value is less than the preset second lateral deviation threshold value, the adjustment value total of each steering wheel in the to-be-calibrated steering wheel group for the actual zero position is determined, and a second difference value between the real angle of each steering wheel in the to-be-calibrated steering wheel group and the angle fed back by the corresponding steering wheel encoder is obtained.

[0361] Optionally, in an implementation manner, the control manner in which the steering wheels other than the to-be-calibrated steering wheel group remain in the non-force output mode includes:

[0362] The speed of the steering wheels other than the to-be-calibrated steering wheel group is controlled, so that the current fed back by the corresponding driver of the steering wheels other than the to-be-calibrated steering wheel group is within a predetermined current value range; the predetermined current value range is a minimum value range of the current value for making the orientation of the steering wheels other than the to-be-calibrated steering wheel group controllable.

[0363] Optionally, in an implementation manner, when the distance length between the starting position and the termination position is the route length of the calibration route, the first movement process or the second movement process is regarded as ending once.

[0364] Optionally, in an implementation manner, the result determining module 1630 is specifically configured to:

[0365] Based on the first difference value and the second difference value, a corresponding relationship between the real angle of each steering wheel in the to-be-calibrated steering wheel group and the angle fed back by the corresponding steering wheel encoder is determined as the calibration result of the steering wheel.

[0366] Optionally, in an implementation manner, the result determining module 1630 is specifically configured to:

[0367] Based on the first difference value and the second difference value, a corresponding relationship between the real angle of each steering wheel in the to-be-calibrated steering wheel group and the angle fed back by the corresponding steering wheel encoder is determined as the calibration result of the steering wheel by using a predetermined formula; the predetermined formula includes:

[0368]

[0369] θi,real represents the real angle of the steering wheel i in the steering wheel group to be calibrated i,real θi,real represents the real angle of the steering wheel i in the steering wheel group to be calibrated i,fbk θi,real represents the real angle of the steering wheel i in the steering wheel group to be calibrated i,bias θi,real represents the real angle of the steering wheel i in the steering wheel group to be calibrated i,scal θi,real represents the real angle of the steering wheel i in the steering wheel group to be calibrated

[0370] The embodiment of the present application further provides a mobile robot with a steering wheel, which comprises: Figure 17 as shown, comprising:

[0371] The memory 1701 is used to store computer programs.

[0372] The processor 1702 is used to execute the programs stored in the memory 1701, and realize any of the steering wheel calibration methods for the mobile robot provided by the above embodiments of the present application.

[0373] The mobile robot can further comprise a communication bus and / or a communication interface, and the processor 1702, the communication interface and the memory 1701 can complete mutual communication through the communication bus.

[0374] The communication bus mentioned in the mobile robot can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or only one type of bus.

[0375] The communication interface is used for communication between the mobile robot and other devices.

[0376] The memory can include a Random Access Memory (RAM) and can also include a Non-Volatile Memory (NVM), for example, at least one disk memory. Optionally, the memory can also be at least one storage device located away from the aforementioned processor.

[0377] The processor described above can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

[0378] In another embodiment provided in the present application, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program. The computer program is executed by a processor to implement the steps of any of the above-mentioned methods for calibrating a steering wheel of a mobile robot.

[0379] In another embodiment provided in the present application, a computer program product is provided, and the computer program product includes instructions. When the computer program product is executed on a computer, the computer is caused to perform the method for calibrating a steering wheel of a mobile robot in any of the above-mentioned embodiments.

[0380] In the above-mentioned embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through a wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a solid state disk (SSD) and the like.

[0381] It is to be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily implying any actual relationship or order between such entities or actions. Also, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0382] Each of the embodiments in the present specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other. Each of the embodiments focuses on the difference from other embodiments. In particular, for the device embodiment, the mobile robot embodiment, the computer-readable storage medium embodiment, and the computer program product embodiment, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiment.

[0383] The above only describes the preferred embodiments of the present application, and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for calibrating the steering wheel of a mobile robot, characterized in that, include: Determine the rudder wheel group to be calibrated for the mobile robot; wherein, the rudder wheel group to be calibrated is a rudder wheel group obtained by grouping the rudder wheels of the mobile robot, and the rudder wheels in the same rudder wheel group obtained by grouping are opposite-side rudder wheels. According to the method of controlling the mobile robot to perform multiple first movement processes based on the calibration route, a first calibration process is performed on each steering wheel in the steering wheel group to be calibrated to obtain a first difference between the actual angle of each steering wheel in the steering wheel group to be calibrated and the angle fed back by the corresponding steering wheel encoder; wherein, during the first movement process, the starting position is on the calibration route and the direction of the mobile robot's front is parallel to the calibration route at the starting position, and the orientation of each steering wheel in the steering wheel group to be calibrated is the current actual zero position and the steering wheels other than the steering wheel group to be calibrated remain in a non-power mode; Based on the obtained first difference, the calibration result of each steering wheel in the steering wheel group to be calibrated is determined.

2. The method according to claim 1, characterized in that, After determining the calibration result of each steering wheel in the steering wheel group to be calibrated based on the obtained first difference, the method further includes: In response to the existence of at least one steering wheel group not being selected as a steering wheel group to be calibrated, one steering wheel group is selected from the at least one steering wheel group as a new steering wheel group to be calibrated, and the process of performing a first calibration process on each steering wheel in the steering wheel group to be calibrated in accordance with the manner of controlling the mobile robot to perform multiple first movement processes based on the calibration route is returned to obtain the first difference between the actual angle of each steering wheel in the steering wheel group to be calibrated and the angle fed back by the corresponding steering wheel encoder.

3. The method according to claim 1 or 2, characterized in that, After performing a first calibration process on each steering wheel in the steering wheel group to be calibrated, and obtaining a first difference between the actual angle of each steering wheel in the steering wheel group and the angle fed back by the corresponding steering wheel encoder, the method further includes: According to the method of controlling the mobile robot to perform multiple second movement processes based on the calibration route, a second calibration process is performed on each steering wheel in the steering wheel group to be calibrated to obtain a second difference between the actual angle of each steering wheel in the steering wheel group to be calibrated and the angle fed back by the corresponding steering wheel encoder; wherein, during the second movement process, the starting position is on the calibration route and the front of the mobile robot is perpendicular to the calibration route at the starting position, and the steering wheel in the steering wheel group to be calibrated is oriented to the target orientation and the steering wheels other than the steering wheel group to be calibrated are kept in a non-power mode, wherein the target orientation is the orientation of 90 degrees about the counterclockwise or clockwise direction fed back by the corresponding steering wheel encoder; The step of determining the calibration result of each steering wheel in the steering wheel group to be calibrated based on the obtained first difference includes: Based on the obtained first and second differences, the calibration results of each steering wheel in the steering wheel group to be calibrated are determined.

4. The method according to claim 1, characterized in that, The first calibration process is performed on each steering wheel in the steering wheel group to be calibrated, according to the method of controlling the mobile robot to perform multiple first movement processes based on the calibration route, to obtain a first difference between the actual angle of each steering wheel in the steering wheel group to be calibrated and the angle fed back by the corresponding steering wheel encoder, including: Control the mobile robot to perform a first movement process based on a calibrated route; In response to the end of the first movement process, based on the pose difference of the mobile robot at the start position and the end position of this movement, the first angle adjustment value of each steering wheel in the steering wheel group to be calibrated relative to the actual zero position is determined. According to the determined first angle adjustment value, the current actual zero position of each steering wheel in the steering wheel group to be calibrated is adjusted, and the process returns to the step of controlling the mobile robot to perform the first movement process based on the calibration route until the predetermined first end condition is met. After the first termination condition is met, the total adjustment value of each steering wheel in the steering wheel group to be calibrated relative to the actual zero position is determined, and the first difference between the actual angle of each steering wheel in the steering wheel group to be calibrated and the angle fed back by the corresponding steering wheel encoder is obtained.

5. The method according to claim 3, characterized in that, The second calibration process is performed on each steering wheel in the steering wheel group to be calibrated, according to the method of controlling the mobile robot to perform multiple second movement processes based on the calibration route, to obtain a second difference between the actual angle of each steering wheel in the steering wheel group to be calibrated and the angle fed back by the corresponding steering wheel encoder, including: Control the mobile robot to perform a second movement process based on the calibrated route; In response to the end of the second movement process, based on the pose difference of the mobile robot at the start position and the end position of this movement, the second angle adjustment value of each steering wheel in the steering wheel group to be calibrated relative to the actual zero position is determined. According to the determined second angle adjustment value, the current actual zero position of each steering wheel in the steering wheel group to be calibrated is adjusted, and the process returns to the step of controlling the mobile robot to perform the second movement process based on the calibration route, until the predetermined second end condition is met. After the second termination condition is met, the total adjustment value of each steering wheel in the steering wheel group to be calibrated for the actual zero position is determined for multiple second movement processes, and the second difference between the real angle of each steering wheel in the steering wheel group to be calibrated and the angle fed back by the corresponding steering wheel encoder is obtained.

6. The method according to claim 4, characterized in that, In response to the end of the first movement process, based on the pose difference of the mobile robot at the start and end positions of this movement, the first angle adjustment value of each steering wheel in the steering wheel group to be calibrated relative to the actual zero position is determined, including: In response to the end of the first movement process, the angular deviation value of the mobile robot at the end position relative to the starting position during the current movement is determined as the first angular deviation value of the mobile robot in the current movement. Using the first angle deviation coefficient, the first angle deviation value, and the first rotation direction of the chassis of the mobile robot during this movement, the first angle adjustment value of each steering wheel in the steering wheel group to be calibrated after this movement is determined relative to the current zero position angle. Wherein, the first angle deviation coefficient is the ratio of the first preset angle adjustment value to the first angle deviation value existing during the initial movement; the first termination condition includes: the first angle deviation value existing during the movement is less than the preset first angle deviation threshold.

7. The method according to claim 6, characterized in that, The method further includes: After the first termination condition is met, the mobile robot is controlled to perform a first movement process based on the calibration route, and in response to the end of the first movement process, the lateral deviation value of the mobile robot at the termination position relative to the starting position during this movement is determined as the first lateral deviation value of the mobile robot in this movement. Using the first lateral deviation coefficient, the first lateral deviation value, and the first offset direction of the mobile robot in this movement, the first lateral adjustment value of each steering wheel in the steering wheel group to be calibrated relative to the current actual zero position is determined after this movement; wherein, the first lateral deviation coefficient is the ratio of the first preset lateral adjustment value to the first lateral deviation value determined for the first time; According to the determined first lateral adjustment value, the current actual zero position of each steering wheel in the steering wheel group to be calibrated is adjusted, and the control of the mobile robot is returned to perform a first movement process based on the calibration route. In response to the end of the first movement process, the lateral deviation value of the mobile robot at the end position relative to the starting position during this movement is determined as the first lateral deviation value of the mobile robot in this movement, until the obtained first lateral deviation value is determined to be less than the preset first lateral deviation threshold. After satisfying the first termination condition, the total adjustment value of each steering wheel in the steering wheel group to be calibrated relative to the actual zero position is determined, and the first difference between the actual angle of each steering wheel in the steering wheel group to be calibrated and the angle fed back by the corresponding steering wheel encoder is obtained, including: After satisfying the first termination condition and determining that the obtained first lateral deviation value is less than the preset first lateral deviation threshold, the total adjustment value of each steering wheel in the steering wheel group to be calibrated relative to the actual zero position is determined, and the first difference between the actual angle of each steering wheel in the steering wheel group to be calibrated and the angle fed back by the corresponding steering wheel encoder is obtained.

8. The method according to claim 5, characterized in that, In response to the end of the second movement process, based on the pose difference of the mobile robot at the start and end positions of this movement, the second angle adjustment value of each steering wheel in the steering wheel group to be calibrated relative to the actual zero position is adjusted, including: In response to the end of the second movement process, the angular deviation value of the mobile robot at the end position relative to the starting position during this movement is determined as the second angular deviation value of the mobile robot in this movement; Using the second angle deviation coefficient, the second angle deviation value, and the second rotation direction of the chassis of the mobile robot during this movement, the second angle adjustment value of each steering wheel in the steering wheel group to be calibrated after this movement is determined relative to the current zero position deviation angle. Wherein, the second angle deviation coefficient is the ratio of the second preset angle adjustment value to the second angle deviation value existing during the first movement; the second termination condition includes: the second angle deviation value existing during the movement is less than the preset second angle deviation threshold.

9. The method according to claim 8, characterized in that, The method further includes: After the second termination condition is met, the mobile robot is controlled to perform a second movement process based on the calibration route, and in response to the end of the second movement process, the lateral deviation value of the mobile robot at the termination position relative to the starting position during this movement is determined as the second lateral deviation value of the mobile robot in this movement. Using the second lateral deviation coefficient, the second lateral deviation value, and the second offset direction of the mobile robot in this movement, the second lateral adjustment value of each steering wheel in the steering wheel group to be calibrated relative to the current actual zero position is determined after this movement; wherein, the second lateral deviation coefficient is the ratio of the second preset lateral adjustment value to the second lateral deviation value determined for the first time; According to the determined second lateral adjustment value, the current actual zero position of each steering wheel in the steering wheel group to be calibrated is adjusted, and the control of the mobile robot is returned to perform a second movement process based on the calibration route. In response to the end of the second movement process, the lateral deviation value of the mobile robot at the end position relative to the starting position during this movement is determined as the second lateral deviation value of the mobile robot in this movement, until the obtained second lateral deviation value is less than the preset second lateral deviation threshold. After satisfying the second termination condition, the total adjustment value of each steering wheel in the steering wheel group to be calibrated relative to the actual zero position is determined for multiple second movement processes, and a second difference is obtained between the true angle of each steering wheel in the steering wheel group to be calibrated and the angle fed back by the corresponding steering wheel encoder, including: After satisfying the second termination condition and determining that the obtained second lateral deviation value is less than the preset second lateral deviation threshold, the total adjustment value of each steering wheel in the steering wheel group to be calibrated relative to the actual zero position is determined, and the second difference between the actual angle of each steering wheel in the steering wheel group to be calibrated and the angle fed back by the corresponding steering wheel encoder is obtained.

10. The method according to claim 1, characterized in that, The control methods for maintaining a non-power-generating mode for steering wheels other than the steering wheel assembly to be calibrated include: The speed of the steering wheels other than the steering wheel group to be calibrated is controlled so that the current fed back by the corresponding driver of the steering wheel other than the steering wheel group to be calibrated is within a predetermined current value range. The predetermined current value range is the minimum range of current values ​​used to make the orientation of the steering wheels other than the steering wheel group to be calibrated controllable.

11. The method according to claim 3, characterized in that, For either the first or second movement process, the distance between the starting and ending positions equal to the length of the calibrated route signifies the end of one movement process.

12. The method according to claim 3, characterized in that, The step of determining the calibration result of each steering wheel in the steering wheel group to be calibrated based on the obtained first difference and second difference includes: Based on the first difference and the second difference, the correspondence between the actual angle of each steering wheel in the steering wheel group to be calibrated and the angle fed back by the corresponding steering wheel encoder is determined, which is used as the calibration result of the steering wheel.

13. The method according to claim 12, characterized in that, The step of determining the correspondence between the actual angle of each steering wheel in the steering wheel group to be calibrated and the angle fed back by the corresponding steering wheel encoder, based on the first difference and the second difference, as the calibration result of the steering wheel, includes: Based on the first difference and the second difference, a predetermined formula is used to determine the correspondence between the actual angle of each steering wheel in the steering wheel group to be calibrated and the angle fed back by the corresponding steering wheel encoder, which is taken as the calibration result of the steering wheel; wherein, the predetermined formula includes: ; in, Characterizing the rudder wheel in the rudder wheel assembly to be calibrated The true angle, Characterizing the rudder wheel in the rudder wheel assembly to be calibrated Corresponding to the angle fed back by the steering wheel encoder, Characterizing the rudder wheel in the rudder wheel assembly to be calibrated The first difference, Characterizing the rudder wheel in the rudder wheel assembly to be calibrated The second difference, 90, characterizes the steering wheel. The angle fed back by the corresponding steering wheel encoder when facing the target orientation.

14. A steering wheel calibration device for a mobile robot, characterized in that, include: A steering wheel group determination module is used to determine the steering wheel group to be calibrated for a mobile robot; wherein, the steering wheel group to be calibrated is a steering wheel group obtained by grouping the steering wheels of the mobile robot, and the steering wheels in the same steering wheel group obtained by grouping are opposite-side steering wheels. The first control module is configured to perform a first calibration process on each steering wheel in the steering wheel group to be calibrated, in accordance with the method of controlling the mobile robot to perform multiple first movement processes based on the calibration route, to obtain a first difference between the actual angle of each steering wheel in the steering wheel group to be calibrated and the angle fed back by the corresponding steering wheel encoder; wherein, during the first movement process, the starting position is on the calibration route and the front of the mobile robot is parallel to the calibration route at the starting position, and the orientation of each steering wheel in the steering wheel group to be calibrated is the current actual zero position and the steering wheels other than those in the steering wheel group to be calibrated remain in a non-power mode; The result determination module is used to determine the calibration result of each steering wheel in the steering wheel group to be calibrated based on the obtained first difference.

15. A mobile robot with a steering wheel, characterized in that, include: Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the method described in any one of claims 1-13.

16. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method described in any one of claims 1-13.

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