Mobile robot calibration device, system and method

Abstract

The invention discloses a mobile robot calibration device, a mobile robot calibration system and a mobile robot calibration method. The mobile robot calibration device comprises a first positioning block which is provided with a positioning projection with an L-shaped cross section; and the second positioning block is provided with a positioning groove with an L-shaped cross section. The positioning protrusions and the positioning grooves are complementary and suitable for being matched together. One of the first positioning block and the second positioning block is suitable for being installed on a flange plate or a tool at the tail end of the mobile robot, and the other one is suitable for being installed on a workbench. According to the mobile robot calibration method and device, rapid calibration of the mobile robot can be achieved through simple mechanical positioning, the calibration cost of the mobile robot is reduced, and the calibration efficiency of the mobile robot can be improved.

Description

Technical Field

[0001] The invention relates to a mobile robot calibration device, comprising a mobile robot calibration system of the mobile robot calibration device and a method for calibrating a mobile robot by utilizing the mobile robot calibration system. Background Art

[0002] Mobile robots are widely used in the production and manufacturing of products. Since mobile robots are movable, they must be recalibrated every time they move to a new location. In the prior art, multiple cameras are usually used to calibrate the positions of the base and joints of the mobile robot. However, this visual calibration solution is costly and takes a long time to calibrate because a large amount of image data needs to be processed. Summary of the invention

[0003] The purpose of the present invention is to solve at least one aspect of the above-mentioned problems and defects in the prior art.

[0004] According to one aspect of the present invention, a mobile robot calibration device is provided. The mobile robot calibration device comprises: a first positioning block having a positioning protrusion with an L-shaped cross section; and a second positioning block having a positioning groove with an L-shaped cross section. The positioning protrusion is complementary to the positioning groove and is suitable for mating together; one of the first positioning block and the second positioning block is suitable for being mounted on a flange or a tool at the end of the mobile robot, and the other is suitable for being mounted on a workbench.

[0005] According to an exemplary embodiment of the present invention, the first positioning block includes a base, and the positioning protrusion is formed on a first flat surface of the base and protrudes by a predetermined height in a direction perpendicular to the first flat surface.

[0006] According to another exemplary embodiment of the present invention, the positioning groove is formed on the second flat surface of the second positioning block and has a predetermined depth corresponding to the predetermined height; when the first positioning block and the second positioning block are matched together, the first flat surface is abutted against the second flat surface.

[0007] According to another exemplary embodiment of the present invention, the positioning groove has a mounting opening located on the second flat surface of the second positioning block, and the positioning protrusion is suitable for being inserted into the positioning groove via the mounting opening.

[0008] According to another exemplary embodiment of the present invention, a first threaded hole is formed on the positioning protrusion of the first positioning block, and a second threaded hole corresponding to the first threaded hole is formed on the second positioning block, so that the first positioning block and the second positioning block can be fixed together by threaded connectors screwed into the first threaded hole and the second threaded hole.

[0009] According to another exemplary embodiment of the present invention, central axes of the first threaded hole and the second threaded hole are parallel to the first flat surface and the second flat surface.

[0010] According to another exemplary embodiment of the present invention, the mobile robot calibration device further includes: a threaded connector adapted to be threadedly connected to the first threaded hole and the second threaded hole to fix the first positioning block and the second positioning block matched together.

[0011] According to another exemplary embodiment of the present invention, the positioning protrusion includes: a first positioning protrusion portion, whose cross-section is rectangular; and a second positioning protrusion portion, whose cross-section is rectangular and vertically connected to one end of the first positioning protrusion portion, and a first threaded hole is formed on the first positioning protrusion portion and the second positioning protrusion portion, respectively.

[0012] According to another exemplary embodiment of the present invention, the positioning groove includes: a first positioning groove portion, whose cross section is rectangular; and a second positioning groove portion, whose cross section is rectangular and vertically connected to one end of the first positioning groove portion. The first positioning protrusion portion corresponds to the first positioning groove portion and is suitable for being assembled into the first positioning groove portion; and the second positioning protrusion portion corresponds to the second positioning groove portion and is suitable for being assembled into the second positioning groove portion.

[0013] According to another exemplary embodiment of the present invention, a first mounting hole allowing a first connecting member to pass through is formed on a base of the first positioning block, so that the first positioning block can be mounted to one of the robot and the workbench through the first connecting member.

[0014] According to another exemplary embodiment of the present invention, a second mounting hole allowing a second connecting member to pass through is formed on the second positioning block, so that the second positioning block can be mounted to the other of the robot and the workbench through the second connecting member.

[0015] According to another exemplary embodiment of the present invention, the mobile robot calibration device also includes: a first connecting member, passing through a first mounting hole on the first positioning block and connected to one of the robot and the workbench; and a second connecting member, passing through a second mounting hole on the second positioning block and connected to the other of the robot and the workbench.

[0016] According to another aspect of the present invention, a mobile robot calibration system is provided. The mobile robot calibration system comprises: a workbench, which is fixed; a mobile robot, which can move relative to the workbench; and the aforementioned mobile robot calibration device. One of the first positioning block and the second positioning block is mounted on a flange or tool at the end of the mobile robot, and the other positioning block is mounted on the workbench; when calibrating the mobile robot, the first positioning block and the second positioning block are matched and fixed together, so that the positioning block installed on the mobile robot is accurately positioned at a known predetermined position.

[0017] According to an exemplary embodiment of the present invention, the first positioning block is mounted on a flange or a tool at the end of the mobile robot, and the second positioning block is mounted on the workbench.

[0018] According to another aspect of the present invention, a mobile robot calibration method is provided. The mobile robot calibration method comprises the following steps:

[0019] S10: providing the aforementioned mobile robot calibration system;

[0020] S11: Move the mobile robot to an initial position;

[0021] S12: aligning and fixing the first positioning block and the second positioning block together;

[0022] S13: Calculate the initial position Pb0 of the base and the initial position Pj0 of each joint of the mobile robot using the following formula:

[0023] Pb0=Tb0*P,

[0024] Pj0=Tj0*P,

[0025] in,

[0026] Tb0 is the transfer matrix of the base of the mobile robot relative to the workbench when the mobile robot is in the initial position. The transfer matrix Tb0 can be calculated according to the angles of each joint of the mobile robot.

[0027] Tj0 is the transfer matrix of the joints of the mobile robot relative to the workbench when the mobile robot is in the initial position. The transfer matrix Tj0 can be calculated according to the angles of each joint of the mobile robot.

[0028] P is the position of the workbench, and the position P of the workbench is known and fixed.

[0029] According to an exemplary embodiment of the present invention, the mobile robot calibration method further includes the following steps:

[0030] S24: moving the mobile robot to a new position;

[0031] S25: aligning and fixing the first positioning block and the second positioning block together;

[0032] S26: Calculate the new position Pb1 of the base of the mobile robot using the following formula: Pb1 = Tb1*P,

[0033] in,

[0034] Tb1 is a transfer matrix of the base of the mobile robot relative to the workbench when the mobile robot is in a new position, and the transfer matrix Tb1 can be calculated according to the angles of each joint of the mobile robot;

[0035] S27: Calculate the difference ΔPb between the new position Pb1 and the initial position Pb0 of the base of the mobile robot according to the following formula:

[0036] △Pb=Pb1-Pb0;

[0037] S28: Compensate the calculated difference ΔPb to the initial position Pj0 of each joint of the mobile robot to obtain a new position Pj1 of each joint.

[0038] In the aforementioned various exemplary embodiments according to the present invention, rapid calibration of the mobile robot can be achieved through simple mechanical positioning, which reduces the cost of mobile robot calibration and improves the efficiency of mobile robot calibration.

[0039] Other objects and advantages of the present invention will become apparent from the following description of the present invention with reference to the accompanying drawings, which will help to provide a comprehensive understanding of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic diagram showing a mobile robot calibration system according to an exemplary embodiment of the present invention;

[0041] Figure 2A three-dimensional schematic diagram showing a second positioning block of a mobile robot calibration device according to an exemplary embodiment of the present invention;

[0042] Figure 3 A three-dimensional schematic diagram showing a first positioning block of a mobile robot calibration device according to an exemplary embodiment of the present invention;

[0043] Figure 4 A three-dimensional schematic diagram showing a mobile robot calibration device according to an exemplary embodiment of the present invention;

[0044] Figure 5 A schematic diagram showing a mobile robot calibration system according to an exemplary embodiment of the present invention, wherein the mobile robot is moved to an initial position;

[0045] Figure 6 A schematic diagram of a mobile robot calibration system according to an exemplary embodiment of the present invention is shown, wherein the mobile robot is moved to a new location. DETAILED DESCRIPTION

[0046] The technical solution of the present invention is further specifically described below by examples and in conjunction with the accompanying drawings. In the specification, the same or similar reference numerals indicate the same or similar components. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the overall inventive concept of the present invention and should not be construed as a limitation of the present invention.

[0047] In addition, in the detailed description below, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the disclosed embodiments. However, it is apparent that one or more embodiments may be implemented without these specific details. In other cases, known structures and devices are embodied in a schematic manner to simplify the accompanying drawings.

[0048] According to an overall technical concept of the present invention, a mobile robot calibration device is provided. The mobile robot calibration device comprises: a first positioning block having a positioning protrusion with an L-shaped cross section; and a second positioning block having a positioning groove with an L-shaped cross section. The positioning protrusion is complementary to the positioning groove and is suitable for mating together; one of the first positioning block and the second positioning block is suitable for being mounted on a flange or tool at the end of the mobile robot, and the other is suitable for being mounted on a workbench.

[0049] According to another general technical concept of the present invention, a mobile robot calibration system is provided. The mobile robot calibration system includes: a workbench, which is fixed; a mobile robot, which can move relative to the workbench; and the aforementioned mobile robot calibration device. One of the first positioning block and the second positioning block is mounted on a flange or tool at the end of the mobile robot, and the other positioning block is mounted on the workbench; when calibrating the mobile robot, the first positioning block and the second positioning block are matched and fixed together, so that the positioning block installed on the mobile robot is accurately positioned at a known predetermined position.

[0050] According to another general technical concept of the present invention, a mobile robot calibration method is provided. The mobile robot calibration method comprises the following steps: providing the aforementioned mobile robot calibration system; moving the mobile robot to an initial position; matching and fixing the first positioning block and the second positioning block together; and calculating the initial position Pb0 of the base of the mobile robot and the initial position Pj0 of each joint according to the position P of the workbench.

[0051] Figure 1 A schematic diagram showing a mobile robot calibration system according to an exemplary embodiment of the present invention; Figure 2 A three-dimensional schematic diagram showing a second positioning block 2 of a mobile robot calibration device according to an exemplary embodiment of the present invention; Figure 3 A three-dimensional schematic diagram showing a first positioning block 1 of a mobile robot calibration device according to an exemplary embodiment of the present invention; Figure 4 A three-dimensional schematic diagram showing a mobile robot calibration device according to an exemplary embodiment of the present invention.

[0052] like Figures 1 to 4 As shown, in an exemplary embodiment of the present invention, a mobile robot calibration device is disclosed. The mobile robot calibration device includes: a first positioning block 1 and a second positioning block 2. The first positioning block 1 has a positioning protrusion 110 with an L-shaped cross section. The second positioning block 2 has a positioning groove 210 with an L-shaped cross section. The positioning protrusion 110 is complementary to the positioning groove 210 and is suitable for matching together. One of the first positioning block 1 and the second positioning block 2 is suitable for being installed on the flange 12 or the tool 13 at the end of the mobile robot 10, and the other is suitable for being installed on the workbench 20.

[0053] like Figures 1 to 4 As shown, in the illustrated embodiment, the first positioning block 1 includes a base 100, and a positioning protrusion 110 is formed on a first flat surface 1a of the base 100 and protrudes to a predetermined height in a direction perpendicular to the first flat surface 1a.

[0054] like Figures 1 to 4As shown, in the illustrated embodiment, the positioning groove 210 is formed on the second flat surface 2a of the second positioning block 2 and has a predetermined depth corresponding to the predetermined height. When the first positioning block 1 and the second positioning block 2 are matched together, the first flat surface 1a is against the second flat surface 2a.

[0055] like Figures 1 to 4 As shown, in the illustrated embodiment, the positioning groove 210 has a mounting opening located on the second flat surface 2 a of the second positioning block 2 , and the positioning protrusion 110 is suitable for being inserted into the positioning groove 210 via the mounting opening.

[0056] like Figures 1 to 4 As shown, in the illustrated embodiment, a first threaded hole 113 is formed on the positioning protrusion 110 of the first positioning block 1, and a second threaded hole 213 corresponding to the first threaded hole 113 is formed on the second positioning block 2, so that the first positioning block 1 and the second positioning block 2 can be fixed together by threaded connectors (not shown, for example, bolts or screws) screwed into the first threaded hole 113 and the second threaded hole 213.

[0057] like Figures 1 to 4 As shown, in the illustrated embodiment, the central axes of the first threaded hole 113 and the second threaded hole 213 are parallel to the first flat surface 1 a and the second flat surface 2 a .

[0058] like Figures 1 to 4 As shown, in the illustrated embodiment, the mobile robot calibration device also includes a threaded connector (not shown, for example, a bolt or a screw), which is suitable for being threadedly connected to the first threaded hole 113 and the second threaded hole 213 to fix the first positioning block 1 and the second positioning block 2 that are matched together.

[0059] like Figures 1 to 4 As shown, in the illustrated embodiment, the positioning protrusion 110 includes: a first positioning protrusion 111 and a second positioning protrusion 112. The cross section of the first positioning protrusion 111 is rectangular. The cross section of the second positioning protrusion 112 is rectangular and is vertically connected to one end of the first positioning protrusion 111. A first threaded hole 113 is formed on the first positioning protrusion 111 and the second positioning protrusion 112, respectively.

[0060] like Figures 1 to 4As shown, in the illustrated embodiment, the positioning groove 210 includes: a first positioning groove portion 211 and a second positioning groove portion 212. The cross section of the first positioning groove portion 211 is rectangular. The cross section of the second positioning groove portion 212 is rectangular and is vertically connected to one end of the first positioning groove portion 211. The first positioning protrusion 111 corresponds to the first positioning groove portion 211 and is suitable for being assembled into the first positioning groove portion 211. The second positioning protrusion 112 corresponds to the second positioning groove portion 212 and is suitable for being assembled into the second positioning groove portion 212.

[0061] like Figures 1 to 4 As shown, in the illustrated embodiment, a first mounting hole 114 is formed on the base 100 of the first positioning block 1, allowing a first connecting member (not shown, for example, a bolt or a screw) to pass through, so that the first positioning block 1 can be mounted to one of the robot 10 and the workbench 20 through the first connecting member.

[0062] like Figures 1 to 4 As shown, in the illustrated embodiment, a second mounting hole 214 is formed on the second positioning block 2 to allow a second connecting member (not shown, for example, a bolt or a screw) to pass through, so that the second positioning block 2 can be mounted to the other of the robot 10 and the workbench 20 through the second connecting member.

[0063] like Figures 1 to 4 As shown, in the illustrated embodiment, the mobile robot calibration device further includes: a first connecting member and a second connecting member. The first connecting member passes through the first mounting hole 114 on the first positioning block 1 and is connected to one of the robot 10 and the workbench 20. The second connecting member passes through the second mounting hole 214 on the second positioning block 1 and is connected to the other of the robot 10 and the workbench 20.

[0064] like Figures 1 to 4 As shown, in another exemplary embodiment of the present invention, a mobile robot calibration system is also disclosed. The mobile robot calibration system includes: a workbench 20, a mobile robot 10 and the aforementioned mobile robot calibration device. The workbench 20 is fixed. The mobile robot 10 can move relative to the workbench 20. One of the first positioning block 1 and the second positioning block 2 of the mobile robot calibration device is mounted on the flange 12 or the tool 13 at the end of the mobile robot 10, and the other positioning block is mounted on the workbench 20.

[0065] like Figures 1 to 4 As shown, in the illustrated embodiment, when calibrating the mobile robot 10, the first positioning block 1 and the second positioning block 2 are matched and fixed together, so that the positioning block 1 installed on the mobile robot 10 is accurately positioned at a known predetermined position.

[0066] like Figures 1 to 4 As shown, in the illustrated embodiment, the first positioning block 1 is mounted on the flange 12 or the tool 13 at the end of the mobile robot 10 , and the second positioning block 2 is mounted on the workbench 20 .

[0067] Figure 5 A schematic diagram of a mobile robot calibration system according to an exemplary embodiment of the present invention is shown, wherein the mobile robot 10 is moved to an initial position.

[0068] like Figures 1 to 5 As shown, in another exemplary embodiment of the present invention, a mobile robot calibration method is also disclosed. The mobile robot calibration method comprises the following steps:

[0069] S10: providing the aforementioned mobile robot calibration system;

[0070] S11: Move the mobile robot 10 to Figure 5 An initial position is shown;

[0071] S12: aligning and fixing the first positioning block 1 and the second positioning block 2 together; and

[0072] S13: Calculate the initial position Pb0 of the base 11 of the mobile robot 10 and the initial position Pj0 of each joint J1 to J6 using the following formula:

[0073] Pb0=Tb0*P,

[0074] Pj0=Tj0*P,

[0075] in,

[0076] Tb0 is a transfer matrix of the base 11 of the mobile robot 10 relative to the workbench 20 when the mobile robot 10 is in the initial position. The transfer matrix Tb0 can be calculated according to the angles of the joints J1 to J6 of the mobile robot 10.

[0077] Tj0 is the transfer matrix of the joints J1 to J6 of the mobile robot 10 relative to the workbench 20 when the mobile robot 10 is in the initial position. The transfer matrix Tj0 can be calculated according to the angles of the joints J1 to J6 of the mobile robot 10.

[0078] P is the position of the workbench 20 , and the position P of the workbench 20 is known and fixed.

[0079] Figure 6 A schematic diagram of a mobile robot calibration system according to an exemplary embodiment of the present invention is shown, wherein the mobile robot 10 is moved to a new location.

[0080] like Figures 1 to 6As shown, in the illustrated embodiment, the mobile robot calibration method further includes the following steps:

[0081] S24: Move the mobile robot 10 to Figure 6 A new location is shown;

[0082] S25: Matching and fixing the first positioning block 1 and the second positioning block 2 together;

[0083] S26: Calculate the new position Pb1 of the base 11 of the mobile robot 10 using the following formula:

[0084] Pb1=Tb1*P,

[0085] in,

[0086] Tb1 is a transfer matrix of the base 11 of the mobile robot 10 relative to the workbench 20 when the mobile robot 10 is in a new position, and the transfer matrix Tb1 can be calculated according to the angles of the joints J1 to J6 of the mobile robot 10;

[0087] S27: Calculate the difference ΔPb between the new position Pb1 of the base 11 of the mobile robot 10 and the initial position Pb0 according to the following formula:

[0088] △Pb=Pb1-Pb0;

[0089] S28: Compensate the calculated difference △Pb to the initial position Pj0 of each joint J1~J6 of the mobile robot to obtain a new position Pj1 of each joint J1~J6.

[0090] In this way, there is no need to calculate the new positions Pj1 of the joints J1 to J6 based on the transfer matrix, thereby improving the calculation speed.

[0091] like Figures 1 to 6 As shown, in the illustrated embodiment, after the mobile robot collides, the aforementioned calibration method can be used to recalibrate the initial positions of the base and each joint of the mobile robot.

[0092] Those skilled in the art will appreciate that the embodiments described above are exemplary and may be improved upon by those skilled in the art. The structures described in the various embodiments may be freely combined without causing any conflicts in structure or principle, and these changes should fall within the scope of protection of the present invention.

[0093] Although the present invention has been described in conjunction with the accompanying drawings, the embodiments disclosed in the accompanying drawings are intended to exemplify the preferred implementations of the present invention and should not be construed as limiting the present invention.

[0094] Although some embodiments of the general inventive concept have been shown and described, it will be appreciated by those skilled in the art that changes may be made to these embodiments without departing from the principles and spirit of the general inventive concept, the scope of which is defined in the claims and their equivalents.

[0095] It should be noted that the word "comprising" does not exclude other elements or steps, and the word "a" or "an" does not exclude a plurality. In addition, any element reference signs in the claims shall not be construed as limiting the scope of the present invention.

Claims

1. A mobile robot calibration device, characterized in that: include: A first positioning block (1) having a positioning protrusion (110) with an L-shaped cross section; and The second positioning block (2) has a positioning groove (210) with an L-shaped cross section. The positioning protrusion (110) and the positioning groove (210) are complementary and suitable for mating together. One of the first positioning block (1) and the second positioning block (2) is suitable for being mounted on a flange (12) or a tool (13) at the end of a mobile robot (10), and the other is suitable for being mounted on a workbench (20).

2. The mobile robot calibration device according to claim 1, characterized in that: The first positioning block (1) comprises a base (100), and the positioning protrusion (110) is formed on a first flat surface (1a) of the base (100) and protrudes to a predetermined height in a direction perpendicular to the first flat surface (1a).

3. The mobile robot calibration device according to claim 2, characterized in that: The positioning groove (210) is formed on the second flat surface (2a) of the second positioning block (2) and has a predetermined depth corresponding to the predetermined height; When the first positioning block (1) and the second positioning block (2) are matched together, the first flat surface (1a) is in contact with the second flat surface (2a).

4. The mobile robot calibration device according to claim 3, characterized in that: The positioning groove (210) has a mounting opening located on the second flat surface (2a) of the second positioning block (2), and the positioning protrusion (110) is suitable for being inserted into the positioning groove (210) via the mounting opening.

5. The mobile robot calibration device according to claim 3, characterized in that: A first threaded hole (113) is formed on the positioning protrusion (110) of the first positioning block (1), and a second threaded hole (213) corresponding to the first threaded hole (113) is formed on the second positioning block (2), so that the first positioning block (1) and the second positioning block (2) can be fixed together by threaded connectors screwed into the first threaded hole (113) and the second threaded hole (213).

6. The mobile robot calibration device according to claim 5, characterized in that: Central axes of the first threaded hole (113) and the second threaded hole (213) are parallel to the first flat surface (1a) and the second flat surface (2a).

7. The mobile robot calibration device according to claim 5, characterized in that: Also includes: The threaded connection piece is suitable for being threadedly connected to the first threaded hole (113) and the second threaded hole (213) to fix the first positioning block (1) and the second positioning block (2) matched together.

8. The mobile robot calibration device according to claim 5, characterized in that: The positioning protrusion (110) comprises: A first positioning protrusion (111) having a rectangular cross section; and The second positioning protrusion (112) has a rectangular cross section and is vertically connected to one end of the first positioning protrusion (111). A first threaded hole (113) is formed on the first positioning protrusion (111) and the second positioning protrusion (112), respectively.

9. The mobile robot calibration device according to claim 8, characterized in that: The positioning groove (210) comprises: A first positioning groove portion (211) having a rectangular cross section; and The second positioning groove portion (212) has a rectangular cross section and is vertically connected to one end of the first positioning groove portion (211). The first positioning protrusion (111) corresponds to the first positioning groove (211) and is suitable for being assembled into the first positioning groove (211). The second positioning protrusion (112) corresponds to the second positioning groove (212) and is suitable for being assembled into the second positioning groove (212).

10. The mobile robot calibration device according to claim 3, characterized in that: A first mounting hole (114) is formed on the base (100) of the first positioning block (1) to allow a first connecting member to pass through, so that the first positioning block (1) can be mounted on one of the robot (10) and the workbench (20) through the first connecting member.

11. The mobile robot calibration device according to claim 10, characterized in that: A second mounting hole (214) is formed on the second positioning block (2) to allow a second connecting member to pass through, so that the second positioning block (2) can be mounted on the other of the robot (10) and the workbench (20) through the second connecting member.

12. The mobile robot calibration device according to claim 11, characterized in that: Also includes: A first connecting member passes through a first mounting hole (114) on the first positioning block (1) and is connected to one of the robot (10) and the workbench (20); and A second connecting member passes through a second mounting hole (214) on the second positioning block (1) and is connected to the other of the robot (10) and the workbench (20).

13. A mobile robot calibration system, characterized in that: include: A workbench (20), fixed and immovable; A mobile robot (10) movable relative to the workbench (20); and The mobile robot calibration device according to any one of claims 1 to 12, One of the first positioning block (1) and the second positioning block (2) is mounted on a flange (12) or a tool (13) at the end of the mobile robot (10), and the other positioning block is mounted on the workbench (20). When calibrating the mobile robot (10), the first positioning block (1) and the second positioning block (2) are matched and fixed together, so that the positioning block (1) installed on the mobile robot (10) is accurately positioned at a known predetermined position.

14. The mobile robot calibration system according to claim 13, characterized in that: The first positioning block (1) is mounted on a flange (12) or a tool (13) at the end of the mobile robot (10), and the second positioning block (2) is mounted on the workbench (20).

15. A mobile robot calibration method, characterized in that: The following steps are involved: S10: Provide the mobile robot calibration system according to claim 13 or 14; S11: moving the mobile robot (10) to an initial position; S12: aligning and fixing the first positioning block (1) and the second positioning block (2) together; and S13: Calculate the initial position Pb0 of the base (11) of the mobile robot (10) and the initial position Pj0 of each joint (J1-J6) using the following formula: Pb0=Tb0*P, Pj0=Tj0*P, in, Tb0 is a transfer matrix of a base (11) of the mobile robot (10) relative to the workbench (20) when the mobile robot (10) is in an initial position. The transfer matrix Tb0 can be calculated based on the angles of each joint (J1-J6) of the mobile robot (10). Tj0 is a transfer matrix of the joints (J1-J6) of the mobile robot (10) relative to the workbench (20) when the mobile robot (10) is in an initial position. The transfer matrix Tj0 can be calculated based on the angles of the joints (J1-J6) of the mobile robot (10). P is the position of the workbench (20), and the position P of the workbench (20) is known and fixed.

16. The mobile robot calibration method according to claim 15, characterized in that: The following steps are also included: S24: moving the mobile robot (10) to a new position; S25: aligning and fixing the first positioning block (1) and the second positioning block (2) together; S26: Calculate the new position Pb1 of the base (11) of the mobile robot (10) using the following formula: Pb1=Tb1*P, in, Tb1 is a transfer matrix of a base (11) of the mobile robot (10) relative to the workbench (20) when the mobile robot (10) is in a new position, and the transfer matrix Tb1 can be calculated according to the angles of each joint (J1-J6) of the mobile robot (10); S27: Calculate the difference ΔPb between the new position Pb1 of the base (11) of the mobile robot (10) and the initial position Pb0 according to the following formula: △Pb=Pb1-Pb0; S28: Compensate the calculated difference ΔPb to the initial position Pj0 of each joint (J1-J6) of the mobile robot to obtain a new position Pj1 of each joint (J1-J6).

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