Screen calibration system and method and service robot

Abstract

The embodiment of the invention provides a screen calibration system and method and a service robot. In the embodiment of the invention, the screen calibration system provides a controller, a first calibration assembly and a second calibration assembly, and the controller is used for responding to a screen calibration instruction and controlling a target calibration assembly to drive a screen to rotate in a target adjustable direction. And calibrating the soft limit angle range of the screen in the target adjustable direction according to the position data when the screen reaches the physical limit in the target adjustable direction. According to the method and the device, the schedulable range of the screen can be simultaneously and bidirectionally subjected to intelligent calibration, the function of recalibrating the screen after leaving the factory is supported, manpower and calibration time are saved, the calibration efficiency of the screen is improved, and the use experience of a user is improved.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence technology, and in particular to a screen calibration system, method and service robot. Background Art

[0002] With the development of artificial intelligence technology, there are more and more service robots, and the interactive screens on robots have become more important, and even angle-adjustable screens have appeared. For angle-adjustable screens, workers need to use external tools to calibrate the adjustable angle range (also called soft limit angle range) that the screen can support before leaving the factory. However, the manual calibration method is cumbersome and time-consuming; in addition, the screen does not support recalibration after leaving the factory, which affects the user experience. Summary of the invention

[0003] Multiple aspects of the present application provide a screen calibration system, method and service robot to improve screen calibration efficiency and enhance user experience.

[0004] An embodiment of the present application provides a screen calibration system, a controller, and a first calibration component and a second calibration component that are vertically arranged and fixedly connected; the first calibration component is fixedly connected to the screen, and is used to drive the screen to rotate in a first adjustable direction; the second calibration component is used to drive the screen to rotate in a second adjustable direction through the first calibration component; the controller is used to respond to a screen calibration instruction, control a target calibration component to drive the screen to rotate in a target adjustable direction, and calibrate the soft limit angle range of the screen in the target adjustable direction according to the position data when the screen reaches the physical limit in the target adjustable direction; wherein the target adjustable direction refers to the adjustable direction where the target calibration component is located, and the target calibration component includes at least one of the first calibration component and the second calibration component.

[0005] An exemplary embodiment of the present application provides a screen calibration method, including: responding to a screen calibration instruction, controlling a target calibration component to drive a screen to rotate in a target adjustable direction, the target adjustable direction refers to an adjustable direction where the target calibration component is located, the target calibration component comprising at least one of a first calibration component and a second calibration component that are vertically arranged and fixedly connected; wherein the first calibration component is fixedly connected to the screen and can drive the screen to rotate in a first adjustable direction, and the second calibration component can drive the screen to rotate in a second adjustable direction through the first calibration component; and calibrating a soft limit angle range of the screen in the target adjustable direction according to position data when the screen reaches a physical limit in the target adjustable direction.

[0006] An exemplary embodiment of the present application also provides a screen adjustment method, including: responding to a screen adjustment instruction, determining a target adjustable direction and a screen angle desired by a user, the target adjustable direction corresponding to a target calibration component; judging whether the screen angle desired by the user is within a soft limit angle range of the screen in the target adjustable direction; if so, determining a current screen angle of the screen in the target adjustable direction based on current position data of the screen reported by a position sensor in the target adjustable direction; and controlling the target calibration component to drive the screen to rotate in the target adjustable direction to the screen angle desired by the user based on the current screen angle and the screen angle desired by the user.

[0007] An exemplary embodiment of the present application further provides a robot, comprising a robot body and a screen, wherein the screen is fixed to the robot body via a fixed bracket, and the above-mentioned screen calibration system is arranged in the fixed bracket.

[0008] In the technical solution provided in the embodiment of the present application, the screen calibration system provides a controller and a first calibration component and a second calibration component. The controller is used to respond to the screen calibration instruction, control the target calibration component to drive the screen to rotate in the target adjustable direction, and calibrate the soft limit angle range of the screen in the target adjustable direction according to the position data when the screen reaches the physical limit in the target adjustable direction. It can intelligently calibrate the adjustable range of the screen in both directions at the same time, and supports the function of recalibrating the screen after leaving the factory, saving manpower and calibration time, improving the calibration efficiency of the screen, and enhancing the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0010] Figure 1 A schematic diagram of the structure of a screen calibration system provided by an exemplary embodiment of the present application;

[0011] Figure 2a A schematic structural diagram of another screen calibration system provided by an exemplary embodiment of the present application;

[0012] Figure 2b A schematic plan view of screen calibration in the pitch direction provided by an exemplary embodiment of the present application;

[0013] Figure 2c A schematic plan view of screen calibration in a horizontal direction provided by an exemplary embodiment of the present application;

[0014] Figure 2d A schematic plan view of a two-way screen calibration provided by an exemplary embodiment of the present application;

[0015] Figure 2e A schematic plan view of an exemplary embodiment of the present application before eliminating the gap between the motor gear and the rotating shaft gear;

[0016] Figure 2f A schematic plan view of an exemplary embodiment of the present application after eliminating the gap on one side between the motor gear and the rotating shaft gear;

[0017] Figure 2g A PID control logic diagram provided for an exemplary embodiment of the present application;

[0018] Figure 3 A flowchart of a screen calibration method provided by an exemplary embodiment of the present application;

[0019] Figure 4 A flowchart of a screen adjustment method provided by an exemplary embodiment of the present application;

[0020] Figure 5 A schematic diagram of the structure of a screen calibration device provided by an exemplary embodiment of the present application;

[0021] Figure 6 A schematic diagram of the structure of a screen adjustment device provided by an exemplary embodiment of the present application;

[0022] Figure 7 A schematic diagram of the structure of a service robot provided as an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0024] Figure 1 The structure diagram of the screen calibration system provided by the exemplary embodiment of the present application is shown in FIG. Figure 1 As shown, the screen calibration system at least includes: a controller 10, and a first calibration component 11 and a second calibration component 12 which are vertically arranged and fixedly connected.

[0025] In this embodiment, the screen is a medium responsible for providing interactive services to users, and has a variety of AI functions including far-field voice interaction, face recognition, gesture control, eye wake-up, etc., also known as a smart screen. The screen can be installed on various smart devices, and the smart device can also be a robot, such as a guide robot that provides guidance services in a bank or shopping mall, a household robot (such as a cleaning robot) and other service robots, among which the cleaning robot can be divided into: a sweeping robot, a mopping robot, a sweeping and mopping robot, a window cleaning robot, a desktop cleaning robot, etc. Alternatively, the smart device can also be a smart home appliance, such as a smart TV, a smart refrigerator, a smart washing machine, etc. Alternatively, the smart device can also be a smart office equipment, such as a tablet, a computer, etc. It should be noted that the embodiment of this application mainly focuses on the screen installed on the robot, especially the screen installed on the service robot. The screen on the service robot can be a non-rotatable screen fixedly connected to the robot body, or a rotatable screen rotatably connected to the robot body. It should be noted that the embodiment of this application mainly focuses on the rotatable screen.

[0026] For rotatable screens, each user has different individual differences or needs, and the screen usage angle is also different. For example, for children, who are shorter in height, the screen needs to be adjusted to a position with a larger angle with the horizontal plane to ensure that the screen can enter the child's field of vision. For example, for adults, who are taller in height, the screen needs to be adjusted to a position with a smaller angle with the horizontal plane, and it will be more comfortable to use the screen. For another example, for users who are accustomed to using the screen in landscape mode, the screen needs to be adjusted to a position with the landscape mode to meet the user's usage habits. However, in the process of adjusting the screen angle, the robot body may collide with it due to reasons such as excessive adjustment of the angle. Therefore, it is necessary to calibrate the adjustable angle range of the screen to avoid the screen colliding with the robot body during the adjustment process to ensure the safe use of the screen. Usually, workers use external tools to calibrate the adjustable angle range (also called the soft limit angle range) that the screen can support, but the manual calibration method is cumbersome and time-consuming. In order to improve the calibration efficiency of the screen and enhance the user experience, the screen calibration system of this embodiment includes a first calibration component and a second calibration component. The first calibration component and the second calibration component are components for calibrating the adjustable angle range of the screen. The adjustable angle range of the screen can be calibrated so that the screen is within a suitable adjustable angle range during the angle adjustment process.

[0027] This embodiment does not limit the positions of the first calibration component and the second calibration component. Figure 2aAs shown, the adjustment component located at position 1 can be called the first adjustment component; correspondingly, the adjustment component located at position 2 is called the second adjustment component. Alternatively, the adjustment component located at position 1 can be called the second adjustment component; correspondingly, the adjustment component located at position 2 is called the first adjustment component. Based on this, this embodiment does not limit the positional connection relationship between the first calibration component, the screen, and the second calibration component, as long as the two calibration components can respectively drive the screen to rotate in two adjustable directions. For example, the first calibration component is fixedly connected to the screen to drive the screen to rotate in the first adjustable direction; the second calibration component is used to drive the screen to rotate in the second adjustable direction through the first calibration component. Alternatively, the second calibration component can also be fixedly connected to the screen to drive the screen to rotate in the first adjustable direction; the second calibration component is used to drive the screen to rotate in the second adjustable direction through the first calibration component, and so on.

[0028] In this embodiment, the adjustable directions of the first calibration component and the second calibration component include but are not limited to the pitch adjustable direction and the landscape adjustable direction. This embodiment does not limit the adjustable directions of the two calibration components, as long as the two calibration components can drive the screen to rotate in two directions respectively. Among them, the first adjustable direction of the first calibration component can be the pitch direction; accordingly, the second adjustable direction of the second calibration component is the landscape direction. Alternatively, the first adjustable direction of the first calibration component can be the landscape direction; accordingly, the second adjustable direction of the second calibration component is the pitch direction. This embodiment does not specifically limit the first adjustable direction of the first calibration component and the second adjustable direction of the second calibration component, and the first adjustable direction and the second adjustable direction can be different adjustment directions in the pitch direction and the landscape direction.

[0029] In this embodiment, the screen calibration system also includes: a controller 10, which is used to respond to the screen calibration instruction, control the target calibration component to drive the screen to rotate in the target adjustable direction, and calibrate the soft limit angle range of the screen in the target adjustable direction according to the position data when the screen reaches the physical limit in the target adjustable direction.

[0030] Among them, the target adjustable direction refers to the adjustable direction where the target calibration component is located, and the target calibration component includes at least one of the first calibration component and the second calibration component. For example, if the screen needs to be calibrated in both the pitch direction and the landscape direction (the first adjustable direction and the second adjustable direction), the adjustable direction includes both the pitch direction and the landscape direction, and the target calibration component includes both the first calibration component and the second calibration component. If the screen only needs to be calibrated in one direction of the pitch direction and the landscape direction, the target calibration component only includes one of the first calibration component and the second calibration component, and the calibration component is a calibration component used to calibrate the required calibration direction.

[0031] An example is given in which the adjustable direction includes both the pitch direction and the landscape direction, and the target calibration component includes both the first calibration component and the second calibration component. Assuming that the adjustable direction of the first calibration component is the pitch direction, and the adjustable direction of the second calibration component is the landscape direction, then the target adjustable direction of the first calibration component is the pitch direction, and the target adjustable direction of the second calibration component is the landscape direction. Assuming that the adjustable direction of the first calibration component is the landscape direction, and the adjustable direction of the second calibration component is the pitch direction, then the target adjustable direction of the first calibration component is the landscape direction, and the target adjustable direction of the second calibration component is the pitch direction.

[0032] An example is given in which the target calibration direction includes only one of the calibration directions and the target calibration component is one of the calibration components. Assuming that the adjustable direction of the first calibration component is the pitch direction and the adjustable direction of the second calibration component is the landscape direction, when there is a calibration requirement for the pitch direction, the target calibration direction is the pitch direction and the target calibration component is the first calibration component. Assuming that the adjustable direction of the first calibration component is the landscape direction and the adjustable direction of the second calibration component is the pitch direction, when there is a calibration requirement for the pitch direction, the target calibration direction is the pitch direction and the target calibration component is the second calibration component. Assuming that the adjustable direction of the first calibration component is the pitch direction and the adjustable direction of the second calibration component is the landscape direction, when there is a calibration requirement for the landscape direction, the target calibration direction is the landscape direction and the target calibration component is the second calibration component. Assuming that the adjustable direction of the first calibration component is the landscape direction and the adjustable direction of the second calibration component is the pitch direction, when there is a calibration requirement for the landscape direction, the target calibration direction is the landscape direction and the target calibration component is the first calibration component.

[0033] In this embodiment, the components and structures of the controller 10, the first adjustable component, and the second adjustable component are not limited. The working principle of the screen calibration system is described in detail in the following embodiments in combination with the exemplary components and structures.

[0034] In this embodiment, if Figure 1 or Figure 2a As shown, each calibration component includes but is not limited to: a motor, a position sensor and a driving unit. Among them, the driving unit in one calibration component is fixedly connected to the screen, and the driving unit in another calibration component is fixedly connected to the previous calibration component. Driven by the motor, the driving unit drives the object fixedly connected to it to rotate in the adjustable direction of the calibration component to which it belongs. The position sensor is arranged on the driving unit, and collects the position data of the screen being rotated during the rotation of the driving unit and reports it to the controller 10, so that the controller 10 can calibrate the soft limit angle range of the screen in the target adjustable direction according to the position data of the screen being rotated.

[0035] This embodiment does not limit the type of motor, and may be, for example, a servo motor, a stepper motor, a torque motor, etc.

[0036] This embodiment does not limit the type of position sensor, for example, it can be an ultrasonic position sensor, a photoelectric position sensor, a magnetic position sensor, etc. Preferably, a magnetic position sensor can be selected. The manufacture of the magnetic position sensor adopts CMOS silicon technology, and the power, weight and volume required are very small compared with other position sensors. The magnetic position sensor can also work in relatively harsh environments, including extreme temperatures and dirty and dusty environments, and can even be free from the common stray field interference in the robot working environment. Taking the magnetic position sensor as an example, the magnetic position sensor is composed of a magnetic sensor and a magnetic object, and the magnetic object can be implemented as a magnet. The magnetic object provides a magnetic field for the magnetic sensor to obtain the position data of the driving unit, and the magnetic sensor obtains the position data of the screen by magnetic induction. More specifically, after the magnetic sensor is started, a static magnetic field will be formed around it. The magnetic object is placed in the static magnetic field, and an interference magnetic field will be induced. The driving unit rotates in this environment, so that the generated interference magnetic field changes, causing the swing of the magnetometer pointer of the magnetic sensor, so that the position data of the screen being rotated can be obtained and reported to the controller 10.

[0037] This embodiment does not limit the above two fixed connection modes. For example, the driving part in each calibration component and the screen can be fixedly connected through a connecting part, and the driving part of each calibration component and another calibration component can be fixedly connected through a rotating shaft 131 on the carrying body 13. For a detailed description of the carrying body 13 and the rotating shaft 131, please refer to the following embodiment, which will not be repeated here.

[0038] The present embodiment does not specifically limit the object to which the driving part in each calibration component is fixedly connected, and it depends on the positional connection relationship between the driving part in each calibration component and the screen. In the present embodiment, the driving part in the first calibration component can be fixedly connected to the screen, and the driving part in the second calibration component is fixedly connected to the first calibration component. In this connection case, the object fixedly connected to the driving part of the first calibration component is the screen, and the object fixedly connected to the driving part of the second calibration component is the first calibration component. Alternatively, the driving part in the second calibration component can be fixedly connected to the screen, and the driving part in the first calibration component is fixedly connected to the second calibration component. In this connection case, the object fixedly connected to the driving part of the first calibration component is the second calibration component, and the object fixedly connected to the driving part of the second calibration component is the screen.

[0039] For example, assume that the object connected to the driving part of the first calibration component is a screen, the adjustable direction of the first calibration component is the pitch direction, and the calibration instruction only includes calibration in the pitch direction. Then the controller 10 can control the operation of the motor in the first calibration component in response to the calibration instruction in the pitch direction, and drive the driving part in the calibration component to rotate through the operation of the motor, thereby driving the screen to rotate in the pitch direction. At the same time, the position sensor collects the position data of the screen being rotated in the pitch direction while following the rotation of the driving part and reports it to the controller 10, so that the controller 10 can calibrate the soft limit angle range of the screen in the pitch direction according to the position data of the screen being rotated in the pitch direction. During the process of calibrating the soft limit angle range of the screen in the pitch direction alone, the planar schematic diagram of the screen rotation is shown as follows. Figure 2b shown.

[0040] For example, assume that the object connected to the driving part of the second calibration component is the first calibration component, the adjustable direction of the second calibration component is the landscape direction, and the calibration instruction only includes calibration in the landscape direction. Then the controller 10 can respond to the calibration instruction in the landscape direction, control the operation of the motor in the second calibration component, and drive the driving part in the second calibration component to rotate through the operation of the motor. The rotation of the driving part in the second calibration component will drive the first calibration component to rotate, thereby driving the screen to rotate in the landscape direction. At the same time, the position sensor in the second calibration component collects the position data of the screen being rotated in the landscape direction while following the rotation of the driving part in the second calibration component and reports it to the controller 10, so that the controller 10 can calibrate the soft limit angle range of the screen in the landscape direction according to the position data of the screen being rotated in the landscape direction. During the process of calibrating the soft limit angle range of the screen in the landscape direction alone, the plane schematic diagram of the screen rotation is as shown in the figure. Figure 2c shown.

[0041] For example, assuming that the object connected to the driving part of the first calibration component is the screen, the adjustable direction of the first calibration component is the pitch direction, the object connected to the driving part of the second calibration component is the first calibration component, the adjustable direction of the second calibration component is the horizontal screen direction, and the calibration instruction includes calibration in the pitch direction and the horizontal screen direction. Then the controller 10 can respond to the calibration instruction, control the motor in the first calibration component to run, and drive the driving part in the calibration component to rotate through the motor operation, thereby driving the screen to rotate in the pitch direction; and the position sensor in the first calibration component collects the position data of the screen rotated in the pitch direction during the process of following the rotation of the driving part and reports it to the controller 10. At the same time, the controller 10 can respond to the calibration instruction, control the motor in the second calibration component to run, and drive the driving part in the second calibration component to rotate through the motor operation in the second calibration component, and the rotation of the driving part in the second calibration component will drive the first calibration component to rotate, thereby driving the screen to rotate in the horizontal screen direction; and the position sensor in the second calibration component collects the position data of the screen rotated in the horizontal screen direction during the process of following the rotation of the driving part in the second calibration component and reports it to the controller 10. Further, the controller 10 calibrates the soft limit angle range of the screen in the pitch direction and the horizontal direction according to the position data of the screen rotated in the pitch direction and the position data of the screen rotated in the horizontal direction. During the process of calibrating the soft limit angle range of the screen in the pitch direction and the horizontal direction at the same time, the plane schematic diagram of the screen rotation is as follows: Figure 2d shown.

[0042] Furthermore, each calibration assembly further includes two limit parts. The two limit parts are arranged on the rotation path of the driving part and form a limit interval on the rotation path, which is used to limit the maximum movement range of the screen in the corresponding adjustable direction.

[0043] like Figure 2aAs shown, the driving part in each calibration component has two rotation directions on its rotation path, the two rotation directions include a clockwise rotation direction and a counterclockwise rotation direction, and a top block is arranged on the driving part along each rotation direction and exceeds it by a certain distance. Correspondingly, each of the two limiting parts is arranged in the two rotation directions of the driving part's rotation path, and the limiting part in each rotation direction is also provided with a recessed space at one end pointed to by the top block arranged along the direction, and the recessed space of each limiting part can be engaged with the top block pointed to the recessed space, so as to achieve the purpose of controlling the driving part to stop rotating in the rotation direction where the limiting part is located, so that the screen stops rotating in the adjustable direction where the calibration component is located. For the convenience of distinction and description, the top block arranged along the counterclockwise rotation direction can be called a counterclockwise top block, the top block arranged along the clockwise rotation direction can be called a clockwise top block, the limiting part that can be engaged with the counterclockwise top block can be called a counterclockwise limiting part, and the limiting part that can be engaged with the clockwise top block can be called a clockwise limiting part. Among them, the counterclockwise top block in each driving component can be engaged with the counterclockwise limiting portion, and the clockwise top block in each driving component can be coupled with the clockwise limiting portion.

[0044] Furthermore, if Figure 1 or Figure 2a As shown, the screen calibration system further includes: a carrier body 13, and the carrier body 13 includes a rotating shaft 131. The driving part in one calibration component can be sleeved on the rotating shaft 131, and can drive the rotating shaft 131 to rotate in one direction; the other calibration component is installed on the outside of the rotating shaft 131, and rotates in the other direction following the rotating shaft 131.

[0045] This embodiment does not limit the installation relationship between each calibration component and the rotating shaft 131. For example, the driving part in the first calibration component can be sleeved on the rotating shaft 131, and can drive the rotating shaft 131 to rotate in the first adjustable direction; the second calibration component is installed on the outside of the rotating shaft 131, and rotates with the rotating shaft 131 in the first adjustable direction. Alternatively, the driving part in the second calibration component can be sleeved on the rotating shaft 131, and can drive the rotating shaft 131 to rotate in the first adjustable direction; the first calibration component is installed on the outside of the rotating shaft 131, and rotates with the rotating shaft 131 in the first adjustable direction. Alternatively, the driving part in the first calibration component is sleeved on the rotating shaft 131, and can drive the rotating shaft 131 to rotate in the second adjustable direction; the second calibration component is installed on the outside of the rotating shaft 131, and rotates with the rotating shaft 131 in the second adjustable direction. Alternatively, the driving part in the second calibration component is sleeved on the rotating shaft 131, and can drive the rotating shaft 131 to rotate in the second adjustable direction; the first calibration component is installed on the outside of the rotating shaft 131, and rotates with the rotating shaft 131 in the second adjustable direction.

[0046] Further optionally, a mounting hole is provided in the central area of ​​the driving part, and the magnetic position sensor can be installed in the mounting hole. The magnetic sensor and the magnetic object in the magnetic position sensor cooperate with each other to obtain the rotational position of the driving part. The specific working principle of the magnetic position sensor can be found in the relevant description of the above embodiment, which will not be repeated here. A motor gear is also provided on the inner side of the driving part, and the motor drives the driving part to rotate through the motor gear, thereby driving the screen to rotate in the first adjustable direction and / or the second adjustable direction. In other words, the motor drives the driving part to rotate through the motor gear, thereby driving the screen to rotate in the first adjustable direction, or drives the screen to rotate in the second adjustable direction, or drives the screen to rotate in the first adjustable direction and the second adjustable direction at the same time.

[0047] Further optionally, a mounting portion is provided at the outer end of the driving portion in the calibration component fixedly connected to the screen, and a mounting component is provided on the mounting portion for fixing the screen. The present embodiment does not specifically limit the mounting component. For example, a screw hole is provided on the mounting portion, and the mounting component may be a screw and a nut, and the calibration component is fixedly connected to the screen by the screw and the nut. For another example, the mounting component may also be a component for fixed installation, such as a buckle.

[0048] In this embodiment, when the driving part is engaged with the limit part in the adjustable direction, that is, when the screen reaches the physical limit in the target adjustable direction, the driving part stops rotating, and the position data collected by the position sensor in the target adjustable direction no longer changes. At the same time, the motor is blocked. When the motor is operating normally, it will generate back electromotive force, which is the main part of the motor voltage consumption. When the motor is blocked, the back electromotive force is zero, all the voltage of the motor is loaded on the winding, and the motor current will increase.

[0049] Based on this, the controller 10 is also used to: detect the change information of the position data reported by the position sensor and / or the change information of the driving current of the motor; and determine that the screen has reached the physical limit in the target adjustable direction when the position data no longer changes within a set time period and / or the driving current is greater than a set current threshold.

[0050] That is to say, the controller 10 can be used to: detect the change information of the position data reported by the position sensor; and when the position data no longer changes within a set time, determine that the screen has reached the physical limit in the target adjustable direction. Alternatively, the controller 10 can be used to: detect the change information of the driving current of the motor; and when the driving current is greater than the set current threshold, determine that the screen has reached the physical limit in the target adjustable direction. Alternatively, the controller 10 can be used to: detect the change information of the position data reported by the position sensor and the change information of the driving current of the motor; and when the position data no longer changes within a set time, and the driving current is greater than the set current threshold, determine that the screen has reached the physical limit in the target adjustable direction.

[0051] Based on the above embodiments, it can be known that the controller 10 is specifically used for: for any target adjustable direction, respectively controlling the driving part corresponding to any target adjustable direction to drive the screen to rotate in the direction of each limit part in any target adjustable direction, and generating two soft limit angles according to the position data of the screen when it reaches each limit part, and the two soft limit angles form the soft limit angle range of the screen in the corresponding target adjustable direction.

[0052] After obtaining the soft limit angle range in the two adjustable directions, in order to facilitate the robot to leave the factory or subsequent users to use, the screen can be temporarily locked at a fixed angle. This embodiment does not limit the fixed angle, for example, it can be any angle within the soft limit angle range in the two adjustable directions. Preferably, the screen can be locked at the soft limit angle in the two adjustable directions. For example, the screen is locked at the minimum limit angle in the pitch direction and the horizontal screen direction. Alternatively, the screen is locked at the maximum limit angle in the pitch direction and the horizontal screen direction. Alternatively, the screen is locked at the minimum limit angle in the pitch direction and the maximum limit angle in the horizontal screen direction. Alternatively, the screen is locked at the maximum limit angle in the pitch direction and the minimum limit angle in the horizontal screen direction.

[0053] It should be noted that before the locking operation is performed, since there may be a small gap between each motor gear and the gear of the corresponding rotating shaft, the screen may shake and be unstable. In order to ensure the stability of the screen, the controller can control the motor gear to rotate a small distance in the forward or reverse direction, so as to eliminate the gap between the motor gear and the gear of the corresponding rotating shaft from one side. In this embodiment, the controller 10 can control the elimination of the gap between each motor gear and the gear of the corresponding rotating shaft through the PID (Proportion Integral Differential) algorithm. The PID algorithm is used to control the voltage proportion of the motor. Its principle is to adjust the proportional gain according to the deviation between the output and the given value so that the system can reach the given value; when the deviation increases, the proportional gain increases; when the deviation decreases, the proportional gain decreases. In this embodiment, when there is a gap between the motor gear and the corresponding rotating shaft, such as Figure 2g As shown, the PID algorithm will control the output of the PWM signal of the appropriate size according to the size of the gap, and control the voltage of the given motor when the gap is eliminated through the PWM signal to achieve the purpose of controlling the motor gear speed; further, the controller 10 controls the position information of the gear fed back by the motor, such as Figure 2f As shown, after the gap on one side between the motor gear and the gear of the corresponding rotating shaft is eliminated, the motor gear is controlled to stop rotating.

[0054] Among them, the calculation formula for calculating the working voltage of the motor by the PID algorithm is as follows: Among them, kp is the proportional gain, which is inversely proportional to the proportionality; Tt is the integral time constant; TD is the differential application constant; e(t) is the difference between the given value r(t) and the measured value; u(t) is the output voltage value of the PID controller.

[0055] Further optionally, since the soft limit angle range is the rotation angle range of the driving part in the corresponding adjustable direction when the screen just does not collide with the limit part, there may still be a hidden danger of the screen colliding with the limit part. In order to further reduce the hidden danger of the screen colliding with the limit part and ensure the safe use of the screen, in an optional embodiment, the controller 10 can also be used to: for any target adjustable direction, select a reference angle from the two soft limit angles, adjust the reference angle by a preset offset angle, and use it as a calibration zero point in any target adjustable direction, and can respond to the user's instruction to adjust the screen angle in any target adjustable direction, and adjust the screen to the user's desired screen angle according to the calibration zero point. Among them, the reference angle is any one of the two soft limit angles in any target adjustable direction, and the calibration zero point can be the angle of the reference angle in any target adjustable direction after adjusting the preset offset angle.

[0056] It should be noted that the two soft limit angles in any target adjustable direction belong to the soft limit angles of two different rotation directions in the adjustable direction, respectively, and the two soft limit angles in any target adjustable direction can be regarded as the minimum and maximum values ​​of the soft limit angle range in the target adjustable direction. Based on this, when the reference angle is adjusted by the preset offset angle, the adjustment principle is different, depending on the selected soft limit value. Specifically, when the reference angle is the minimum soft limit angle in any target adjustment direction, it is necessary to increase the minimum soft limit angle, that is, increase the preset offset angle on the basis of the reference angle, so that the screen does not collide with the limit part. When the reference angle is the maximum soft limit angle in any target direction, it is necessary to reduce the maximum soft limit angle, that is, reduce the preset offset angle on the basis of the reference angle, so that the screen does not collide with the limit part. Among them, the numerical value of the preset offset angle depends on the demand, and this embodiment does not limit this.

[0057] Taking the two soft limit angles of 0° and 90° in any target adjustable direction as an example, the soft limit angle range in the target adjustable direction is (0,90). When 0° is selected as the reference angle, in order to prevent the screen from colliding with the corresponding physical limit, the reference angle needs to be increased, that is, the preset offset angle is increased on the basis of the reference angle. When 90° is selected as the reference angle, in order to prevent the screen from colliding with the corresponding physical limit, the reference angle needs to be reduced, that is, the preset offset angle is reduced on the basis of the reference angle.

[0058] The technical solutions provided in the above embodiments of the present application provide a controller and a first calibration component and a second calibration component. The controller is used to respond to the screen calibration instruction, control the target calibration component to drive the screen to rotate in the target adjustable direction, and calibrate the soft limit angle range of the screen in the target adjustable direction according to the position data when the screen reaches the physical limit in the target adjustable direction. It can intelligently calibrate the adjustable range of the screen in both directions at the same time, and supports the function of recalibrating the screen after leaving the factory, saving manpower and calibration time, improving the calibration efficiency of the screen, and enhancing the user experience.

[0059] Figure 3 The following is a flow chart of a screen calibration method provided by an exemplary embodiment of the present application. Figure 3 As shown, the method includes:

[0060] 301. In response to a screen calibration instruction, control a target calibration component to drive the screen to rotate in a target adjustable direction, where the target adjustable direction refers to an adjustable direction where the target calibration component is located, and the target calibration component includes at least one of a first calibration component and a second calibration component that are vertically arranged and fixedly connected; wherein the first calibration component is fixedly connected to the screen and can drive the screen to rotate in a first adjustable direction, and the second calibration component can drive the screen to rotate in a second adjustable direction through the first calibration component;

[0061] 302. Calibrate a soft limit angle range of the screen in the target adjustable direction according to the position data when the screen reaches the physical limit in the target adjustable direction.

[0062] Further optionally, it also includes: detecting change information of position data reported by a position sensor in the target adjustable direction and / or change information of a driving current of a motor used to drive a target calibration component, the position data indicating the position to which the screen is rotated; when the position data no longer changes within a set time period, and / or the driving current is greater than a set current threshold, determining that the screen has reached the physical limit in the target adjustable direction.

[0063] In an optional embodiment, in response to a screen calibration instruction, the target calibration component is controlled to drive the screen to rotate in the target adjustable direction, including: for any target adjustable direction, respectively controlling the target calibration component in any target adjustable direction to drive the screen to rotate in the direction of each limit portion in any target adjustable direction; generating two soft limit angles based on the position data when the screen reaches each limit portion, and the two soft limit angles form a soft limit angle range of the screen in any target adjustable direction.

[0064] Further optionally, it also includes: for any target adjustable direction, selecting a reference angle from two soft limit angles; adjusting the reference angle by a preset offset angle and using it as a calibration zero point in any target adjustable direction; and responding to a user's instruction to adjust the screen angle in any target adjustable direction, adjusting the screen to the user's desired screen angle according to the calibration zero point.

[0065] It should be noted that the specific implementation principles of the above operations and the technical effects that can be produced can be found in the corresponding contents of the above system embodiments, which will not be repeated here.

[0066] Figure 4 The following is a flow chart of a screen adjustment method provided by an exemplary embodiment of the present application. Figure 4 As shown, the method includes:

[0067] 401. In response to a screen adjustment instruction, determine a target adjustable direction and a screen angle desired by a user, wherein the target adjustable direction corresponds to a target calibration component;

[0068] 402. Determine whether the screen angle expected by the user is within the soft limit angle range of the screen in the target adjustable direction; if so, determine the current screen angle of the screen in the target adjustable direction according to the current position data of the screen reported by the position sensor in the target adjustable direction;

[0069] 403. According to the current screen angle and the screen angle expected by the user, control the target calibration component to drive the screen to rotate in the target adjustable direction to the screen angle expected by the user.

[0070] In an optional embodiment, based on the current screen angle and the screen angle desired by the user, the target calibration component is controlled to drive the screen to rotate in the target adjustable direction to the screen angle desired by the user, including: determining the angle value to be adjusted based on the current screen angle and the screen angle desired by the user; generating control parameters of a motor that drives the target calibration component based on the angle value to be adjusted; and controlling the motor to operate based on the control parameters so that the motor drives the target calibration component to drive the screen to rotate in the target adjustable direction to the screen angle desired by the user.

[0071] In this embodiment, the control parameters of the motor driving the target calibration component include but are not limited to the working voltage of the motor. In this embodiment, the working voltage of the motor can be obtained by a PID algorithm in the controller, and the calculation formula for calculating the working voltage of the motor by the PID algorithm is as follows:

[0072] Among them, kp is the proportional gain, which is inversely proportional to the proportionality; Tt is the integral time constant; TD is the differential application constant; e(t) is the difference between the given value r(t) and the measured value; u(t) is the output voltage value of the PID controller.

[0073] It should be noted that the specific implementation principles of the above operations and the technical effects that can be produced can be found in the corresponding contents of the above system or method embodiments, and will not be repeated here.

[0074] Figure 5 This is a schematic diagram of the structure of a screen calibration device provided in an exemplary embodiment of the present application. Figure 5 As shown, the device includes: a memory 50a and a processor 50b; the memory 50a is used to store a computer program; the processor 50b is coupled to the memory 50a, and is used to execute the computer program to perform the following steps:

[0075] In response to the screen calibration instruction, the target calibration component is controlled to drive the screen to rotate in the target adjustable direction, the target adjustable direction refers to the adjustable direction where the target calibration component is located, and the target calibration component includes at least one of a first calibration component and a second calibration component that are vertically arranged and fixedly connected; wherein the first calibration component is fixedly connected to the screen and can drive the screen to rotate in the first adjustable direction, and the second calibration component can drive the screen to rotate in the second adjustable direction through the first calibration component; according to the position data when the screen reaches the physical limit in the target adjustable direction, the soft limit angle range of the screen in the target adjustable direction is calibrated.

[0076] Further optionally, the processor 50b is also used to detect change information of position data reported by the position sensor in the target adjustable direction and / or change information of the driving current of the motor used to drive the target calibration component, the position data indicating the position to which the screen is rotated; the determination module is used to determine that the screen has reached the physical limit in the target adjustable direction when the position data no longer changes within a set time period and / or the driving current is greater than a set current threshold.

[0077] In an optional embodiment, when the processor 50b is used to respond to the screen calibration instruction and control the target calibration component to drive the screen to rotate in the target adjustable direction, it is specifically used to: for any target adjustable direction, respectively control the target calibration component in any target adjustable direction to drive the screen to rotate in the direction of each limit portion in any target adjustable direction; generate two soft limit angles according to the position data when the screen reaches each limit portion, and the two soft limit angles form a soft limit angle range of the screen in any target adjustable direction.

[0078] Further optionally, the processor 50b is also used to select a reference angle from two soft limit angles for any target adjustable direction; adjust the reference angle by a preset offset angle and use it as a calibration zero point in any target adjustable direction; and respond to a user's instruction to adjust the screen angle in any target adjustable direction, and adjust the screen to the user's desired screen angle according to the calibration zero point.

[0079] In addition, if Figure 5 As shown, the electronic device also includes: a communication component 50c, a display 50d, a power component 50e, an audio component 50f and other components. Figure 5 Only some components are shown schematically, which does not mean that the electronic device only includes Figure 5 Components shown.

[0080] It should be noted that the specific implementation principles of the above modules and the technical effects that can be produced can be found in the corresponding contents of the above system or method embodiments, and will not be repeated here.

[0081] Figure 6The structure diagram of the screen adjustment device provided by an exemplary embodiment of the present application is shown in FIG. Figure 6 As shown, the device includes: a memory 60a and a processor 60b; the memory 60a is used to store a computer program; the processor 60b is coupled to the memory 60a, and is used to execute the computer program to perform the following steps:

[0082] In response to the screen adjustment instruction, the target adjustable direction and the screen angle expected by the user are determined, and the target adjustable direction corresponds to the target calibration component; it is determined whether the screen angle expected by the user is within the soft limit angle range of the screen in the target adjustable direction; if so, the current screen angle of the screen in the target adjustable direction is determined based on the current position data of the screen reported by the position sensor in the target adjustable direction; based on the current screen angle and the screen angle expected by the user, the target calibration component is controlled to drive the screen to rotate in the target adjustable direction to the screen angle expected by the user.

[0083] When the processor 60b is used to control the target calibration component to drive the screen to rotate in the target adjustable direction to the screen angle desired by the user according to the current screen angle and the screen angle desired by the user, it is specifically used to: determine the angle value to be adjusted according to the current screen angle and the screen angle desired by the user; generate control parameters of the motor that drives the target calibration component according to the angle value to be adjusted; and control the motor to operate according to the control parameters so that the motor drives the target calibration component to drive the screen to rotate in the target adjustable direction to the screen angle desired by the user.

[0084] In addition, if Figure 6 As shown, the electronic device also includes: a communication component 60c, a display 60d, a power component 60e, an audio component 60f and other components. Figure 6 Only some components are shown schematically, which does not mean that the electronic device only includes Figure 6 Components shown.

[0085] It should be noted that the specific implementation principles of the above modules and the technical effects that can be produced can be found in the corresponding contents of the above system or method embodiments, and will not be repeated here.

[0086] Figure 7 This is a schematic diagram of the structure of a service robot provided by an exemplary embodiment of the present application. Figure 7 As shown, the service robot includes a robot body 70 and a screen 71. The screen is fixed to the robot body by a fixing bracket. The fixing bracket is provided with the above-mentioned Figure 1 A screen calibration system described in its embodiments.

[0087] In this embodiment, the screen calibration system includes: a controller, and a first calibration component and a second calibration component that are vertically arranged and fixedly connected; the first calibration component is fixedly connected to the screen, and is used to drive the screen to rotate in a first adjustable direction; the second calibration component is used to drive the screen to rotate in a second adjustable direction through the first calibration component; the controller is used to respond to the screen calibration instruction, control the target calibration component to drive the screen to rotate in the target adjustable direction, and calibrate the soft limit angle range of the screen in the target adjustable direction according to the position data when the screen reaches the physical limit in the target adjustable direction; wherein, the target adjustable direction refers to the adjustable direction where the target calibration component is located, and the target calibration component includes at least one of the first calibration component and the second calibration component.

[0088] In this embodiment, each calibration component includes a motor, a position sensor, a driving part and two limit parts; the driving part, driven by the motor, drives the object fixedly connected to it to rotate in the adjustable direction of the calibration component to which it belongs; wherein, the driving part in the first calibration component is fixedly connected to the screen, and the driving part in the second calibration component is fixedly connected to the first calibration component; the position sensor is arranged on the driving part, and collects the position data of the rotated screen while following the rotation of the driving part and reports it to the controller; the two limit parts are arranged on the rotation path of the driving part, and form a limit interval on the rotation path, which is used to limit the maximum movement range of the screen in the corresponding adjustable direction.

[0089] Further optionally, it also includes: a carrying body, the carrying body includes a rotating shaft; the driving part in the second calibration component is sleeved on the rotating shaft, and can drive the rotating shaft to rotate in the second adjustable direction; the first calibration component is installed on the outside of the rotating shaft and rotates with the rotating shaft in the second adjustable direction.

[0090] Further optionally, a mounting hole is provided in the central area of ​​the driving part, and the position sensor is installed in the mounting hole; and a motor gear is provided on the inner side of the driving part, and the motor drives the driving part to rotate via the motor gear.

[0091] Further optionally, a mounting portion is provided at the outer end of the driving portion in the first calibration component, and a mounting component is provided on the mounting portion for fixing the screen.

[0092] In an optional embodiment, the controller is also used to: detect change information of position data reported by the position sensor and / or change information of the driving current of the motor; and determine that the screen has reached the physical limit in the target adjustable direction when the position data no longer changes within a set time period and / or the driving current is greater than a set current threshold.

[0093] In this embodiment, the controller is specifically used to: for any target adjustable direction, respectively control the driving part corresponding to any target adjustable direction to drive the screen to rotate in the direction of each limit part in any target adjustable direction, and generate two soft limit angles according to the position data of the screen when it reaches each limit part. The two soft limit angles form the soft limit angle range of the screen in any target adjustable direction.

[0094] Further optionally, the controller is also used to: for any target adjustable direction, select a reference angle from two soft limit angles, adjust the reference angle by a preset offset angle, and use it as a calibration zero point in any target adjustable direction; and respond to a user's instruction to adjust the screen angle in any target adjustable direction, and adjust the screen to the user's desired screen angle according to the calibration zero point.

[0095] It should be noted that the specific implementation principles of the above-mentioned modules or components and the technical effects that can be produced can be found in the corresponding contents of the above-mentioned system or method embodiments, and will not be repeated here.

[0096] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0097] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0098] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1A function specified in one or more boxes.

[0099] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0100] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0101] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0102] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0103] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0104] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A screen calibration system, characterized in that: include: A controller, and a first calibration component and a second calibration component vertically arranged and fixedly connected; the first calibration component is fixedly connected to the screen and is used to drive the screen to rotate in a first adjustable direction; the second calibration component is used to drive the screen to rotate in a second adjustable direction through the first calibration component; The controller is used to respond to the screen calibration instruction, control the target calibration component to drive the screen to rotate in the target adjustable direction, and calibrate the soft limit angle range of the screen in the target adjustable direction according to the position data when the screen reaches the physical limit in the target adjustable direction; wherein the target adjustable direction refers to the adjustable direction where the target calibration component is located, and the target calibration component includes at least one of the first calibration component and the second calibration component.

2. The system according to claim 1, characterized in that Each calibration assembly includes a motor, a position sensor, a drive unit and two limit units; The driving unit, driven by the motor, drives the object fixedly connected to it to rotate in the adjustable direction of the calibration component to which it belongs; wherein the driving unit in the first calibration component is fixedly connected to the screen, and the driving unit in the second calibration component is fixedly connected to the first calibration component; The position sensor is arranged on the driving unit, collects the position data of the screen being rotated and reports it to the controller while following the rotation of the driving unit; The two limiting parts are arranged on the rotation path of the driving part and form a limiting interval on the rotation path, which is used to limit the maximum movement range of the screen in the corresponding adjustable direction.

3. The system according to claim 2, characterized in that Also includes: A bearing body, the bearing body includes a rotating shaft; the driving part in the second calibration component is sleeved on the rotating shaft, and can drive the rotating shaft to rotate in the second adjustable direction; the first calibration component is installed on the outside of the rotating shaft, and rotates along with the rotating shaft in the second adjustable direction.

4. The system according to claim 2, characterized in that A mounting hole is provided in the central area of ​​the driving part, and the position sensor is installed in the mounting hole; and a motor gear is provided on the inner side of the driving part, and the motor drives the driving part to rotate through the motor gear.

5. The system according to claim 2, characterized in that An installation portion is provided at the outer end of the driving portion in the first calibration component, and an installation component is provided on the installation portion for fixing the screen.

6. The system according to any one of claims 2 to 5, characterized in that: The controller is also used to: detect change information of the position data reported by the position sensor and / or change information of the driving current of the motor; and determine that the screen has reached the physical limit in the target adjustable direction when the position data no longer changes within a set time period and / or the driving current is greater than a set current threshold.

7. The system according to any one of claims 2 to 5, characterized in that: The controller is specifically used to: for any target adjustable direction, respectively control the driving part corresponding to any target adjustable direction to drive the screen to rotate in the direction of each limit part in the any target adjustable direction, and generate two soft limit angles according to the position data of the screen when it reaches each limit part, and the two soft limit angles form the soft limit angle range of the screen in the any target adjustable direction.

8. The system according to claim 7, characterized in that The controller is also used to: for any target adjustable direction, select a reference angle from the two soft limit angles, adjust the reference angle by a preset offset angle, and use it as a calibration zero point in any target adjustable direction; and respond to a user's instruction to adjust the screen angle in any target adjustable direction, and adjust the screen to the user's desired screen angle according to the calibration zero point.

9. A screen calibration method, characterized in that: include: In response to the screen calibration instruction, control the target calibration component to drive the screen to rotate in a target adjustable direction, where the target adjustable direction refers to the adjustable direction where the target calibration component is located, and the target calibration component includes at least one of a first calibration component and a second calibration component that are vertically arranged and fixedly connected; Wherein, the first calibration component is fixedly connected to the screen and can drive the screen to rotate in a first adjustable direction, and the second calibration component can drive the screen to rotate in a second adjustable direction through the first calibration component; According to the position data when the screen reaches the physical limit in the target adjustable direction, the soft limit angle range of the screen in the target adjustable direction is calibrated.

10. The method according to claim 9, characterized in that Also includes: Detecting change information of position data reported by a position sensor in the adjustable direction of the target and / or change information of a driving current of a motor for driving the target calibration component, the position data indicating the position to which the screen is rotated; When the position data does not change within a set time period, and / or the driving current is greater than a set current threshold, it is determined that the screen reaches a physical limit in the target adjustable direction.

11. The method according to claim 9 or 10, characterized in that: In response to the screen calibration instruction, the target calibration component is controlled to drive the screen to rotate in the target adjustable direction, including: For any target adjustable direction, respectively controlling the target calibration components in the target adjustable direction to drive the screen to rotate in the direction of each limit portion in the target adjustable direction; Two soft limit angles are generated according to the position data when the screen reaches each limit portion, and the two soft limit angles form a soft limit angle range of the screen in any target adjustable direction.

12. The method according to claim 11, characterized in that Also includes: For any target adjustable direction, selecting a reference angle from the two soft limit angles; After adjusting the reference angle by a preset offset angle, the reference angle is used as a calibration zero point in any target adjustable direction; as well as In response to a user's instruction to adjust the screen angle in any of the target adjustable directions, the screen is adjusted to a screen angle desired by the user according to the calibrated zero point.

13. A screen adjustment method, characterized in that: include: In response to the screen adjustment instruction, determining a target adjustable direction and a screen angle desired by the user, wherein the target adjustable direction corresponds to a target calibration component; Determining whether the screen angle desired by the user is within the soft limit angle range of the screen in the target adjustable direction; If so, determining a current screen angle of the screen in the target adjustable direction according to the current position data of the screen reported by the position sensor in the target adjustable direction; According to the current screen angle and the screen angle desired by the user, the target calibration component is controlled to drive the screen to rotate in the target adjustable direction to the screen angle desired by the user.

14. The method according to claim 13, characterized in that According to the current screen angle and the screen angle desired by the user, controlling the target calibration component to drive the screen to rotate in the target adjustable direction to the screen angle desired by the user includes: Determining an angle value to be adjusted according to the current screen angle and a screen angle desired by the user; Generating control parameters of a motor driving the target calibration component according to the angle value to be adjusted; According to the control parameter, the motor is controlled to work so that the motor drives the target calibration component to drive the screen to rotate in the target adjustable direction to the screen angle desired by the user.

15. A service robot, characterized in that: The robot comprises a robot body and a screen, wherein the screen is fixed to the robot body via a fixing bracket, and the fixing bracket is provided with a screen calibration system according to any one of claims 1 to 8.

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