Calibration method and device of mobile equipment, equipment and storage medium
Through the coordinated work of radar and camera, the problem of large errors when the automatic guidance car is calibrated when the mobile device is calibrated, and the higher calibration accuracy and consistency are achieved.
Patent Information
- Application Number
- CN202411404627.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-09
- Publication Date
- 2025-01-28
AI Technical Summary
The existing automatic guide trolleys are calibrated by cameras, radars and vehicle bodies of mobile devices, and the movement distance error of the camera and radar feedback is large, resulting in lower calibration accuracy.
Through the identification of the setting position through the radar detection, obtain the radar standard data, and when the radar standard is completed, the mobile device is controlled to move along the movement trajectory set along the settings to at most set positions. , Get the calibration data of the camera to improve the accuracy of the calibration.
Through the coordinated work of radar and camera, the accuracy of the mobile device calibration is improved, the error is reduced, and the consistency of the calibration is enhanced.
Smart Images
Figure CN119375841A_ABST
Abstract
Description
Technical Field
[0001] The embodiments of the present disclosure relate to the technical field of automatic guided vehicles, and more specifically, to a calibration method, apparatus, device and storage medium for a mobile device. Background Art
[0002] With the intelligent development of the warehousing and logistics industries, a logistics transport vehicle, the Automated Guided Vehicle (AGV), has emerged. At present, in order to achieve consistency in the calibration of the camera, radar and vehicle body of the mobile device, the existing AGV usually uses a reference object to control the movement of the AGV, and performs consistency calibration based on the actual moving distance of the AGV, the moving distance fed back by the camera, and the moving distance fed back by the radar. However, the camera and radar are set at different positions of the mobile device, and the moving distance fed back by the camera and radar have large errors, resulting in low calibration accuracy. Summary of the invention
[0003] One purpose of the embodiments of the present disclosure is to provide a new technical solution for calibration of mobile devices.
[0004] According to a first aspect of the present disclosure, a calibration method for a mobile device is provided, the method comprising:
[0005] Controlling the mobile device to move to a first set position;
[0006] Detecting, by the radar, a first marker around the first set position to obtain radar calibration data;
[0007] When the radar calibration data indicates that the radar calibration is completed, controlling the mobile device to move to each second set position according to the set first moving trajectory; wherein different second set positions correspond to different position nodes of the first moving trajectory;
[0008] The camera is controlled to detect the second markers in the vertical direction of each of the second set positions to obtain camera calibration data; wherein the camera calibration data is reference data for determining whether the camera calibration of the mobile device is completed.
[0009] Optionally, the radar includes a first radar facing the same direction as the forward direction of the mobile device and a second radar facing the same direction as the backward direction of the mobile device;
[0010] The step of detecting, by the radar, a first marker around the first set position to obtain radar calibration data includes:
[0011] Detecting, by means of a first radar configured on the mobile device, a first marker at a first set position and located in front of the mobile device, and obtaining first position information about the first set position relative to the mobile device;
[0012] Detecting, by a second radar configured on the mobile device, a first marker at a first set position and located behind the mobile device, and obtaining second position information about the first set position relative to the mobile device;
[0013] The first position information and the second position information are respectively compared with the set standard position information to obtain comparison results, which are used as radar calibration data.
[0014] Optionally, the camera includes a first camera facing upwards of the mobile device and a second camera facing downwards of the mobile device;
[0015] The step of controlling the camera to detect the second markers in the vertical direction of each of the second set positions to obtain camera calibration data includes:
[0016] Controlling the first camera to detect the second marker above each of the second set positions to obtain third position information, and controlling the second camera to detect the second marker below each of the second set positions to obtain fourth position information;
[0017] Determine that the third position information represents a first position deviation value between the detection position of the second marker on the camera coordinate system and the set first standard position, and use it as the first camera calibration data; and determine that the fourth position information represents a second position deviation value between the detection position of the second marker on the camera coordinate system and the first standard position, and use it as the second camera calibration data; wherein the camera calibration data includes the first camera calibration data and the second camera calibration data.
[0018] Optionally, the method further comprises:
[0019] When the camera calibration data indicates that the camera calibration of the mobile device is completed, controlling the mobile device to move to each third set position according to the set second moving trajectory; wherein different third set positions correspond to different position nodes of the second moving trajectory; wherein different second set positions correspond to different position nodes of the second moving trajectory;
[0020] The camera is controlled to detect the second marker in the vertical direction of each of the second set positions to obtain radar calibration detection data; wherein the radar calibration detection data is used as reference data to measure whether the radar calibration of the mobile device is abnormal.
[0021] Optionally, the first position node and the last position node of the second movement trajectory are the same, and the intersection point of the lines connecting the first position node of the second movement trajectory and the remaining position nodes of the second movement trajectory is one.
[0022] Optionally, the radar calibration detection data represents an offset angle between the mobile device and the second identifier; and the method further includes:
[0023] When the offset angle is less than a set angle, determining that the camera calibration of the mobile device is completed;
[0024] When the offset angle is greater than or equal to a set angle, it is determined that the camera calibration of the mobile device has failed.
[0025] Optionally, the method further comprises:
[0026] When the mobile device moves to a third set position, the mobile device is controlled to rotate a set angle; wherein the third set position corresponds to a first position node of the second movement trajectory;
[0027] controlling the camera to detect the second mark at the third set position to obtain fifth position information;
[0028] Determine that the fifth position information represents a position deviation value between a detection position of the second mark on a camera coordinate system and a set second standard position, and use the fifth position information as third camera calibration data; wherein the camera calibration data includes the third camera calibration data.
[0029] According to a second aspect of the present disclosure, a calibration device for a mobile device is also provided, including:
[0030] A position control module, controlling the mobile device to move to a first set position;
[0031] An obtaining module, configured to detect a first marker around the first set position by the radar to obtain radar calibration data;
[0032] A control module, configured to control the mobile device to move to each second set position according to the set first moving trajectory when the radar calibration data indicates that the radar calibration is completed; wherein different second set positions correspond to different position nodes of the first moving trajectory;
[0033] The detection module is used to control the camera, detect the second mark in the vertical direction of each second set position, and obtain camera calibration data; wherein the camera calibration data is reference data for determining whether the camera calibration of the mobile device is completed.
[0034] According to a third aspect of the present disclosure, an electronic device is also provided, including a processor, wherein the processor is connected to a memory, and the memory is used to store a computer program; the processor is used to execute the computer program to implement the method described in the first aspect of the present disclosure.
[0035] According to a fourth aspect of the present disclosure, a computer storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the method according to the first aspect of the present disclosure is implemented.
[0036] A beneficial effect of the embodiments of the present disclosure is that the calibration method of the mobile device provided by the present invention can obtain radar calibration data by detecting the first identifier by radar, and when the radar calibration is completed, the mobile device is controlled to move to each second set position according to the first moving trajectory, and the mobile device controls the camera to detect the second identifier at the second set position to obtain camera calibration data. The radar detects the first identifier, and the radar coordinate system is calibrated with the vehicle body coordinate system. The camera detects the second identifier, and the camera coordinate system is calibrated with the vehicle body coordinate system, thereby improving the accuracy of camera calibration and radar calibration.
[0037] Other features and advantages of the embodiments of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0038] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the embodiments of the present disclosure.
[0039] Figure 1 is a flow chart of a method for calibrating a mobile device according to an embodiment;
[0040] Figure 2 is a schematic diagram of a first identification position layout according to an embodiment;
[0041] Figure 3 is a schematic diagram of a second identification position layout according to one embodiment;
[0042] Figure 4 is a block diagram of a calibration device for a mobile device according to an embodiment;
[0043] Figure 5 is a schematic diagram of the hardware structure of an electronic device according to an embodiment. DETAILED DESCRIPTION
[0044] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.
[0045] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
[0046] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.
[0047] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.
[0048] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.
[0049] <Method Example>
[0050] Figure 1 The present invention is a flow chart of a method for calibrating a mobile device according to an embodiment. The implementation subject is, for example, a mobile device, and the mobile device is, for example, an automated guided vehicle (AGV). The mobile device is equipped with a radar and a camera, the direction of the radar is parallel to the moving direction of the mobile device, and the direction of the camera is perpendicular to the moving direction of the mobile device.
[0051] like Figure 1 As shown, the calibration method of the mobile device of this embodiment may include the following steps S110 to S140:
[0052] Step S110, controlling the mobile device to move to a first set position.
[0053] In some examples, such as Figure 2 As shown, the first set position is point A, and the mobile device can scan the ground mark at point A through the configured downward-looking camera. The ground mark can be a QR code or a pattern, etc., which is not limited here. The ground mark can indicate the direction. When the mobile device moves to point A, the mobile device can determine whether the front of the mobile device is facing the X direction according to the ground mark, and control the mobile device to turn so that the forward direction of the mobile device is parallel to the X direction.
[0054] Step S120: Detect a first marker around a first set position by radar to obtain radar calibration data.
[0055] In some examples, such as Figure 2 As shown, the first markers are, for example, four markers B. Since the markers B are all reflective markers, the point cloud intensity of the area where the markers B are located in the point cloud image output by the radar is higher than that of other areas.
[0056] In the present application, the radar calibration data may be a comparison result of the relative distance between the mobile device and the first identifier obtained by radar observation of the first identifier and a set standard distance. The comparison result may be the distance difference between the relative distance and the standard distance, and the distance difference may include a distance component in the X direction and a distance component in the Y direction. The mobile device may obtain a conversion relationship between the radar coordinate system and the vehicle body coordinate system based on the two distance components. Obtaining the conversion relationship based on the two distance components is a prior art and will not be elaborated on herein.
[0057] In some embodiments, the radar includes a first radar facing the same direction as the mobile device is moving forward and a second radar facing the same direction as the mobile device is moving backward. Step S120 may include the following steps S1201 to S1203:
[0058] Step S1201: Detect a first marker at a first set position and located in front of the mobile device through a first radar configured on the mobile device to obtain first position information about the first set position relative to the mobile device.
[0059] In some examples, such as Figure 2 As shown, the first radar C1 and the second radar C2 can be arranged on the diagonal line of the mobile device, and when the front of the mobile device faces the X direction, the first radar C1 faces the X direction, and the second radar C2 faces the Y direction.
[0060] In the present application, the current center position of the mobile device, i.e., the first set position, is the origin position of the radar coordinate system. The first radar can scan the first marker in front of the mobile device, and then determine the coordinates of the geometric center of the first marker in the radar coordinate system as the first position information.
[0061] Step S1202: Detect a first marker at a first set position and located behind the mobile device through a second radar configured on the mobile device to obtain second position information about the first set position relative to the mobile device.
[0062] In the present application, the current center position of the mobile device, i.e., the first set position, is the origin position of the radar coordinate system. The first radar can scan the first marker behind the mobile device, and then determine the coordinates of the geometric center of the first marker in the radar coordinate system as the second position information.
[0063] Step S1203, comparing the first position information and the second position information with the set standard position information respectively, obtaining comparison results, and using them as radar calibration data.
[0064] In some examples, the current center position of the mobile device, that is, the first set position, is the origin position of the vehicle coordinate system, and the standard position information is, for example, the coordinates of the geometric center of the preset first identifier in the vehicle coordinate system, such as Figure 2 The four markers B are (1, 1), (-1, 1), (1, -1) and (-1, -1). The first position information is, for example, (1.1, 1) and (1.1, -1). The second position information is, for example, (-1.1, 1) and (-1.1, -1). The comparison result is the X component of the first camera + 0.1 and the X component of the second camera + 0.1, which are used as radar calibration data.
[0065] In other words, when the mobile device is configured with the first radar and the second radar, the radar coordinate system is calibrated through the first identifier, which effectively improves the accuracy of the calibration.
[0066] Step S130, when the radar calibration data indicates that the radar calibration is completed, control the mobile device to move to each second set position according to the set first moving trajectory; wherein different second set positions correspond to different position nodes of the first moving trajectory.
[0067] In some examples, the radar calibration is completed when the conversion relationship between the radar coordinate system and the vehicle coordinate system is obtained according to the radar calibration data.
[0068] In some examples, such as Figure 3 As shown, the second set positions are position 1, position 2 and position 8, the second mark is set on the ground of position 1, position 2 and position 8, the tooling is arranged directly above position 1, position 2 and position 8 and the second mark is also set on the tooling, and the second mark on the ground and the second mark directly above completely overlap in the vertical direction. The second mark can be a QR code, a pattern, etc., which is not limited here.
[0069] In some examples, such as Figure 3 As shown, the first moving trajectory can be position 1-position 2-position 1, or position 1-position 8-position 1. Taking the first moving trajectory as position 1-position 2-position 1 as an example, the first position node and the last position node of the first moving trajectory both correspond to position 1, and the remaining position nodes of the first moving trajectory correspond to position 2. In other words, the mobile device can move from position 1 to position 2, and then return from position 2 to position 1.
[0070] In some examples, the interval distance between adjacent positions of Position 1, Position 2, and Position 8 is more than one meter.
[0071] Step S140, controlling the camera to detect the second markers in the vertical direction of each second set position to obtain camera calibration data; wherein the camera calibration data is reference data for determining whether the camera calibration of the mobile device is completed.
[0072] In the present application, the camera calibration data may be obtained by a position deviation value between the coordinates of the second marker determined by the camera in the camera coordinate system and the coordinates of the second marker set in the vehicle body coordinate system.
[0073] In some embodiments, in order to implement camera calibration of an upward-looking camera and a downward-looking camera, the camera includes a first camera facing upward of the mobile device and a second camera facing downward of the mobile device, and step S140 includes the following steps S1401 and S1402:
[0074] Step S1401, controlling the first camera to detect the second marker above each second set position to obtain third position information, and controlling the second camera to detect the second marker below each second set position to obtain fourth position information.
[0075] In some examples, the first camera is an upward-looking camera of a mobile device, which obtains coordinates of the marker in the camera coordinate system through markers directly above each second set position, and uses the coordinates as the third position information. The second camera is a downward-looking camera of a mobile device, which obtains coordinates of the marker in the camera coordinate system through markers on the ground at each second set position, and uses the coordinates as the fourth position information.
[0076] Step S1402, determining that the third position information represents a first position deviation value between the detection position of the second marker in the camera coordinate system and the set first standard position, and using it as the first camera calibration data, and determining that the fourth position information represents a second position deviation value between the detection position of the second marker in the camera coordinate system and the first standard position, and using it as the second camera calibration data; wherein the camera calibration data includes the first camera calibration data and the second camera calibration data.
[0077] In some examples, the first position deviation value may include a position deviation component in the X direction and a position deviation component in the Y direction between the coordinates of the second marker on the camera coordinate system and the coordinates of the set first standard position, and the second position deviation value may include a position deviation component in the X direction and a position deviation component in the Y direction between the coordinates of the second marker on the camera coordinate system and the coordinates of the set first standard position. The mobile device may obtain a conversion relationship between the camera coordinate system and the vehicle body coordinate system based on the two position deviation components. Obtaining the conversion relationship based on the two position deviation components is a prior art and will not be specifically described herein. Moreover, after obtaining the conversion relationship, the mobile device may determine that the camera calibration of the mobile device is completed.
[0078] In some examples, when the camera calibration data indicates that the camera calibration of the mobile device is completed, the mobile device can move again according to the first moving trajectory, and control the first camera to detect the second mark above each second set position, and obtain the third position deviation value between the detection position of the second mark on the camera coordinate system and the set first standard position, and control the second camera to detect the second mark above each second set position, obtain the fourth position deviation value between the detection position of the second mark on the camera coordinate system and the set first standard position, and determine the third position deviation value and the fourth position deviation value. When the third position deviation value and the fourth position deviation value are less than the set threshold value, the mobile device can determine that the camera calibration of the mobile device is completed. When the third position deviation value and the fourth position deviation value are greater than or equal to the set threshold value, the mobile device can determine that the camera calibration of the mobile device has failed. The set threshold value is, for example, 3mm, 5mm, or 10mm, etc., which is not limited here.
[0079] In some embodiments, the method further includes the following steps S210 and S220:
[0080] Step S210, when the camera calibration data indicates that the camera calibration of the mobile device is completed, control the mobile device to move to each third set position according to the set second moving trajectory; wherein different third set positions correspond to different position nodes of the second moving trajectory; wherein different second set positions correspond to different position nodes of the second moving trajectory.
[0081] In the present application, the coordinates of the second moving trajectory are output to the radar in advance, and the mobile device is controlled to move to each third set position according to the set second moving trajectory through the configured radar.
[0082] In this application, the third set position is position 4-position 7, the second mark is set on the ground of position 4-position 7, the tooling is arranged directly above position 4-position 7 and the second mark is also set on the tooling, and the second mark on the ground and the second mark directly above completely overlap in the vertical direction. The second mark can be a QR code, a pattern, etc., which is not limited here.
[0083] In some examples, such as Figure 3 As shown, the second moving trajectory can be position 4-position 5-position 6-position 7, or position 4-position 5-position 6-position 7-position 4. Taking the second moving trajectory as position 4-position 5-position 6-position 7-position 4 as an example, the first position node and the last position node of the first moving trajectory both correspond to position 4. In other words, the mobile device can move to position 4-position 5-position 6-position 7 in sequence, and then move back from position 7 to position 4.
[0084] In some examples, the spacing distance between adjacent positions of position 4 to position 7 may be between 0.5 meters and one meter, which is not limited here.
[0085] Step S220, controlling the camera to detect the second marker in the vertical direction of each second set position to obtain radar calibration detection data; wherein the radar calibration detection data is used as reference data to measure whether the radar calibration of the mobile device is abnormal.
[0086] In the present application, the second identifier may be a QR code identifier having different directions, for example, one set of opposite sides of the QR code identifier corresponds to the X direction, and the other set of opposite sides corresponds to the Y direction. That is, when the camera detects the second identifier, it can determine the angle between the second identifier and the camera, such as Figure 3 As shown, the mobile device moves from position 4 to position 5 along the Y direction, and the camera can detect the second marker located on the ground at position 5 and feed back the corresponding image. When the mobile device moves and deviates, the relative offset angle between the mobile device and the second marker can be obtained through the image fed back by the camera.
[0087] In the present application, the camera may be a first camera or a second camera, and the radar calibration detection data may be an offset angle between the mobile device and the second identifier.
[0088] In some embodiments, the first position node and the last position node of the second movement trajectory are the same, and the intersection point of the lines connecting the first position node of the second movement trajectory and the remaining position nodes of the second movement trajectory is one.
[0089] In some examples, such as Figure 1As shown, the first position node and the last position node both correspond to position 4, and the remaining position nodes are position 5, position 6 and position 7, and the intersection of the line connecting the position node corresponding to position 4 and the position node corresponding to position 5, the line connecting the position node corresponding to position 4 and the position node corresponding to position 6, and the line connecting the position node corresponding to position 4 and the position node corresponding to position 7 is the position node corresponding to position 4.
[0090] In other words, by setting the second moving track, the mobile device can turn a circle to determine whether the radar calibration of the mobile device is accurate, so as to further improve the accuracy of the radar calibration.
[0091] In some embodiments, the radar calibration detection data represents an offset angle between the mobile device and the second marker. The method further includes the following steps S310 and S320:
[0092] Step S310: When the offset angle is less than the set angle, it is determined that the camera calibration of the mobile device is completed.
[0093] Step S320: When the offset angle is greater than or equal to the set angle, it is determined that the camera calibration of the mobile device has failed.
[0094] In some examples, the set angle is, for example, 0.1°, 1°, or 2°, etc., which is not limited here.
[0095] In other words, by setting the set angle, it is possible to determine whether the camera calibration of the mobile device meets the requirements, and then recalibrate the mobile devices that have been screened out and failed the camera calibration.
[0096] In some embodiments, the method further includes the following steps S410 and S430:
[0097] Step S410, when the mobile device moves to a third set position, controlling the mobile device to rotate by a set angle; wherein the third set position corresponds to a first position node of the second moving trajectory.
[0098] In some examples, the set angle is, for example, 90°, 180°, or 360°, etc., which is not limited here.
[0099] In some examples, the third set position is, for example, position 6. When the mobile device moves to position 6, the mobile device rotates 360°.
[0100] Step S420, controlling the camera to detect the second marker at the third set position to obtain fifth position information.
[0101] In some examples, the mobile device is controlled to rotate 360° by radar. After the mobile device rotates 360°, the mobile device controls the camera to detect the second identifier to obtain the coordinates of the second identifier in the camera coordinate system as the fifth position information.
[0102] Step S430, determining the position deviation value between the detection position of the second mark on the camera coordinate system represented by the fifth position information and the set second standard position, and using it as the third camera calibration data; wherein the camera calibration data includes the third camera calibration data.
[0103] In some examples, the position deviation value between the detection position represented by the fifth position information and the set second standard position can be reflected by the distance difference in the X direction and the distance difference in the Y direction, and when the distance difference in the X direction is less than the first set difference and the distance difference in the Y direction is less than the second set difference, the camera calibration of the mobile device is completed.
[0104] In some examples, the conditions for completing the camera calibration of the mobile device may include that the third position deviation value and the fourth position deviation value are less than a set threshold, the distance difference in the X direction is less than a first set difference and the distance difference in the Y direction is less than a second set difference, and the offset angle is less than a set angle.
[0105] In other words, by controlling the mobile device to rotate 360°, it is possible to determine whether the position of the mobile device will shift under extreme rotation, so as to further detect the accuracy of radar calibration.
[0106] <Equipment Example 1>
[0107] Figure 4 FIG. 1 is a block diagram of a calibration device for a mobile device according to an embodiment. Figure 4 As shown, the calibration device 400 of the mobile device may include:
[0108] The position control module 410 controls the mobile device to move to a first set position;
[0109] An obtaining module 420 is used to detect a first marker around a first set position by a radar to obtain radar calibration data;
[0110] The control module 430 is used to control the mobile device to move to each second set position according to the set first moving trajectory when the radar calibration data indicates that the radar calibration is completed; wherein different second set positions correspond to different position nodes of the first moving trajectory;
[0111] The detection module 440 is used to control the camera to detect the second markers in the vertical direction of each second set position to obtain camera calibration data; wherein the camera calibration data is reference data for determining whether the camera calibration of the mobile device is completed.
[0112] Optionally, module 420 is also used to detect a first marker at a first set position and located in front of the mobile device through a first radar configured on the mobile device, and obtain first position information about the first set position relative to the mobile device; detect a first marker at a first set position and located behind the mobile device through a second radar configured on the mobile device, and obtain second position information about the first set position relative to the mobile device; and compare the first position information and the second position information with the set standard position information respectively to obtain a comparison result, and use it as radar calibration data.
[0113] Optionally, the detection module 440 is also used to control the first camera to detect the second marker above each second set position to obtain third position information, and to control the second camera to detect the second marker below each second set position to obtain fourth position information; determine that the third position information represents a first position deviation value between the detection position of the second marker in the camera coordinate system and the set first standard position, and use it as the first camera calibration data, and determine that the fourth position information represents a second position deviation value between the detection position of the second marker in the camera coordinate system and the first standard position, and use it as the second camera calibration data; wherein the camera calibration data includes the first camera calibration data and the second camera calibration data.
[0114] Optionally, the calibration device 400 of the mobile device also includes a radar detection module, which is used to control the mobile device to move to each third set position according to a set second moving trajectory when the camera calibration data indicates that the camera calibration of the mobile device is completed; wherein different third set positions correspond to different position nodes of the second moving trajectory; wherein different second set positions correspond to different position nodes of the second moving trajectory; control the camera to detect the second marker in the vertical direction of each second set position to obtain radar calibration detection data; wherein the radar calibration detection data is used as reference data to measure whether the radar calibration of the mobile device is abnormal.
[0115] Optionally, the calibration device 400 of the mobile device also includes an angle determination module, which is used to determine that the camera calibration of the mobile device is completed when the offset angle is less than a set angle; when the offset angle is greater than or equal to the set angle, determine that the camera calibration of the mobile device has failed.
[0116] Optionally, the calibration device 400 of the mobile device also includes a rotation control module, which is used to control the mobile device to rotate a set angle when the mobile device moves to a third set position; wherein the third set position corresponds to the first position node of the second movement trajectory; control the camera to detect the second identifier at the third set position to obtain fifth position information; determine that the fifth position information represents a position deviation value between the detection position of the second identifier in the camera coordinate system and the set second standard position, and use it as the third camera calibration data; wherein the camera calibration data includes the third camera calibration data.
[0117] The mobile device calibration device 400 may be a mobile device.
[0118] <Equipment Example 2>
[0119] Figure 5 is a schematic diagram of the hardware structure of an electronic device according to an embodiment.
[0120] like Figure 5 As shown, the electronic device 500 includes a processor 510 and a memory 520, wherein the memory 520 is used to store an executable computer program, and the processor 510 is used to execute a method such as any of the above method embodiments under the control of the computer program.
[0121] The electronic device 500 may be a mobile device.
[0122] Each module of the above-mentioned calibration device 400 for a mobile device may be implemented by the processor 510 in this embodiment executing a computer program stored in the memory 520, or may be implemented by other structures, which is not limited here.
[0123] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.
[0124] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.
[0125] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.
[0126] The computer program instructions for performing the operation of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present invention.
[0127] Various aspects of the present invention are described herein with reference to the flow charts and / or block diagrams of the methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each box of the flow chart and / or block diagram and the combination of each box in the flow chart and / or block diagram can be implemented by computer-readable program instructions.
[0128] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.
[0129] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.
[0130] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a part of a module, a program segment or an instruction, and a part of the module, a program segment or an instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.
[0131] Embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.
Claims
1. A method for calibrating a mobile device, characterized in that: The mobile device is configured with a radar and a camera, the direction of the radar is parallel to the moving direction of the mobile device, and the direction of the camera is perpendicular to the moving direction of the mobile device, and the method includes: Controlling the mobile device to move to a first set position; Detecting, by the radar, a first marker around the first set position to obtain radar calibration data; When the radar calibration data indicates that the radar calibration is completed, controlling the mobile device to move to each second set position according to the set first moving trajectory; wherein different second set positions correspond to different position nodes of the first moving trajectory; The camera is controlled to detect the second markers in the vertical direction of each of the second set positions to obtain camera calibration data; wherein the camera calibration data is reference data for determining whether the camera calibration of the mobile device is completed.
2. The method according to claim 1, characterized in that The radar includes a first radar facing the same direction as the forward direction of the mobile device and a second radar facing the same direction as the backward direction of the mobile device; The step of detecting, by the radar, a first marker around the first set position to obtain radar calibration data includes: Detecting, by means of a first radar configured on the mobile device, a first marker at a first set position and located in front of the mobile device, and obtaining first position information about the first set position relative to the mobile device; Detecting, by a second radar configured on the mobile device, a first marker at a first set position and located behind the mobile device, and obtaining second position information about the first set position relative to the mobile device; The first position information and the second position information are respectively compared with the set standard position information to obtain comparison results, which are used as radar calibration data.
3. The method according to claim 1, characterized in that The camera includes a first camera facing upwards of the mobile device and a second camera facing downwards of the mobile device; The step of controlling the camera to detect the second markers in the vertical direction of each of the second set positions to obtain camera calibration data includes: Controlling the first camera to detect the second marker above each of the second set positions to obtain third position information, and controlling the second camera to detect the second marker below each of the second set positions to obtain fourth position information; Determine that the third position information represents a first position deviation value between the detection position of the second marker on the camera coordinate system and the set first standard position, and use it as the first camera calibration data; and determine that the fourth position information represents a second position deviation value between the detection position of the second marker on the camera coordinate system and the first standard position, and use it as the second camera calibration data; wherein the camera calibration data includes the first camera calibration data and the second camera calibration data.
4. The method according to claim 1, characterized in that: The method further comprises: When the camera calibration data indicates that the camera calibration of the mobile device is completed, controlling the mobile device to move to each third set position according to the set second movement trajectory; wherein different third set positions correspond to different position nodes of the second movement trajectory; wherein different second set positions correspond to different position nodes of the second movement trajectory; The camera is controlled to detect the second marker in the vertical direction of each of the second set positions to obtain radar calibration detection data; wherein the radar calibration detection data is used as reference data to measure whether the radar calibration of the mobile device is abnormal.
5. The method according to claim 4, characterized in that The first position node and the last position node of the second movement trajectory are the same, and the first position node of the second movement trajectory and the lines connecting the remaining position nodes of the second movement trajectory have one intersection.
6. The method according to claim 4, characterized in that The radar calibration detection data represents an offset angle between the mobile device and the second identifier; the method further comprises: When the offset angle is less than a set angle, determining that the camera calibration of the mobile device is completed; When the offset angle is greater than or equal to a set angle, it is determined that the camera calibration of the mobile device has failed.
7. The method according to claim 6, characterized in that The method further comprises: When the mobile device moves to a third set position, the mobile device is controlled to rotate a set angle; wherein the third set position corresponds to a first position node of the second movement trajectory; controlling the camera to detect the second mark at the third set position to obtain fifth position information; Determine that the fifth position information represents a position deviation value between a detection position of the second marker on a camera coordinate system and a set second standard position, and use the fifth position information as third camera calibration data; wherein the camera calibration data includes the third camera calibration data.
8. A calibration device for a mobile device, characterized in that: include: A position control module, controlling the mobile device to move to a first set position; An obtaining module, configured to detect a first marker around the first set position by the radar to obtain radar calibration data; A control module, configured to control the mobile device to move to each second set position according to the set first moving trajectory when the radar calibration data indicates that the radar calibration is completed; wherein different second set positions correspond to different position nodes of the first moving trajectory; The detection module is used to control the camera, detect the second mark in the vertical direction of each second set position, and obtain camera calibration data; wherein the camera calibration data is reference data for determining whether the camera calibration of the mobile device is completed.
9. An electronic device, characterized in that: The method comprises a processor connected to a memory, wherein the memory is used to store a computer program; the processor is used to execute the computer program to implement the method according to any one of claims 1 to 7.
10. A computer storage medium, characterized in that: The computer storage medium stores a computer-readable program, and the computer-readable program is executed by a processor to perform the steps of the method according to any one of claims 1 to 7.