Calibration method, calibration system, leveling device, equipment, medium and program product

Abstract

The invention relates to a calibration method, a calibration system, a leveling device, equipment, a medium and a program product, and after target equipment to be calibrated is determined, it is determined that a sensor with an initial attitude is fixedly arranged on the target equipment. According to the invention, the attitude of the sensor is adjusted before calibration, and the sensor after attitude adjustment is used as the target sensor; then equipment motion parameters of the target equipment and sensor attitude parameters collected by the target sensor are obtained, and attitude conversion parameters between the target sensor and the target equipment are determined according to the equipment motion parameters and the sensor attitude parameters; the attitude conversion parameter is used for converting the sensor attitude parameter into a target equipment attitude parameter so as to calibrate the target equipment. According to the calibration method disclosed by the invention, the equipment attitude parameters of the target equipment and the attitude conversion parameters between the target sensor and the target equipment are calibrated at the same time, and the calibration accuracy of the target equipment is improved.

Description

Technical Field

[0001] The present application relates to the field of automatic control technology, and in particular to a calibration method, a calibration system, a leveling device, equipment, a medium and a program product. Background Art

[0002] AGV (Automated Guided Vehicle) is a battery-powered, driverless vehicle equipped with a non-contact guidance device. Under computer monitoring, the device can accurately travel and stop at designated locations according to path planning and operation requirements to complete a series of operation functions. In the context of the development of industrial automation, the introduction of AGV dynamic logistics systems to change the manual sorting and manual handling mode can effectively realize the automation of sorting center logistics.

[0003] When AGVs are transporting items, they have a high degree of accuracy in picking up and placing goods. Traditionally, AGVs can ensure the accuracy of picking up and placing goods by positioning the same cargo point. However, the postures of different AGVs are different, which will cause deviations between different AGVs at the same cargo point, affecting the cargo handling efficiency of AGVs. Summary of the invention

[0004] Based on this, it is necessary to provide a calibration method, calibration system, leveling device, equipment, medium and program product that can improve the accuracy in response to the above technical problems.

[0005] In a first aspect, the present application provides a calibration method, the method comprising:

[0006] Determine a target device to be calibrated, on which a sensor with an initial posture is fixed;

[0007] Adjust the posture of the sensor, and use the sensor with the adjusted posture as the target sensor;

[0008] Obtain device motion parameters of the target device and sensor attitude parameters collected by the target sensor, and determine attitude conversion parameters between the target sensor and the target device according to the device motion parameters and the sensor attitude parameters; wherein:

[0009] The posture conversion parameters are used to convert the sensor posture parameters into the target device posture parameters according to the posture conversion parameters to achieve calibration of the target device.

[0010] In one embodiment, adjusting the posture of the sensor and using the sensor after the posture adjustment as the target sensor includes:

[0011] Place the target device on a level platform;

[0012] Preset measurement markers in at least four directions so as to detect each measurement marker by a sensor, wherein each measurement marker is at the same distance from the horizontal platform;

[0013] The posture of the sensor is adjusted and each measurement marker is detected according to the sensor after the posture adjustment; when the lengths of the measurement markers detected by the sensor after the posture adjustment are equal, the sensor in the current posture is used as the target sensor.

[0014] In one embodiment, determining a posture conversion parameter between a target sensor and a target device according to a device motion parameter and a sensor posture parameter includes:

[0015] Determine a joint formula of a target sensor and a target device, the joint formula including a target device item and a target sensor item, the target device item is represented by a device attitude parameter and an attitude conversion parameter of the target device, and the target sensor item is represented by a sensor attitude parameter and an attitude conversion parameter of the sensor;

[0016] The residual terms of the target device term and the target sensor term are constructed, and the attitude conversion parameters are obtained by solving the residual terms.

[0017] In one embodiment, the posture conversion parameters are obtained by solving the residual term, including:

[0018] The residual term is solved by least squares to obtain the attitude transformation parameters.

[0019] In one embodiment, the control mechanism of the target device is a steering wheel, and the method further includes:

[0020] The motion parameters of the device are obtained by respectively collecting the motion parameters of the steering wheel in different motion states, wherein the operating states include forward left turn, forward right turn, reverse left turn and reverse right turn, wherein the motion speed of the target device in different motion states is the same.

[0021] In one embodiment, the method further comprises:

[0022] When collecting data, the steering wheel is controlled to deflect at a preset angle at fixed intervals, and the collected device motion parameters and sensor attitude parameters are grouped according to the change amount of the sensor attitude parameters to obtain the grouped device motion parameters and the grouped sensor attitude parameters;

[0023] The posture conversion parameters between the target sensor and the target device are determined according to the device motion parameters and the sensor posture parameters, including:

[0024] The posture conversion parameters between the target sensor and the target device are determined according to the grouped device motion parameters and the grouped sensor posture parameters.

[0025] In a second aspect, the present application provides a calibration system, the calibration system comprising:

[0026] A determination module is configured to determine a target device to be calibrated, where a sensor with an initial posture is fixedly disposed on the target device;

[0027] A leveling module is configured to adjust the posture of the sensor and use the sensor after the posture adjustment as a target sensor;

[0028] The calibration module is configured to obtain device motion parameters of the target device and sensor posture parameters collected by the target sensor, and determine the posture conversion parameters between the target sensor and the target device according to the device motion parameters and the sensor posture parameters; wherein:

[0029] The posture conversion parameters are used to convert the sensor posture parameters into the target device posture parameters according to the posture conversion parameters to achieve calibration of the target device.

[0030] In a third aspect, the present application provides a leveling device, which cooperates with the calibration system provided in the second aspect above to adjust the posture of a sensor on a target device and use the sensor after the posture adjustment as a target sensor; the leveling device includes:

[0031] A leveling platform, used to place the target device on a leveling platform during leveling;

[0032] A plurality of measurement markers, arranged in at least four directions, for detecting each measurement marker by a sensor, wherein each measurement marker is at the same distance from the horizontal platform;

[0033] The leveling device is used to adjust the posture of the sensor and detect each measurement marker according to the sensor after the posture adjustment; when the lengths of each measurement marker detected by the sensor after the posture adjustment are equal, the sensor in the current posture is used as the target sensor.

[0034] In a fourth aspect, the present application provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the method provided in the first aspect are implemented.

[0035] In a fifth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the method provided in the first aspect when the computer program is executed by a processor.

[0036] In a sixth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the method provided in the first aspect above.

[0037] The above-mentioned calibration method, calibration system, leveling device, equipment, medium and program product, after determining the target device to be calibrated, determine the sensor with the initial posture fixed on the target device. The present invention first adjusts the posture of the sensor before calibration, and uses the sensor with the adjusted posture as the target sensor; then obtains the device motion parameters of the target device and the sensor posture parameters collected by the target sensor, and determines the posture conversion parameters between the target sensor and the target device according to the device motion parameters and the sensor posture parameters; the posture conversion parameters are used to convert the sensor posture parameters into the target device posture parameters to realize the calibration of the target device. The calibration method of the present invention simultaneously calibrates the device posture parameters of the target device and the posture conversion parameters between the target sensor and the target device, thereby improving the accuracy of the calibration of the target device. The calibration method of the present invention can be applied to the control stage of trajectory tracking of multiple target devices, as well as the posture feedback stage of multiple target devices, to ensure the overall accuracy of the target device during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A schematic diagram of a flow chart of a calibration method in an embodiment;

[0040] Figure 2 A schematic diagram of sensor leveling in one embodiment;

[0041] Figure 3 is a structural block diagram of a calibration system in one embodiment;

[0042] Figure 4 FIG. 4 is a diagram showing the internal structure of an electronic device in one embodiment. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] This embodiment proposes a calibration method, such as Figure 1 As shown, the method includes the following steps 102 to 104. Among them:

[0045] Step 102, determine the target device to be calibrated, and the target device is fixed with a sensor of the initial posture. The target device is the device to be calibrated in this embodiment, and the target device can be an AGV (Automated Guided Vehicle), or an automatic guided robot or other device that can automatically move on a specific path without human intervention. The target device can be used in warehousing, manufacturing and logistics industries to realize automated cargo handling and transportation. Since the target device is an automatic guided device that does not require human intervention, when the target device moves, there are higher precision requirements for the position of picking up and placing the goods. This embodiment calibrates the target device to ensure the accuracy of the target device when it moves.

[0046] The sensor is a device equipped on the target device to assist the movement of the target device. The sensor is fixedly connected to the target device and can obtain the motion parameters of the target device in real time, accurately locate the movement route of the target device, and improve the accuracy of the movement of the target device. In addition, the sensor can also be used to scan the movement environment of the target device in real time, perform obstacle detection and other measures to improve the safety of the target device's movement and avoid collisions with other objects during the movement of the target device. Exemplarily, the sensor can be a radar, a camera, an acoustic wave sensor, etc. Among them, radar is a more common sensor.

[0047] Step 104, adjusting the posture of the sensor, and using the sensor with the adjusted posture as the target sensor.

[0048] First, adjust the sensor's posture so that it is parallel to the horizontal plane to ensure the accuracy of the target device's movement.

[0049] Taking the positioning calculation of the target device through the two-dimensional laser slam algorithm as an example, since the two-dimensional laser slam algorithm matches the sensor's measurement data with the map, it is necessary to ensure that the measured data is data under the same measurement environment as the map data, and the change in the sensor's posture will cause a large deviation in the measurement result. In order to avoid similar deviations in the measurement results, this embodiment adjusts the sensor's posture before calibration, and adjusts the posture to a posture that meets the requirements to ensure that the sensor can collect accurate posture data.

[0050] Step 106, obtaining the device motion parameters of the target device and the sensor posture parameters collected by the target sensor, and determining the posture conversion parameters between the target sensor and the target device according to the device motion parameters and the sensor posture parameters; wherein: the posture conversion parameters are used to convert the sensor posture parameters into the target device posture parameters according to the posture conversion parameters to realize the calibration of the target device.

[0051] The calibration of the target device requires not only the definite attitude conversion parameters between the sensor and the target device, but also the definite motion parameters of the target device. This embodiment solves based on the device motion parameters and the sensor attitude parameters to obtain the attitude conversion parameters between the target sensor and the target device, so as to realize the calibration of the target device.

[0052] The calibration method of this embodiment calibrates the device attitude parameters of the target device and the attitude conversion parameters between the target sensor and the target device at the same time, thereby improving the accuracy of the target device calibration. When the AGV is used as the target device, the calibration method disclosed in this disclosure can be applied to the control stage of multiple AGV trajectory tracking and the posture feedback stage of multiple AGVs, thereby ensuring the overall accuracy of AGV handling.

[0053] In a specific embodiment, please refer to Figure 2 , adjusting the posture of the sensor, and using the sensor after the posture adjustment as the target sensor, including: placing the target device still on a horizontal platform; presetting measurement markers in at least four directions to detect each measurement marker through the sensor, wherein the distance between each measurement marker and the horizontal platform is the same; adjusting the posture of the sensor and detecting each measurement marker according to the sensor after the posture adjustment; when the lengths of each measurement marker detected by the sensor after the posture adjustment are equal, using the sensor in the current posture as the target sensor.

[0054] like Figure 2 As shown, the target device is placed statically on a horizontal platform, and measurement markers are set in the front, back, left and right directions of the target device. Each measurement marker is supported by a bracket, the height of each bracket is the same, and the distance between each measurement marker and the horizontal platform is the same. The sensor on the target device detects the four measurement markers in real time and calculates the length of each measurement marker. During the detection process of the sensor, the length of the four measurement markers detected can be ensured to be consistent by adjusting the posture of the sensor. At this time, the posture of the sensor corresponds to a horizontal posture, and the sensor in the horizontal state is used as the target sensor. Since the posture of the target sensor is horizontal, it is considered to be parallel to the earth's coordinate system, and the deviation generated when the positioning calculation is performed by the two-dimensional laser slam algorithm can be avoided. Exemplarily, the posture adjustment of the sensor can be achieved by manually adjusting the mounting screws on the sensor.

[0055] In a further embodiment, the posture conversion parameters between the target sensor and the target device are determined according to the device motion parameters and the sensor posture parameters, including: determining a joint formula between the target sensor and the target device, the joint formula including a target device item and a target sensor item, the target device item is represented by the device posture parameters and posture conversion parameters of the target device, and the target sensor item is represented by the sensor posture parameters and posture conversion parameters of the sensor; constructing residual terms of the target device item and the target sensor item, and obtaining the posture conversion parameters by solving the residual terms.

[0056] As mentioned above, the target sensor is used to determine the motion state of the target device, and the motion control of the target device is determined based on the target sensor. In other words, the control system realizes the motion control of the target device through data interaction with the target sensor. However, due to the installation differences of the target sensors in different target devices and the slight mechanical structure differences between the target devices, the target device will produce deviations during movement. Therefore, when calibrating the target device, it is necessary to combine the posture data of the target sensor with the posture data of the target device to achieve accurate positioning of the target device.

[0057] First, the kinematic modeling of the target device is performed. This embodiment takes a single-steering wheel AGV as the target device as an example, assuming that the steering wheel speed V d , steering wheel angle δ, the lateral offset of the steering wheel is d, the wheelbase is L, and the position of the target device in space is set to (x, y, θ), where x represents the position of the target device on the x-axis on the horizontal plane, y represents the position of the target device on the y-axis on the horizontal plane, and θ represents the rotation angle of the target device relative to the reference direction. represents the derivative of x, that is, the speed of the target device in the x direction, Represents the derivative of y, that is, the speed of the target device in the y direction, represents the derivative of θ, that is, the angular velocity of the target device relative to the reference direction. Construct a model of the target device, expressed as:

[0058]

[0059] Where, the speed of the steering wheel V d =sn, n represents the rotation speed of the steering wheel, which can be measured by an encoder; s represents the proportional coefficient of rotation speed to speed. Steering wheel angle δ = δ′ + δ off , δ′ represents the steering wheel deflection angle actually measured, δ off Indicates the installation deviation of the steering wheel. Due to the installation error, the angle of the steering wheel is usually not directly in front of the vehicle body, so additional angle compensation is required. Therefore, the position change of the target device in space can be expressed as:

[0060]

[0061] Two methods are used to represent the change from the target device's position at time k to the sensor's position at time k+1, respectively, as follows:

[0062]

[0063] Right now:

[0064]

[0065] Among them, T cart (k) represents the pose parameters of the target device at time k, Represents the inverse matrix of the pose parameters of the target device at time k, represents the transformation relationship between the target device and the sensor at time k. Generally speaking, the sensor is fixedly connected to the target device, so it is usually believed that the posture transformation parameters between the sensor and the target device will not change over time. The inverse matrix of the sensor's pose parameters at time k, T lidar (k+1) represents the position and posture parameters of the sensor at time k+1.

[0066] The above formula is expressed using rotation matrix and displacement matrix:

[0067]

[0068] Respectively representing the rotation and translation parts of the pose matrix, we can get:

[0069]

[0070] Assume that the attitude conversion parameters between the sensor and the target device are expressed as (x l ,y l ,θ l ), since AGV only considers the posture on the two-dimensional plane, the rotation part can be simplified as:

[0071] -θ cart (k)+θ cart (k+1)+θ l (k+1)=θ l (k)-θ lidar (k)+θ lidar (k+1)

[0072] Since the posture transformation parameters do not change over time, the above formula can be simplified to:

[0073] -θ cart (k)+θ cart (k+1)=-θ lidar (k)+θlidar (k+1)

[0074] Among them, the angle change Δθ of the sensor can be directly obtained according to the measured value, and the angle change of the target device is estimated by the model formula of the above target device according to the internal parameters to obtain:

[0075]

[0076] The residual term is further constructed and expressed as:

[0077]

[0078] The internal parameters of the target equipment, such as the speed coefficient s and the steering wheel deflection angle δ, can be estimated by nonlinear optimization methods. off This embodiment only uses the rotation measurement value of the radar to estimate the intrinsic parameters of the target device, avoiding the introduction of the sensor's posture estimation deviation, which can greatly improve the accuracy of the intrinsic parameter estimation, so that the estimated intrinsic parameters can be directly used in the subsequent calculation of the posture conversion parameters.

[0079] Substituting the posture transformation parameters and the target device's posture expression into the above joint formula, the following constraint relationship can be obtained:

[0080]

[0081] Among them, x lidar (t) represents the x-axis position of the sensor on the horizontal plane at time t, y lidar (t) represents the y-axis position of the sensor on the horizontal plane at time t, θ l Indicates the rotation angle of the sensor relative to the reference direction.

[0082] Then substitute the target device's posture change formula in space into the above formula to construct the residual term of the target device term and the target sensor term. The residual term e is expressed as:

[0083]

[0084] Assume X = [dx l y l cosθ l sinθ l ] T , transforming the above formula, we can get:

[0085]

[0086] In a specific embodiment, obtaining the posture conversion parameter by solving the residual term includes: performing a least squares solution on the residual term to obtain the posture conversion parameter.

[0087] When solving the attitude conversion parameters, the problem of minimizing the residual term can be converted into a least squares problem of solving AX=b. The constraints during the solution are:

[0088]

[0089] A set of joint formulas can be constructed for each posture change in each time period t, and each set of joint formulas can form the two constraints A in the above formula 1 ·X=b 1 , continuously collecting the steering wheel angle, speed and measured posture parameters of the target device over a period of time, the following set of equations can be obtained. Solving this set of equations can obtain the motion internal parameters of the target device, including the wheelbase, steering wheel speed coefficient, and the initial installation angle of the steering wheel; as well as the attitude conversion parameters between the sensor and the target device, including the x, y direction offset and angle offset.

[0090]

[0091] In this embodiment, the Gauss-Newton method can be used to solve the least squares problem. This solution is a common method used by those skilled in the art and will not be described in detail here. It should be noted that this embodiment does not limit the solution method of the least squares method, and those skilled in the art can solve it in any way in actual applications.

[0092] It can be understood that this embodiment takes a single steering wheel target device as an example, and in actual applications, target devices with other drive forms can also be calibrated based on the calibration method of this embodiment. Accordingly, for target devices with different drive forms, different motion models and joint formulas of the target device and the target sensor can be constructed.

[0093] In another embodiment, the control mechanism of the target device is a steering wheel, and the method further includes: respectively collecting motion parameters of the steering wheel in different motion states to obtain motion parameters of the device, the operating states including forward left turn, forward right turn, reverse left turn and reverse right turn, wherein the motion speed of the target device in different motion states is the same.

[0094] In order to ensure the uniform distribution of the collected data, the data were collected in four stages: the steering wheel turned forward to the left, the steering wheel turned forward to the right, the steering wheel turned reversely to the right, and the steering wheel turned reversely to the left. The movement speed of the target device must be kept constant during each stage to ensure the calibration accuracy of the target device.

[0095] In one embodiment, the method also includes: when collecting data, controlling the steering wheel to deflect a preset angle at fixed intervals, grouping the collected device motion parameters and sensor attitude parameters according to the change in the sensor attitude parameters, and obtaining grouped device motion parameters and grouped sensor attitude parameters; determining the attitude conversion parameters between the target sensor and the target device according to the device motion parameters and the sensor attitude parameters, including: determining the attitude conversion parameters between the target sensor and the target device according to the grouped device motion parameters and the grouped sensor attitude parameters.

[0096] In order to ensure the calibration accuracy of this embodiment, when collecting data, the steering wheel is controlled to deflect by a preset angle at fixed intervals. For example, the steering wheel is controlled to deflect 1 degree after a fixed interval to collect data at different angles. This embodiment can obtain a series of two-dimensional posture parameters of the target sensor and the feedback speed and angle of the steering wheel at the corresponding moment through an automatic acquisition program. All of these data are grouped according to the change in the posture parameters in the target sensor, and the distance between the head and tail sensor posture parameters in each data group is controlled within a relatively reasonable range. A least squares constraint can be constructed for each group of data, and the best system state estimate can be obtained by jointly solving the constraints of all groups.

[0097] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0098] Based on the same inventive concept, the embodiment of the present application also provides a calibration system for implementing the calibration method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more calibration system embodiments provided below can refer to the limitations on the calibration method above, and will not be repeated here.

[0099] In an exemplary embodiment, Figure 3 As shown, a calibration system is provided, including: a determination module 302, a leveling module 304 and a calibration module 306, wherein:

[0100] A determination module 302 is configured to determine a target device to be calibrated, where a sensor with an initial posture is fixedly disposed on the target device;

[0101] A leveling module 304 is configured to adjust the posture of the sensor and use the sensor after the posture adjustment as a target sensor;

[0102] The calibration module 306 is configured to obtain the device motion parameters of the target device and the sensor posture parameters collected by the target sensor, and determine the posture conversion parameters between the target sensor and the target device according to the device motion parameters and the sensor posture parameters; wherein: the posture conversion parameters are used to convert the sensor posture parameters into the target device posture parameters according to the posture conversion parameters to realize the calibration of the target device.

[0103] In one embodiment, the leveling module 304 is further used to: place the target device stationary on a horizontal platform; preset measurement markers in at least four directions to detect each measurement marker through a sensor, wherein each measurement marker is at the same distance from the horizontal platform; adjust the posture of the sensor and detect each measurement marker based on the sensor after the posture adjustment; when the lengths of each measurement marker detected by the sensor after the posture adjustment are equal, use the sensor in the current posture as the target sensor.

[0104] In one embodiment, the calibration module 306 is also used to: determine a joint formula for the target sensor and the target device, the joint formula including a target device item and a target sensor item, the target device item is represented by the device posture parameters and posture conversion parameters of the target device, and the target sensor item is represented by the sensor posture parameters and posture conversion parameters of the sensor; construct residual terms of the target device item and the target sensor item, and obtain the posture conversion parameters by solving the residual terms.

[0105] In one embodiment, the calibration module 306 is further used to perform a least squares solution on the residual term to obtain a posture conversion parameter.

[0106] In one embodiment, the control mechanism of the target device is a steering wheel, and the calibration system is also used to: respectively collect motion parameters of the steering wheel in different motion states to obtain motion parameters of the device, wherein the operating states include forward left turn, forward right turn, reverse left turn and reverse right turn, wherein the motion speed of the target device in different motion states is the same.

[0107] In one embodiment, the calibration system is also used to: when collecting data, control the steering wheel to deflect a preset angle at fixed intervals, group the collected device motion parameters and sensor attitude parameters according to the change in the sensor attitude parameters, and obtain grouped device motion parameters and grouped sensor attitude parameters; determine the attitude conversion parameters between the target sensor and the target device according to the device motion parameters and the sensor attitude parameters, including: determining the attitude conversion parameters between the target sensor and the target device according to the grouped device motion parameters and the grouped sensor attitude parameters.

[0108] Each module in the above-mentioned calibration system can be implemented in whole or in part by software, hardware and their combination. Each module can be embedded in or independent of the processor in the electronic device in the form of hardware, or can be stored in the memory of the electronic device in the form of software, so that the processor can call and execute the corresponding operations of each module above.

[0109] In an exemplary embodiment, a leveling device is provided, which cooperates with the above-mentioned calibration system to adjust the posture of a sensor on a target device and use the sensor after the posture adjustment as a target sensor; the leveling device includes a horizontal platform and several measurement markers. Among them:

[0110] A leveling platform, used to place the target device on a leveling platform during leveling;

[0111] A plurality of measurement markers, arranged in at least four directions, for detecting each measurement marker by a sensor, wherein each measurement marker is at the same distance from the horizontal platform;

[0112] The leveling device is used to adjust the posture of the sensor and detect each measurement marker according to the sensor after the posture adjustment; when the lengths of each measurement marker detected by the sensor after the posture adjustment are equal, the sensor in the current posture is used as the target sensor.

[0113] In an exemplary embodiment, an electronic device is provided. The electronic device may be a server, and its internal structure diagram may be as shown in FIG. Figure 4As shown. The electronic device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the electronic device is used to store the posture data of the target device and the target sensor. The input / output interface of the electronic device is used to exchange information between the processor and the external device. The communication interface of the electronic device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a calibration method is implemented.

[0114] Those skilled in the art will understand that Figure 4 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0115] In an exemplary embodiment, an electronic device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0116] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0117] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0118] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0119] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0120] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A calibration method, characterized in that: The method comprises: Determine a target device to be calibrated, on which a sensor with an initial posture is fixed; adjusting the posture of the sensor, and using the sensor after the posture adjustment as a target sensor; Acquire the device motion parameters of the target device and the sensor posture parameters collected by the target sensor, and determine the posture conversion parameters between the target sensor and the target device according to the device motion parameters and the sensor posture parameters; wherein: The posture conversion parameters are used to convert the sensor posture parameters into target device posture parameters according to the posture conversion parameters, so as to achieve calibration of the target device.

2. The method according to claim 1, characterized in that The step of adjusting the posture of the sensor and using the sensor after the posture adjustment as the target sensor includes: placing the target device on a horizontal platform; Presetting measurement markers in at least four directions so as to detect each of the measurement markers by the sensor, wherein each of the measurement markers is at the same distance from the horizontal platform; The posture of the sensor is adjusted and each of the measurement markers is detected according to the sensor after the posture adjustment; when the lengths of the measurement markers detected by the sensor after the posture adjustment are equal, the sensor in the current posture is used as the target sensor.

3. The method according to claim 1, characterized in that The step of determining the posture conversion parameter between the target sensor and the target device according to the device motion parameter and the sensor posture parameter comprises: Determining a joint formula of the target sensor and the target device, the joint formula comprising a target device item and a target sensor item, the target device item being represented by a device posture parameter of the target device and the posture conversion parameter, and the target sensor item being represented by a sensor posture parameter of the sensor and the posture conversion parameter; A residual term of the target device term and the target sensor term is constructed, and the posture conversion parameter is obtained by solving the residual term.

4. The method according to claim 3, characterized in that The step of obtaining the posture conversion parameter by solving the residual term includes: The residual term is solved by least squares to obtain the posture conversion parameter.

5. The method according to claim 1, characterized in that The control mechanism of the target device is a steering wheel, and the method further includes: The motion parameters of the steering wheel in different motion states are collected respectively to obtain the motion parameters of the device, wherein the operating states include forward left turn, forward right turn, reverse left turn and reverse right turn, wherein the motion speed of the target device in different motion states is the same.

6. The method according to claim 5, characterized in that The method further comprises: When collecting data, the steering wheel is controlled to deflect by a preset angle at fixed intervals, and the collected device motion parameters and sensor attitude parameters are grouped according to the change amount of the sensor attitude parameters to obtain the grouped device motion parameters and the grouped sensor attitude parameters; The step of determining the posture conversion parameter between the target sensor and the target device according to the device motion parameter and the sensor posture parameter comprises: The posture conversion parameters between the target sensor and the target device are determined according to the grouped device motion parameters and the grouped sensor posture parameters.

7. A calibration system, characterized in that: The calibration system comprises: A determination module is configured to determine a target device to be calibrated, wherein a sensor with an initial posture is fixedly disposed on the target device; a leveling module configured to adjust the posture of the sensor and use the sensor after the posture adjustment as a target sensor; A calibration module is configured to obtain device motion parameters of the target device and sensor posture parameters collected by the target sensor, and determine posture conversion parameters between the target sensor and the target device according to the device motion parameters and the sensor posture parameters; wherein: The posture conversion parameters are used to convert the sensor posture parameters into target device posture parameters according to the posture conversion parameters, so as to achieve calibration of the target device.

8. A leveling device, characterized in that: The leveling device cooperates with the calibration system as claimed in claim 7 to adjust the posture of the sensor on the target device and use the sensor after the posture adjustment as the target sensor; the leveling device includes: A horizontal platform, used to place the target device on the horizontal platform during leveling; A plurality of measurement markers, arranged in at least four directions, for detecting each of the measurement markers by the sensor, wherein each of the measurement markers is at the same distance from the horizontal platform; The leveling device is used to adjust the posture of the sensor and detect each of the measurement markers according to the sensor after the posture adjustment; when the lengths of the measurement markers detected by the sensor after the posture adjustment are equal, the sensor in the current posture is used as the target sensor.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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