Calibration method and device of mobile equipment, equipment and storage medium

Abstract

The invention relates to a calibration method and device of mobile equipment, equipment and a storage medium, and belongs to the technical field of automatic guide trolleys, the mobile equipment is provided with a camera, the orientation of the camera is perpendicular to the moving direction of the mobile equipment, and the method comprises the following steps: controlling the mobile equipment to move to each first set position according to a moving track; wherein different first set positions correspond to position nodes with different moving tracks; controlling the camera, detecting the identification in the vertical direction of each first set position, and obtaining the detection position of the identification under the camera coordinate system; determining a position deviation value between the detection position and a set standard position; wherein the position deviation value is reference data used for measuring camera calibration abnormity of the mobile equipment.

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] At present, Automated Guided Vehicle (AGV) can be used as a highly efficient logistics transport vehicle and is widely used in the fields of logistics and warehousing. At present, in order to realize the camera calibration of mobile devices, the existing AGV requires manual measurement of the distance between the AGV and the reference object, and combines the distance feedback from the camera to realize the camera calibration of the AGV, but the manual measurement efficiency is low. 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, wherein the mobile device is configured with a camera, and the orientation of the camera is perpendicular to the moving direction of the mobile device, and the method comprises:

[0005] Controlling the mobile device to move to each first set position according to a set first moving trajectory; wherein different first set positions correspond to different position nodes of the first moving trajectory;

[0006] Controlling the camera to detect the markers in the vertical direction of each of the first set positions to obtain the detected positions of the markers in the camera coordinate system;

[0007] Determine a position deviation value between the detection position and the set standard position; wherein the position deviation value is a reference data for measuring camera calibration anomalies of the mobile device.

[0008] Optionally, the camera includes a first camera facing upwards of the mobile device and a second camera facing downwards of the mobile device;

[0009] The step of controlling the camera to detect the markers in the vertical direction of each of the first set positions to obtain the detection positions of the markers in the camera coordinate system includes:

[0010] Controlling the first camera to detect the markers above each of the first set positions to obtain a first detection position of the marker in a camera coordinate system;

[0011] The second camera is controlled to detect the marks below each of the first set positions to obtain a second detection position of the mark in the camera coordinate system; wherein the detection position includes a first detection position and a second detection position.

[0012] Optionally, determining the position deviation value between the detection position and a set standard position includes:

[0013] Determine that the third position information represents a first position deviation value between a detection position of the marker on a camera coordinate system and a set standard position;

[0014] Determine that the fourth position information represents a second position deviation value between the detection position of the marker on the camera coordinate system and the standard position; wherein the position deviation value includes a first position deviation value and a second position deviation value.

[0015] Optionally, the first moving trajectory includes a forward moving trajectory and a backward moving trajectory; wherein, the first position node and the last position node of the forward moving trajectory and the backward moving trajectory are the same, the direction from the first position node of the forward moving trajectory to the remaining position nodes of the forward moving trajectory is the forward direction of the mobile device, and the direction from the first position node of the backward moving trajectory to the remaining position nodes of the backward moving trajectory is the backward direction of the mobile device.

[0016] Optionally, the method further comprises:

[0017] When the position deviation value indicates that the camera calibration of the mobile device is completed, controlling the mobile device to move to each second set position according to a set second moving trajectory; wherein different second set positions correspond to different position nodes of the second moving trajectory; wherein different first set positions correspond to different position nodes of the second moving trajectory;

[0018] The camera is controlled to detect marks in the vertical direction of each of the first 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.

[0019] 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.

[0020] Optionally, the first position node of the first movement trajectory and the first position node of the second movement trajectory are connected through the first position node.

[0021] According to a second aspect of the present disclosure, a calibration device for a mobile device is also provided, including:

[0022] A control module, used for controlling the mobile device to move to each first set position according to a set first moving trajectory; wherein different first set positions correspond to different position nodes of the first moving trajectory;

[0023] An obtaining module, used for controlling the camera to detect the mark in the vertical direction of each of the first set positions, and obtaining the detection position of the mark in the camera coordinate system;

[0024] The determination module is used to determine the position deviation value between the detection position and the set standard position; wherein the position deviation value is a reference data for measuring the camera calibration abnormality of the mobile device.

[0025] 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.

[0026] 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.

[0027] 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 control the mobile device to move to each first set position according to the first moving trajectory, and the mobile device controls the camera detection mark at the first set position to obtain a position deviation value between the set standard position and the detection position, and the camera calibration abnormality is determined by the position deviation value, the determination accuracy is high, and the detection efficiency of the camera calibration is improved.

[0028] 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

[0029] 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.

[0030] Figure 1 is a flow chart of a method for calibrating a mobile device according to an embodiment;

[0031] Figure 2 is a schematic diagram of a first identification position layout according to an embodiment;

[0032] Figure 3 is a schematic diagram of a layout of identification locations according to one embodiment;

[0033] Figure 4 is a block diagram of a calibration device for a mobile device according to an embodiment;

[0034] Figure 5 is a schematic diagram of the hardware structure of an electronic device according to an embodiment. DETAILED DESCRIPTION

[0035] 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.

[0036] 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.

[0037] 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 as part of the specification.

[0038] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0039] 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.

[0040] <Method Example>

[0041] 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, such as an automated guided vehicle (AGV). The mobile device is equipped with a camera, and the direction of the camera is perpendicular to the moving direction of the mobile device.

[0042] like Figure 1 As shown, the calibration method of the mobile device of this embodiment may include the following steps S110 to S130:

[0043] Step S110, controlling the mobile device to move to each first set position according to a set first moving trajectory; wherein different first set positions correspond to different position nodes of the first moving trajectory.

[0044] In some examples, such as Figure 2 As shown, the first set position is position 1, position 2 and position 8, the ground of position 1, position 2 and position 8 is marked, tooling is arranged directly above position 1, position 2 and position 8 and marks are also set on the tooling, and the mark on the ground and the mark directly above are completely overlapped in the vertical direction. The mark can be a QR code, pattern, etc., which is not limited here.

[0045] In some examples, such as Figure 2 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.

[0046] In some examples, the interval distance between adjacent positions of Position 1, Position 2, and Position 8 is more than one meter.

[0047] In some embodiments, the first movement trajectory includes a forward movement trajectory and a backward movement trajectory; wherein, the first position node and the last position node of the forward movement trajectory and the backward movement trajectory are the same, the direction from the first position node of the forward movement trajectory to the remaining position nodes of the forward movement trajectory is the forward direction of the mobile device, and the direction from the first position node of the backward movement trajectory to the remaining position nodes of the backward movement trajectory is the backward direction of the mobile device.

[0048] In some examples, such as Figure 2 As shown, the forward moving trajectory is position 1-position 2-position 1, and the backward moving trajectory is position 1-position 8-position 1. The first position node and the last position node of the forward moving trajectory and the backward moving trajectory both correspond to position 1, and the first position node of the forward moving trajectory to the remaining position nodes of the forward moving trajectory correspond to position 2. The direction from position 1 to position 2 is the forward direction of the mobile device. The first position node of the backward moving trajectory to the remaining position nodes of the backward moving trajectory corresponds to position 8, and the direction from position 1 to position 8 is the backward direction of the mobile device.

[0049] In other words, by setting the forward moving trajectory and the backward moving trajectory, the mobile device can move according to the forward moving trajectory and / or the backward moving trajectory to control the mobile device to move in different directions, so that the detection position obtained by the subsequent camera is more comprehensive, thereby improving the accuracy of the camera calibration of the mobile device.

[0050] Step S120, controlling the camera to detect the markers in the vertical direction of each of the first set positions to obtain the detected positions of the markers in the camera coordinate system.

[0051] In the present application, the detection position may be the coordinates of an identifier in a camera coordinate system determined by a mobile device through a camera.

[0052] In some embodiments, in order to implement camera calibration of the upward-looking camera and the 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. Step S120 may include the following steps S1201 and S1202:

[0053] Step S1201, controlling the first camera to detect the markers above each of the first set positions, and obtaining the first detection positions of the markers in the camera coordinate system.

[0054] In the present application, in some examples, the first camera is an upward-looking camera of a mobile device, and the upward-looking camera obtains the coordinates of the marker in the camera coordinate system through the marker directly above each first set position as the first detection position.

[0055] Step S1202, controlling the second camera to detect the markers below each of the first set positions, and obtaining a second detection position of the marker in the camera coordinate system; wherein the detection position includes a first detection position and a second detection position.

[0056] In the present application, the second camera is a downward-looking camera of a mobile device, and the downward-looking camera obtains the coordinates of the markers in the camera coordinate system through the markers on the ground at each first set position as the second detection position.

[0057] In other words, the mark on the ground completely overlaps with the mark directly above it in the vertical direction, and the first camera and the second camera can simultaneously detect the corresponding marks and obtain the first detection position and the second detection position to realize camera calibration of the first camera and the second camera.

[0058] Step S130, determining a position deviation value between the detection position and the set standard position; wherein the position deviation value is reference data for measuring camera calibration anomalies of the mobile device.

[0059] In other words, by controlling the mobile device to move to each first set position according to the first moving trajectory, the mobile device controls the camera detection mark at the first set position to obtain the position deviation value between the set standard position and the detection position, and the camera calibration abnormality is determined by the position deviation value, the determination accuracy is high, and the detection efficiency of the camera calibration is improved.

[0060] In some embodiments, step S130 may include the following steps S1301 and S1302:

[0061] Step S1301: determine that the third position information represents a first position deviation value between a detection position of the marker in a camera coordinate system and a set standard position.

[0062] 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 coordinates identified on the camera coordinate system and coordinates of the set first standard position.

[0063] Step S1302, determining that the fourth position information represents a second position deviation value between the detection position of the marker in the camera coordinate system and the standard position; wherein the position deviation value includes a first position deviation value and a second position deviation value.

[0064] In some examples, 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 coordinates identified on the camera coordinate system and coordinates of the set first standard position.

[0065] In other words, the mobile device can obtain the conversion relationship between the camera coordinate system and the vehicle 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 elaborated on in detail here. Moreover, after obtaining the conversion relationship, the mobile device can determine that the camera calibration of the mobile device is completed.

[0066] 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 movement trajectory, and control the first camera to detect the mark above each set position, and obtain the first position deviation value between the detection position marked on the camera coordinate system and the set standard position, and control the second camera to detect the mark above each set position, obtain the second position deviation value between the detection position marked on the camera coordinate system and the set standard position, and determine the first position deviation value and the second position deviation value. When the first position deviation value and the second 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 first position deviation value and the second 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 is abnormal. The set threshold value is, for example, 3mm, 5mm or 10mm, etc., which is not limited here.

[0067] In some embodiments, the method further includes the following steps S210 and S220:

[0068] Step S210, when the position deviation value indicates that the camera calibration of the mobile device is completed, control the mobile device to move to each second set position according to the set second moving trajectory; wherein different second set positions correspond to different position nodes of the second moving trajectory; wherein different first set positions correspond to different position nodes of the second moving trajectory.

[0069] 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 second set position according to the set second moving trajectory through the configured radar.

[0070] In this application, the second set position is position 4-position 7, the ground of position 4-position 7 is marked, tooling is arranged directly above position 4-position 7 and a mark is also set on the tooling, and the mark on the ground and the mark directly above completely overlap in the vertical direction. The mark can be a QR code, a pattern, etc., which is not limited here.

[0071] 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.

[0072] 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.

[0073] Step S220, controlling the camera to detect the markers in the vertical direction of each of the first 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.

[0074] In the present application, the logo may be a QR code logo having different directions, for example, one set of opposite sides of the QR code logo corresponds to the X direction, and the other set of opposite sides corresponds to the Y direction. That is, when the camera detects the logo, it can determine the angle between the logo 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 mark 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 mark can be obtained through the image fed back by the camera.

[0075] 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 identifier.

[0076] 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.

[0077] In some examples, such as Figure 1 As 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.

[0078] 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.

[0079] In some embodiments, the first position node of the first movement trajectory and the first position node of the second movement trajectory are connected through a first position node.

[0080] In some examples, such as Figure 2 As shown, the first position node of the first moving trajectory corresponds to position 1, the first position node of the second moving trajectory corresponds to position 4, and the first position node corresponds to position 3. That is to say, after the mobile device moves out of the last position node of the first moving trajectory, it passes through position 3 and then moves to the first position node of the second moving trajectory, so as to achieve the purpose of moving the first moving trajectory and the second moving trajectory away from each other, reduce the mutual influence of the identifications of each position node, and effectively improve the accuracy of the mobile device calibration.

[0081] In some examples, the interval distance between the first position node of the first moving track and the first position node is a set value, and the interval distance between the first position node of the second moving track and the first position node is also a set value, and the set value may be greater than 0.5 meters and less than 1.5 meters. In other words, by setting the interval distance to the set value, the accuracy of the radar calibration of the mobile device can be effectively determined while improving the detection efficiency of the mobile device.

[0082] <Equipment Example 1>

[0083] Figure 4 FIG. 1 is a block diagram of a calibration device for a mobile device according to an embodiment. Figure 4As shown, the calibration device 400 of the mobile device may include:

[0084] The control module 410 is used to control the mobile device to move to each first set position according to a set first moving trajectory; wherein different first set positions correspond to different position nodes of the first moving trajectory;

[0085] An obtaining module 420 is used to control the camera to detect the markers in the vertical direction of each of the first set positions to obtain the detected positions of the markers in the camera coordinate system;

[0086] The determination module 430 is used to determine a position deviation value between the detection position and the set standard position; wherein the position deviation value is a reference data for measuring the camera calibration abnormality of the mobile device.

[0087] Optionally, the obtaining module 420 is further used to control the first camera to detect the markers above each of the first set positions to obtain the first detection positions of the markers in the camera coordinate system;

[0088] The second camera is controlled to detect the marks below each of the first set positions to obtain a second detection position of the mark in the camera coordinate system; wherein the detection position includes a first detection position and a second detection position.

[0089] Optionally, module 420 is obtained, which is also used to determine a first position deviation value between the detection position of the marker on the camera coordinate system represented by the third position information and the set standard position; and to determine a second position deviation value between the detection position of the marker on the camera coordinate system represented by the fourth position information and the standard position; wherein the position deviation value includes a first position deviation value and a second position deviation value.

[0090] 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 second set position according to a set second moving trajectory when the position deviation value indicates that the camera calibration of the mobile device is completed; wherein different second set positions correspond to different position nodes of the second moving trajectory; wherein different first set positions correspond to different position nodes of the second moving trajectory; control the camera to detect the markers in the vertical direction of each first 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.

[0091] The mobile device calibration device 400 may be a mobile device.

[0092] <Equipment Example 2>

[0093] Figure 5 is a schematic diagram of the hardware structure of an electronic device according to an embodiment.

[0094] 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.

[0095] The electronic device 500 may be a mobile device.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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 equipped with a camera, the orientation of the camera is perpendicular to the moving direction of the mobile device, and the method includes: Controlling the mobile device to move to each first set position according to a set first moving trajectory; wherein different first set positions correspond to different position nodes of the first moving trajectory; Controlling the camera to detect the markers in the vertical direction of each of the first set positions to obtain the detected positions of the markers in the camera coordinate system; Determine a position deviation value between the detection position and the set standard position; wherein the position deviation value is a reference data for measuring camera calibration anomalies of the mobile device.

2. 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 markers in the vertical direction of each of the first set positions to obtain the detection positions of the markers in the camera coordinate system includes: Controlling the first camera to detect the markers above each of the first set positions to obtain a first detection position of the marker in a camera coordinate system; The second camera is controlled to detect the marks below each of the first set positions to obtain a second detection position of the mark in the camera coordinate system; wherein the detection position includes a first detection position and a second detection position.

3. The method according to claim 2, characterized in that The determining of the position deviation value between the detection position and the set standard position includes: Determine that the third position information represents a first position deviation value between a detection position of the marker on a camera coordinate system and a set standard position; Determine that the fourth position information represents a second position deviation value between the detection position of the marker on the camera coordinate system and the standard position; wherein the position deviation value includes a first position deviation value and a second position deviation value.

4. The method according to claim 1, characterized in that The first moving trajectory includes a forward moving trajectory and a backward moving trajectory; wherein, the first position node and the last position node of the forward moving trajectory and the backward moving trajectory are the same, the direction from the first position node of the forward moving trajectory to the remaining position nodes of the forward moving trajectory is the forward direction of the mobile device, and the direction from the first position node of the backward moving trajectory to the remaining position nodes of the backward moving trajectory is the backward direction of the mobile device.

5. The method according to claim 4, characterized in that The method further comprises: When the position deviation value indicates that the camera calibration of the mobile device is completed, controlling the mobile device to move to each second set position according to a set second moving trajectory; wherein different second set positions correspond to different position nodes of the second moving trajectory; wherein different first set positions correspond to different position nodes of the second moving trajectory; The camera is controlled to detect marks in the vertical direction of each of the first 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.

6. The method according to claim 5, 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.

7. The method according to claim 5, characterized in that The first position node of the first moving trajectory and the first position node of the second moving trajectory are connected through the first position node.

8. A calibration device for a mobile device, characterized in that: include: A control module, used for controlling the mobile device to move to each first set position according to a set first moving trajectory; wherein different first set positions correspond to different position nodes of the first moving trajectory; An obtaining module, used for controlling the camera to detect the mark in the vertical direction of each of the first set positions, and obtaining the detection position of the mark in the camera coordinate system; The determination module is used to determine the position deviation value between the detection position and the set standard position; wherein the position deviation value is a reference data for measuring the camera calibration abnormality of the mobile device.

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.

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