Parameter calibration method and system of mobile robot

Abstract

The invention relates to a parameter calibration method and system for a mobile robot. The parameter calibration method comprises the steps that whether the mobile robot moves to a preset position or not is judged; if the mobile robot moves to the preset position, controlling the mobile robot to stop moving; and after the mobile robot stands for a preset time, the mobile robot is controlled to calibrate positioning parameters of the mobile robot. Therefore, the mobile robot can calibrate the positioning parameters at each preset position, if a plurality of preset positions are set, it is ensured that the mobile robot can continuously calibrate the positioning parameters at the plurality of preset positions, and the positioning precision of the mobile robot is improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a parameter calibration method and system for a mobile robot. Background Art

[0002] With the development of science and technology and people's increasing demands for quality of life, mobile robots have gradually appeared in people's daily lives and work, such as sweeping robots, gardening robots, and factory handling robots. During the operation of mobile robots, they need to use positioning units for real-time positioning.

[0003] Currently, a fixed position is usually set, such as the charging base of the robot, as the basic position. When the positioning unit of the mobile robot moves to the basic position, the positioning parameters of the positioning unit are zero, which is used as the original data for subsequent positioning.

[0004] However, due to factors such as the positioning unit's installation or power-on, temperature, or external interference, its raw data is prone to a certain zero-position offset. Furthermore, the positioning parameter output by the positioning unit should be zero when stationary, but due to the zero offset, the positioning unit may output a non-zero positioning parameter even when stationary, resulting in a certain error in the positioning parameter output by the positioning unit. Furthermore, the positioning unit's zero offset may be unstable, meaning it may vary at different times. If the positioning parameter is still used as a reference, the mobile robot's positioning will be inaccurate. Summary of the Invention

[0005] Based on this, it is necessary to provide a parameter calibration method, system and computer program product for a mobile robot to address the above technical problems, which can perform zero-bias or zero-position calibration on positioning parameters at multiple preset positions to improve the positioning accuracy of the mobile robot.

[0006] In a first aspect, the present application provides a parameter calibration method for a mobile robot, the parameter calibration method comprising: determining whether the mobile robot has moved to a preset position; if the mobile robot has moved to the preset position, controlling the mobile robot to stop moving; after the mobile robot has been stationary for a preset time, controlling the mobile robot to calibrate its own positioning parameters.

[0007] In the second aspect, the present application also provides a parameter calibration system for a mobile robot, which includes: a judgment module for judging whether the mobile robot has moved to a preset position; a moving module for controlling the mobile robot to stop moving when the judgment module judges that the mobile robot has moved to the preset position; and a calibration module for controlling the mobile robot to calibrate its own positioning parameters after the mobile robot has been stationary for a preset time.

[0008] The above describes a method and system for calibrating parameters of a mobile robot. The method includes determining whether the mobile robot has moved to a preset position; if so, controlling the mobile robot to stop moving; and, after the mobile robot has remained stationary for a preset period of time, controlling the mobile robot to calibrate its own positioning parameters. Therefore, the mobile robot can calibrate its positioning parameters at each preset position. If multiple preset positions are set, the mobile robot can continuously calibrate its positioning parameters at each of these positions, thereby improving the positioning accuracy of the mobile robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a schematic diagram of one of the scenarios of the mobile robot in the embodiment of the present application;

[0010] Figure 2 This is a flow chart of a parameter calibration method for a mobile robot provided in an embodiment of the present application;

[0011] Figure 3 1 is a flow chart of another method for calibrating parameters of a mobile robot provided in an embodiment of the present application;

[0012] Figure 4-6 It is a schematic diagram of the movement process of the mobile robot when it is passively docked on the base station;

[0013] Figure 7 1 is a flow chart of another method for calibrating parameters of a mobile robot provided in an embodiment of the present application;

[0014] Figure 8-10 Schematic diagram of the movement of the mobile robot at the inflection point in an embodiment of the present application;

[0015] Figure 11 1 is a flow chart of another method for calibrating parameters of a mobile robot provided in an embodiment of the present application;

[0016] Figure 12 1 is a flow chart of another method for calibrating parameters of a mobile robot provided in an embodiment of the present application;

[0017] Figure 13 1 is a flow chart of another method for calibrating parameters of a mobile robot provided in an embodiment of the present application;

[0018] Figure 14 1 is a flow chart of another method for calibrating parameters of a mobile robot provided in an embodiment of the present application;

[0019] Figure 15 and Figure 16This is a schematic diagram of the movement process of the mobile robot in the bow operation mode;

[0020] Figure 17 1 is a flow chart of another method for calibrating parameters of a mobile robot provided in an embodiment of the present application;

[0021] Figure 18-19 Schematic diagram of the movement of the mobile robot in the transition mode provided in an embodiment of the present application;

[0022] Figure 20 1 is a flow chart of another method for calibrating parameters of a mobile robot provided in an embodiment of the present application;

[0023] Figure 21 1 is a flow chart of another method for calibrating parameters of a mobile robot provided in an embodiment of the present application;

[0024] Figure 22 This is a schematic structural diagram of a parameter calibration system for a mobile robot provided in an embodiment of the present application;

[0025] Figure 23 This is a basic structural block diagram of the computer device in this embodiment. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0027] Mobile robots can be categorized into indoor and outdoor robots based on their operating environments. Indoor robots include cleaning robots, warehouse handling robots, restaurant delivery robots, and hotel service robots. Outdoor robots include gardening robots, which can be categorized into lawn mowing robots, disinfection robots, and other types based on their functions. In the examples of this application, lawn mowing robots are used as examples unless otherwise specified.

[0028] When a mobile robot is working outdoors, it needs to perform real-time positioning. If it relies solely on its own positioning sensors for positioning, the complex outdoor environment will cause inaccurate positioning. Currently, the solution to this problem is to set boundary wires at the boundaries of the mobile robot's working area. For details, please refer to Figure 1 , Figure 1 This is a schematic diagram of one of the scenarios of the mobile robot in the embodiment of this application. Figure 1As shown, the boundary wires are arranged to form the working area of ​​the mobile robot. The two ends of the boundary wires are connected to the base station of the mobile robot. The base station includes a controller and at least one of a docking module, a charging module (not shown in the figure), a signal generating module (with a built-in signal generator, not shown in the figure), and a supply and recovery module. Among them, the docking module is provided for the mobile robot to dock, and the charging module is provided for the mobile robot to charge. The signal generating module includes an interface (not shown in the figure), which is connected to the two ends of the boundary wire and is used to transmit the boundary signal and positioning signal generated by the signal generator to the boundary wire. The boundary signal generates a magnetic field with polarity, that is, an electrical signal is transmitted to the boundary wire through the base station, and the electrical signal generates a magnetic field with polarity. The controller is used to control the signal generation of the signal generator, and can perform parameter calibration on the docked mobile robot. The supply and recovery module is used to recycle waste on the mobile robot. For example, in the application scenario of a cleaning robot, the supply and recovery module includes a dust collection bucket for recycling garbage in the dust box of the cleaning robot.

[0029] The mobile robot includes a positioning sensor assembly for positioning the mobile robot. The positioning sensor assembly includes a first positioning sensor and a second positioning sensor. The first positioning sensor is a first sensing coil having a first sensitive axis and is used to detect signals in the direction of the first sensitive axis. The second positioning sensor is a second sensing coil having a second sensitive axis and is used to detect signals in the direction of the second sensitive axis. The first sensitive axis and the second sensitive axis are parallel, and the first and second positioning sensors are distributed on the central axis of the mowing robot.

[0030] The mobile robot also includes a boundary sensing assembly for identifying boundary wires arranged at the perimeter of its work area and thereby controlling the movement of the mobile robot. The boundary sensing assembly includes a first boundary sensor and a second boundary sensor, which are located on either side of the positioning sensor assembly. The first boundary sensor is located at a first distance from the positioning sensor assembly, and the second boundary sensor is located at a second distance from the positioning sensor assembly. The first distance is equal to the second distance, meaning that the first and second boundary sensors are symmetrical about the central axis of the mobile robot. In other applications, the first and second boundary sensors may be located on either side of the mobile robot, without limiting their specific locations. The first boundary sensor is a third sensor coil, and the second boundary sensor is a fourth sensor coil. The third sensitive axis of the third sensor coil is parallel to the fourth sensitive axis of the fourth sensor coil. Both the third and fourth sensitive axes are perpendicular to the first and second sensitive axes.

[0031] The mobile robot has at least two boundary sensors and two positioning sensors. Since the base station is connected to the boundary wire, the signal generator connected to the base station transmits a high-frequency positioning signal and a low-frequency boundary signal at preset intervals. When the boundary wire is located between the first boundary sensor and the second boundary sensor, the polarity of the magnetic field signals detected by the first boundary sensor and the second boundary sensor are opposite, and the magnetic field strength is comparable. When the boundary wire is located outside the mobile robot, the magnetic field direction felt by the first boundary sensor and the second boundary sensor is the same, and the magnetic field strength felt by the boundary sensor closer to the boundary wire is greater. The above signal characteristics are used to control the mobile robot to travel along the boundary wire. Furthermore, the two positioning sensors obtain the current position of the mobile robot by detecting the positioning signal.

[0032] Furthermore, the mobile robot also includes an inertial sensing unit for calculating its heading angle and velocity, among other things. This, combined with the positioning sensor components, enables precise positioning of the mobile robot. The inertial sensing unit may include positioning elements such as gyroscopes and accelerometers. However, in actual operation, the mobile robot defaults to its position on the base station as the origin, with the gyroscope's angle at this point set to 0 degrees. Due to factors such as gyroscope installation, power-up, and temperature, the raw data may have a certain zero-position offset. Furthermore, the angular velocity output by the gyroscope should be 0 when stationary. However, due to the presence of bias, the gyroscope may also output a non-zero angular velocity even when stationary, resulting in a certain degree of error in the angular velocity output. Furthermore, the gyroscope's bias may be unstable, meaning it may vary at different times. Using this angle or angular velocity as a reference will result in inaccurate positioning of the mobile robot. Therefore, the present application provides a parameter calibration method for a mobile robot, so that the positioning parameters of the mobile robot, such as the positioning parameters of a gyroscope, can be calibrated at multiple preset positions, thereby improving the positioning accuracy of the mobile robot.

[0033] See also Figure 2 , Figure 2 FIG. 1 is a flow chart of a parameter calibration method for a mobile robot provided in an embodiment of the present application. Figure 2 As shown, the method for identifying inside and outside of a working area in this embodiment includes the following steps:

[0034] Step S1: Determine whether the mobile robot has moved to a preset position.

[0035] The preset position can be a position that is convenient for the mobile robot to locate, such as a base station, a boundary wire, an inflection point of a boundary wire, a breakpoint position (the position when the power is judged to be lower than a preset power threshold), and the starting point position of the working area.

[0036] In this step, multiple preset positions can be set to facilitate the mobile robot to calibrate positioning parameters at different preset positions, thereby improving positioning accuracy.

[0037] In this step, the mobile robot is controlled to move, and whether it moves to the preset position is determined in real time during the movement. If it is determined that the mobile robot moves to the preset position, jump to step S2. If it is determined that the mobile robot does not move to the preset position, return to step S1 and continue to determine.

[0038] Step S2: Control the mobile robot to stop moving.

[0039] Because mobile robots generate varying degrees of vibration during movement, and factors such as operating temperature and external interference can affect fluctuations in the robot's positioning parameters, this step addresses this issue by stopping the robot at a preset position to reduce the effects of vibration and temperature on the positioning parameters. This allows the robot to calibrate its positioning parameters while stationary, improving positioning accuracy.

[0040] Furthermore, after the mobile robot reaches the preset position, it is necessary to further control the mobile robot to maintain a horizontal state. If the mobile robot is not in a horizontal state, the mobile robot state can be adjusted by repeatedly turning or moving back and forth. If the mobile robot still cannot reach a horizontal state after adjustment, the mobile robot can be controlled to stop near the preset position and ensure that the mobile robot is in a horizontal state to improve the accuracy of parameter calibration.

[0041] Step S3: After the mobile robot has been stationary for a preset time, the mobile robot is controlled to calibrate its own positioning parameters.

[0042] Positioning parameters may include the position parameter, speed parameter, direction parameter, attitude parameter and trajectory parameter of the mobile robot. Among them, the position parameter refers to one of the most direct and important parameters for positioning a mobile robot, which represents the coordinates of the mobile robot in two-dimensional or three-dimensional space. The speed parameter indicates the speed of the mobile robot's movement in a certain direction. The direction parameter refers to the direction of the mobile robot in the application environment. The direction parameter is very important for mobile robots, especially in those situations that require fine operation or need to perceive the direction of the environment. The attitude parameter is a way to describe the state of the mobile robot, including its inclination, pitch angle and yaw angle. The trajectory parameter is also an important positioning parameter for mobile robots that need to perform specific tasks or movements.

[0043] After a preset period of stillness, the various states of the mobile robot itself will become still, such as vibration will be greatly reduced and the operating temperature will also be lowered, thereby ensuring the stability of the positioning parameters of the mobile robot in different directions and improving the accuracy of positioning parameter calibration.

[0044] Therefore, in this embodiment, when the mobile robot moves to a preset position that meets the positioning parameter calibration requirements, the mobile robot is controlled to stop for a preset time, and then the mobile robot is further controlled to calibrate its own positioning parameters, such as the positioning parameters of the inertial sensor unit. Since multiple preset positions can be set, the mobile robot can be ensured to continuously calibrate the positioning parameters at different preset positions, thereby improving the positioning accuracy.

[0045] As mentioned above, multiple preset positions can be set, wherein these preset positions can be preset according to the working mode of the mobile robot. For example, the preset positions can be set as a base station, a boundary wire, an inflection point on the boundary wire, and the starting position of the working area according to the charging mode, edge mode, bow operation mode, transition mode, and recharge mode of the mobile robot. Specifically, the preset position corresponding to the charging mode and recharge mode of the mobile robot is set as the base station, the preset position corresponding to the edge mode of the mobile robot is set as the inflection point on the boundary wire, the preset position corresponding to the bow operation mode of the mobile robot is set as the boundary wire, and the preset position corresponding to the transition mode of the mobile robot is set as the starting position of the working area.

[0046] See also Figure 3 , Figure 3 FIG. 1 is a flow chart of another method for calibrating parameters of a mobile robot provided in an embodiment of the present application. Figure 3 As shown, when the mobile robot is docked on the base station, step S1 further includes the following steps:

[0047] Step S11: Determine whether the mobile robot automatically docks on a base station.

[0048] As mentioned above, when the base station is used as the preset position, the working modes of the mobile robot include recharge mode and charging mode. Charging mode is a mode in which the mobile robot replenishes its power on the base station. Recharge mode is a mode in which the mobile robot returns to the base station for charging when it detects that its power is insufficient outside the base station. In these working modes, if the mobile robot automatically docks on the base station, the position of the mobile robot is the origin (zero position) of the mapping positioning coordinate system. If the positioning parameters are calibrated at this position, the accuracy of the initial positioning parameters can be guaranteed and the positioning cumulative error can be reduced; if the mobile robot passively docks on the base station, the position of the mobile robot is most likely not the origin (zero position) of the mapping positioning coordinate system, or the mobile robot is in a non-horizontal state, or the position of the mobile robot is not the origin (zero position) of the mapping positioning coordinate system and the mobile robot is in a non-horizontal state. If the positioning parameters are calibrated at this position, the positioning parameter calibration result is inaccurate, affecting the positioning accuracy of the mobile robot. Therefore, this step first determines whether the mobile robot is automatically docked on the base station. If it is determined that the mobile robot is automatically docked on the base station, jump to step S12. If it is determined that the mobile robot is not automatically docked on the base station, jump to step S13.

[0049] Step S12: Determining whether the mobile robot has moved to the preset position. Specifically, if the mobile robot is determined to have automatically docked on the base station, the mobile robot is determined to have moved to the preset position. After the mobile robot remains stationary on the base station for a preset period of time, its positioning parameters, such as the positioning parameters of the inertial sensor unit, may be calibrated.

[0050] Step S13: Determine whether the mobile robot has not moved to the preset position. That is, if it is determined that the mobile robot has not automatically docked at the base station, the mobile robot does not meet the positioning parameter calibration conditions and needs to be adjusted before the positioning parameter calibration can be performed.

[0051] In this embodiment, when the mobile robot needs to be charged, it is determined whether it has reached the preset position based on the way the mobile robot docks on the base station, that is, whether it meets the calibration conditions of the positioning parameters. In this way, it is possible to check in advance whether the calibration conditions of the positioning parameters are met to improve the positioning accuracy.

[0052] Wherein, after determining that the mobile robot has not moved to the preset position, that is, after determining that the mobile robot has not automatically docked on the base station, the mobile robot can be further controlled to exit the base station, and then controlled to dock on the base station again. Figure 4-6 , Figure 4-6 This is a schematic diagram of the mobile robot's movement process when it is passively docked on the base station. Figure 4-6As shown, when the mobile robot passively moves to the base station, the mobile robot is controlled to exit the base station. After the mobile robot exits the base station by a preset distance, the mobile robot is controlled to move toward the base station and dock at the base station again.

[0053] Because the mobile robot is controlled to automatically dock at the base station again, the position of the mobile robot is the origin (zero position) of the mapping positioning coordinate system. If the positioning parameters are calibrated at this position, the accuracy of the initial positioning parameters can be guaranteed, and the accumulated positioning error can be reduced. Therefore, the positioning accuracy can be improved when the positioning parameters of the inertial sensor unit are corrected.

[0054] In one embodiment, the mobile robot can be controlled to retreat a predetermined distance from the base station along the boundary wire, then further advance along the boundary wire toward the base station and re-park at the base station. Thus, the boundary wire can be used to guide the movement of the mobile robot, improving the efficiency and accuracy of the mobile robot's docking at the base station.

[0055] After the mobile robot is on the base station and meets calibration conditions, it can be controlled to perform zero-position calibration on its own positioning parameters, for example, controlling the zero-position calibration of the positioning parameters of the inertial sensing unit. As previously described, positioning parameters may include position parameters, direction parameters, speed parameters, attitude parameters, and trajectory parameters. In this embodiment, the positioning parameters for zero-position calibration may be the attitude parameters of the mobile robot.

[0056] The specific method of zero-position calibration is: when the mobile robot is in the alignment state, the angle of the inertial sensor unit is set to zero. This can achieve the calibration of the positioning parameters of the mobile robot's inertial sensor unit, making the inertial sensor unit more accurate in subsequent positioning and improving positioning accuracy.

[0057] See also Figure 7 , Figure 7 FIG. 1 is a flow chart of another method for calibrating parameters of a mobile robot provided in an embodiment of the present application. Figure 7 As shown, when the mobile robot is in the edge-following mode, the corresponding preset position is set to the inflection point position on the boundary wire. The edge-following mode refers to the mode in which the mobile robot moves along the boundary wire. Step S1 also includes the following steps:

[0058] Step S21: Determine whether the mobile robot has moved to the inflection point of the boundary wire.

[0059] When a mobile robot is in edge-moving mode, moving along a boundary wire, the inflection point is located where the boundary wire no longer continues in one direction, and the mobile robot needs to turn. Setting the inflection point to a preset position and controlling the mobile robot to calibrate positioning parameters before or after turning ensures navigation accuracy, smooth movement, and mission reliability. Specifically, this has the following effects:

[0060] First, it improves mobile robot navigation accuracy: Without positioning parameter calibration, a mobile robot may deviate from its intended trajectory during steering due to mechanical errors, road conditions, environmental conditions, and other factors. Positioning parameter calibration helps mobile robots more accurately determine their position and orientation, allowing them to more precisely stay on track during steering.

[0061] Second, it ensures smooth motion of the mobile robot. During a mobile robot's steering process, uncalibrated positioning parameters can cause unstable rotation, unwanted swaying, or vibration. This not only affects the robot's performance but can also negatively impact its service life. Positioning parameter calibration eliminates these errors, ensuring smoother motion.

[0062] Third, it can enhance the mission reliability of mobile robots: Many mobile robots are used to perform tasks that require high precision and reliability, such as material delivery and environmental monitoring. In these scenarios, steering accuracy directly impacts the quality of mission completion. Calibrating positioning parameters ensures that steering errors do not affect mission reliability.

[0063] Fourth: Optimizing the control system of mobile robots: Regularly calibrating positioning parameters can help mobile robots better adapt to various environments and conditions, thereby optimizing their control systems. This helps improve the navigation and motion performance of mobile robots when they encounter similar situations in the future.

[0064] Fifth: It can prevent potential dangers in mobile robots: In some cases, uncalibrated errors can cause mobile robots to unexpectedly turn or deviate from their intended path, potentially causing safety issues or unnecessary damage. Positioning parameter calibration can reduce this risk and improve the safety of mobile robots.

[0065] Therefore, in order to ensure the navigation accuracy, movement smoothness, mission reliability and overall performance of the mobile robot, it is necessary to set the inflection point position to a preset position and control the mobile robot to calibrate the positioning parameters at the preset position.

[0066] In this step, the mobile robot is controlled to move along the boundary wire, and whether it reaches the inflection point position is determined in real time during the movement. If it is determined that the mobile robot has moved to the inflection point position of the boundary wire, jump to step S22. If it is determined that the mobile robot has not moved to the inflection point position of the boundary wire, return to step S21.

[0067] Step S22: controlling the mobile robot to continue moving, and determining that the mobile robot moves to the preset position when the mobile robot moves a first preset distance.

[0068] The mobile robot continues to move forward a first preset distance so that the center of its wheel axle is located at the turning point. At this time, it reaches the position where the mobile robot turns, and the mobile robot stops to calibrate the positioning parameters. The pause time required for the positioning parameter calibration and the pause time required for turning just overlap, so that the user cannot feel the obvious pause caused by the positioning parameter calibration, which can improve the user experience.

[0069] In a practical application, please refer to Figure 8-10 , Figure 8-10 Schematic diagram of the movement of the mobile robot at the inflection point in the embodiment of the present application. Figure 8-10 As shown, the mobile robot moves along the boundary wire. When the mobile robot reaches the turning point, it continues to move in the original direction until the center of its wheel axle is at the turning point. At this time, the mobile robot stops, prepares for turning, and calibrates the positioning parameters, so that the user does not feel the obvious pause caused by the positioning parameter calibration, which can improve the user experience.

[0070] It is worth noting that in another embodiment, if user experience is ignored, when step S21 determines that the mobile robot has moved to the inflection point of the boundary wire, step S22 can directly determine that the mobile robot has moved to the preset position, and the positioning parameters can be calibrated directly. This can ensure the navigation accuracy of the mobile robot during subsequent turns.

[0071] The inflection point position in step S21 can be determined by the boundary signal features recognized by the mobile robot. For details, please refer to Figure 11 , Figure 11 This is a flow chart of another method for calibrating parameters of a mobile robot provided in an embodiment of the present application, such as Figure 11 As shown, step S21 further includes the following steps:

[0072] Step S31: Acquire a first boundary signal feature detected by the first boundary sensor.

[0073] Step S32: Acquire a second boundary signal feature detected by the second boundary sensor.

[0074] As the mobile robot moves along the boundary wire, the two boundary sensors each capture the magnetic field signals generated by the electrical signals emitted by the base station on the boundary wire as boundary signal characteristics. These signals control the movement of the mobile robot along the boundary wire based on their respective boundary signal characteristics. The boundary signal characteristics are the polarity and strength of the magnetic field generated by the electrical signals emitted by the base station on the boundary wire. As the mobile robot moves along the boundary wire, its two boundary sensors detect a first boundary signal characteristic and a second boundary signal characteristic on either side of the boundary wire, respectively. The first and second boundary signal characteristics have opposite polarities and are of equal or approximately equal signal strength.

[0075] Step S33: Determine whether the first boundary signal feature or the second boundary signal feature has changed.

[0076] As mentioned above, at the inflection point, since the boundary wire no longer continues in one direction but bends to the other direction, the two boundary sensors set in front of the mobile robot are located outside the boundary wire, and the boundary signal characteristics detected by them will change. In this embodiment, the change in magnetic field polarity is used as the judgment object. For details, please refer to Figure 8 As shown, at the inflection point, because both boundary sensors are located outside the boundary conductor, the polarity of the detected first boundary signal feature or the second boundary signal feature changes from opposite to the same, indicating a change. At this point, step S34 can be executed, i.e., determining that the inflection point of the boundary conductor has been reached.

[0077] It should be understood that if the boundary signal features detected by the two boundary sensors do not change, it can be determined that the mobile robot has not moved to the inflection point position of the boundary wire, and then the process returns to step S33 for further determination.

[0078] Step S34: Determine whether the mobile robot has moved to the inflection point of the boundary wire.

[0079] After reaching the inflection point, as described above, in one embodiment, the mobile robot can be controlled to continue moving in the original direction for a first preset distance. During this movement, if the polarity of the first boundary signal feature or the second boundary signal feature obtained by the mobile robot remains the same, the mobile robot stops moving. After a preset period of rest, the positioning parameters of the mobile robot, such as those of the inertial sensing unit, are calibrated. In another embodiment, the mobile robot can stop directly at the inflection point to calibrate the positioning parameters.

[0080] Two boundary sensors are used to determine whether the mobile robot has moved to the turning point. Since the boundary sensors are built-in components of the mobile robot, no additional components are required, saving costs. In addition, the layout feature points (inflection point positions) of the boundary wires are judged by the magnetic field characteristics of the boundary wires. This method is simple and does not require additional judgment environments, which also saves costs.

[0081] In another embodiment, after determining the inflection point position through the first boundary signal feature or the second boundary signal feature respectively obtained by the first boundary sensor and the second boundary sensor, the boundary signal features detected by the first boundary sensor and the second boundary sensor may be further used to determine whether the preset position has been reached. Figure 12 , Figure 12 FIG. 1 is a flow chart of another method for calibrating parameters of a mobile robot provided in an embodiment of the present application. Figure 12 As shown, step S1 further includes the following steps:

[0082] Step S311: Determine whether the mobile robot has moved to the inflection point of the boundary wire. The details are as described in the above step S21 and will not be repeated here.

[0083] In this step, if the result of the judgment is yes, jump to step S312, if the result of the judgment is no, return to step S311.

[0084] Step S312: Acquire the first boundary signal feature detected by the first boundary sensor and the second boundary signal feature detected by the second boundary sensor. The details are as described above in step S31 and step S32, and will not be repeated here.

[0085] Step S313: Determine whether the mobile robot has turned.

[0086] As mentioned above, after the mobile robot reaches the turning point position, it needs to turn after moving the first preset distance. Therefore, this step first determines whether the mobile robot has turned. If the mobile robot has turned, jump to step S314. If the mobile robot has not turned, return to step S313 and continue to judge.

[0087] Step S314: Determine whether the strength of the first boundary signal feature is equal to the strength of the second boundary signal feature.

[0088] As mentioned above, the boundary signal characteristics are the magnetic field polarity and magnetic field strength formed on the boundary wire by the electrical signal emitted by the base station. The above article uses the change in magnetic field polarity to determine whether the mobile robot has reached the turning point. After reaching the turning point, the characteristics of the magnetic field strength can be further used to determine whether it has reached the preset position.

[0089] In this step, if the strength of the first boundary signal feature is equal to the strength of the second boundary signal feature, jump to step S315; if the strength of the first boundary signal feature is not equal to the strength of the second boundary signal feature, return to step S314.

[0090] Step S315: Determine whether the mobile robot has moved to the preset position.

[0091] Therefore, in this embodiment, by determining whether the mobile robot reaches a preset position after turning at the inflection point, the mobile robot is controlled to calibrate the positioning parameters after turning, thereby ensuring the navigation accuracy of the mobile robot during subsequent movement.

[0092] In other embodiments, if the mobile robot is in recharge mode, that is, the mobile robot needs to return to the base station for recharging due to insufficient power during operation, the positioning parameters can be calibrated at the location where the power is insufficient, and then the mobile robot can be controlled to move along the boundary wire until it returns to the base station, and the positioning parameters of the mobile robot can be calibrated at the base station. Figure 13 , Figure 13 FIG. 1 is a flow chart of another method for calibrating parameters of a mobile robot provided in an embodiment of the present application. Figure 13 As shown, step S1 further includes the following steps:

[0093] Step S321: Determine whether the battery level of the mobile robot is lower than a preset battery threshold.

[0094] The mobile robot needs to monitor its battery level in real time while operating. It can only operate smoothly when it has sufficient battery power. Therefore, when the battery level of the mobile robot falls below the preset battery threshold, it needs to return to the base station for charging. In this step, if the battery level is below the preset battery threshold, the process proceeds to step S3212. If the battery level is greater than or equal to the preset battery threshold, the process returns to step S321.

[0095] Step S3212: Determine whether the mobile robot has moved to the preset position.

[0096] The location of the mobile robot when the battery level is detected to be below a preset threshold is determined as the preset location. This preset location serves as the mobile robot's breakpoint. The mobile robot leaves the breakpoint and returns to the base station for charging. After charging is complete, it returns to the breakpoint to resume its previous operation. This breakpoint is set as the preset location, and the mobile robot performs positioning parameter calibration at this preset location to ensure accurate navigation of the mobile robot's path back to the base station. Upon returning to the preset location, positioning parameter calibration can be performed again to ensure accurate navigation of the mobile robot as it continues its subsequent operation.

[0097] It should be understood that if the preset position is not on the boundary wire, the mobile robot can be controlled to move to the boundary wire after calibrating the positioning parameters at the preset position. Since the positioning signal on the boundary wire can control the movement of the mobile robot, calibration on the boundary wire is not required. After the mobile robot returns to the base station, the positioning parameters of the mobile robot are also calibrated at the base station. The specific calibration method is the same as that described above when the mobile robot is in charging mode and is not repeated here.

[0098] See also Figure 14 , Figure 14 FIG. 1 is a flow chart of another method for calibrating parameters of a mobile robot provided in an embodiment of the present application. Figure 14 As shown, when the mobile robot is in the bow operation mode, step S1 further includes the following steps:

[0099] Step S41: Determine whether the mobile robot reaches the boundary wire.

[0100] Please also refer to Figure 15 and 16 As shown, Figure 15 and 16 This is a schematic diagram of the movement process of the mobile robot in the bow operation mode, such as Figure 15 and 16 As shown, when the mobile robot is in the "bow" operation mode, it moves onto the boundary wire at both the starting and ending points of each "bow" path. The boundary wire transmits positioning signals, allowing the mobile robot to reposition itself on the boundary wire using two positioning sensors. During this repositioning process, calibrating the mobile robot's positioning parameters, such as those of its inertial sensing unit, can help the mobile robot achieve more accurate positioning. Therefore, in this embodiment, the boundary wire is used as the preset position.

[0101] In this step, the mobile robot is controlled to move along a preset bow path, and whether it reaches the boundary wire is determined in real time during the movement. If the mobile robot reaches the boundary wire, it jumps to step S42. If the mobile robot does not reach the boundary wire, it continues to move and continues to execute the judgment of step S41.

[0102] Step S42: Determine whether the mobile robot has moved to a preset position.

[0103] In this embodiment, when the mobile robot moves to the boundary wire, it is determined to move to the preset position, so that when the mobile robot repositions on the boundary, its own positioning parameters, such as the positioning parameters of the inertial sensor unit, can be calibrated first, thereby improving the accuracy of repositioning.

[0104] In another embodiment, step S42 may also include: when the mobile robot is controlled to move a second preset distance along the boundary wire, determining that the mobile robot has moved to the preset position. That is, when the mobile robot reaches the boundary wire, the mobile robot is controlled to move along the boundary wire. During movement, the mobile robot can be positioned using positioning signals transmitted by the boundary wire, thereby preventing the mobile robot from deviating from the boundary wire. When the mobile robot moves the second preset distance along the boundary wire, it is determined that the mobile robot has moved to the preset position, and the mobile robot is controlled to calibrate its own positioning parameters, such as the positioning parameters of the inertial sensing unit, thereby improving the accuracy of repositioning.

[0105] The position of the boundary wire in step S41 can be determined by the boundary signal characteristics recognized by the mobile robot. For details, please refer to Figure 17 , Figure 17 This is a flow chart of another method for calibrating parameters of a mobile robot provided in an embodiment of the present application, such as Figure 17 As shown, step S41 further includes the following steps:

[0106] Step S51: Acquire a first boundary signal feature detected by a first boundary sensor.

[0107] Step S52: Acquire a second boundary signal feature detected by the second boundary sensor.

[0108] When the mobile robot moves in the working area surrounded by the boundary wire, the two boundary sensors obtain very small strength of the boundary signal characteristics and the same polarity, or no boundary signal characteristics are obtained. The boundary signal characteristics are the magnetic field polarity and magnetic field strength formed on the boundary wire by the electrical signal emitted by the base station, such as Figure 15 As shown in Figure 2. When the mobile robot approaches the boundary wire, the intensity of the boundary signal characteristics detected by its two boundary sensors will change, and the intensity of the boundary signal characteristics will gradually increase. When the mobile robot continues to move in the original direction and reaches the boundary wire, the two boundary sensors move from the inside of the working area to the outside of the working area, as shown in Figure 2. Figure 16 As shown, the polarity of the boundary signal features detected by the two boundary sensors changes. For example, a positive boundary signal feature is detected when the sensor is inside the working area, and a negative boundary signal feature is detected when the sensor is outside the working area.

[0109] Step S53: Determine whether both the first boundary signal characteristic and the second boundary signal characteristic have changed. Specifically, the mobile robot is determined to have reached the boundary wire by obtaining the polarity of the magnetic field detected by the two boundary sensors. If both the first boundary signal characteristic and the second boundary signal characteristic have changed, for example, if both the magnetic field polarity detected by the two boundary sensors has changed, the process proceeds to step S54. If neither the first boundary signal characteristic nor the second boundary signal characteristic has changed, for example, if both the magnetic field polarity detected by the two boundary sensors has changed, the process returns to step S53 and continues determination.

[0110] Step S54: Determine whether the mobile robot has reached the boundary wire.

[0111] In this embodiment, two boundary sensors are used to determine whether the mobile robot has moved to the boundary wire. Since the boundary sensors are components built into the mobile robot, no additional components are required, saving costs. In addition, the boundary wire is judged by the magnetic field characteristics of the boundary wire. The method is simple and does not require additional judgment environments, which also saves costs.

[0112] See also Figure 18-19 , Figure 18-19 This is a schematic diagram of the movement of the transition mode of the mobile robot provided in the embodiment of the present application, such as Figure 18-19 As shown in the figure, the mobile robot usually divides the work area into multiple work areas before operation, such as work area 1 and work area 2. The mobile robot first completes the work in one work area, such as work area 1, and then moves to the next work area or work sub-area, such as work area 2. In the transition mode, the starting point of the next work area or work area can be used as the preset position. For details, please refer to Figure 20 , Figure 20 FIG. 1 is a flow chart of another method for calibrating parameters of a mobile robot provided in an embodiment of the present application. Figure 20 As shown, when the mobile robot is in the transition mode, step S1 further includes the following steps:

[0113] Step S61: Determine whether the mobile robot has reached the working area or the working starting point of the working area.

[0114] Mobile robots typically locate themselves within their work area or at the starting point of a work area to determine their working direction. Therefore, in transition mode, if the mobile robot moves to the next work area or the starting point of the next work area, it is considered to have moved to the preset position. Calibration of positioning parameters improves the mobile robot's positioning accuracy and facilitates accurate determination of the working direction.

[0115] In step S61, if the mobile robot has reached the working area or the working starting point of the working area, then jump to step S62; if the mobile robot has not reached the working area or the working starting point of the working area, then return to step S61.

[0116] Step S62: Determine whether the mobile robot moves to the preset position.

[0117] When the mobile robot is in edge-following mode, arching mode, transfer mode, or recharging mode and reaches a preset position, the mobile robot is controlled to perform zero-bias calibration on its positioning parameters, such as the positioning parameters of the inertial sensor unit, to improve the positioning accuracy of the mobile robot. It is worth noting that when the mobile robot is in recharging mode, it can perform zero-bias calibration of its positioning parameters at the location where it determines that the battery is low. After returning to the base station, it can perform zero-position calibration, or both zero-position calibration and zero-bias calibration.

[0118] The specific method for zero-bias calibration is to first obtain the reference positioning parameters of the mobile robot in a stationary state. Then, based on these reference positioning parameters, zero-bias calibration is performed on the mobile robot's motion positioning parameters. For example, the positioning parameter of the inertial sensor unit on the mobile robot is the angular velocity detected by the inertial sensor unit. When the mobile robot is in a stationary state, the angular velocity output by the inertial sensor unit is V0. When the mobile robot is in motion, the angular velocity Vi (i=1, 2, 3, 4...N) is used. The zero-bias value of the inertial sensor unit at each motion position is Vi - V0.

[0119] Optionally, before the mobile robot remains stationary for a preset time, a preset position of the mobile robot may be further obtained, and the preset time may be determined based on the preset position. In other words, the preset stationary time for the mobile robot varies for different preset positions. This is because different preset positions require different calibration schemes for the mobile robot's positioning parameters. As previously mentioned, the calibration scheme includes zero-position calibration and zero-bias calibration. Therefore, setting different stationary times facilitates calibration of the positioning parameters.

[0120] In a specific embodiment, see Figure 21 , Figure 21 FIG. 1 is a flow chart of another method for calibrating parameters of a mobile robot provided in an embodiment of the present application. Figure 21 As shown, the setting scheme of the preset static time may include the following steps:

[0121] Step S71: Determine whether the mobile robot is docked on a base station.

[0122] The calibration scheme adopted for docking on the base station is zero-position calibration, or zero-position calibration and zero-bias calibration. The calibration scheme for other preset positions is zero-bias calibration. Therefore, this step first determines whether the mobile robot is docked on the base station. If the mobile robot is docked on the base station, jump to step S72. If the mobile robot is not docked on the base station, jump to step S73.

[0123] Step S72: The mobile robot is kept stationary for a first preset time, which can be understood to be the time required for zero calibration, or the time required for zero calibration and zero offset calibration.

[0124] Step S73: The mobile robot is kept stationary for a second preset time. It is understandable that the second preset time is the time required for zero bias calibration.

[0125] The first preset time is greater than the second preset time. That is, zero calibration takes longer than offset calibration. This is because zero calibration requires resetting the positioning parameters to zero, while offset calibration only requires recording the current offset value. Therefore, zero calibration takes longer. The first preset time can be set to 10 seconds, and the second preset time can be set to 1-2 seconds or longer.

[0126] Setting different static times for different calibration schemes can fully save calibration time for the zero-bias calibration scheme that requires a shorter time, and allow the mobile robot to have enough time to calibrate for the zero-position calibration scheme that requires a longer time, thereby ensuring the accuracy of the calibration.

[0127] In another embodiment, the preset time of stillness can also be determined according to the working mode of the mobile robot. Specifically, the working mode of the mobile robot at the preset position is first obtained. As mentioned above, the working mode may include charging mode, recharging mode, edge mode, transition mode and bow operation mode, etc. Different working modes correspond to different preset positions, and their preset time of stillness is also different. That is, the preset time is determined according to the working mode. For example, if the working mode is charging mode, its preset position is the base station; if the working mode is transition mode, its preset position is the working starting point of the working area; the preset time of these positions can be set to be longer; if the working mode is edge mode, its preset position is the inflection point position of the boundary wire; if the working mode is bow operation mode, its preset position is on the boundary wire; the preset time of these preset positions can be set to be shorter.

[0128] The present application also provides a parameter calibration system for a mobile robot, which is applied to the parameter calibration method described above. Figure 22 , Figure 22FIG. 1 is a structural diagram of a parameter calibration system for a mobile robot provided in an embodiment of the present application. Figure 22 As shown, the parameter calibration system 70 includes:

[0129] Determination module 71 is configured to determine whether the mobile robot has moved to a preset position. The preset position may be a location convenient for the mobile robot to locate, such as a base station, a boundary wire, an inflection point of a boundary wire, or the starting point of a work area. The specific method for determining whether the mobile robot has moved to different preset positions is described above and will not be further elaborated here.

[0130] The moving module 72 is configured to control the mobile robot to stop moving when the judging module determines that the mobile robot has moved to the preset position.

[0131] Calibration module 73 is configured to control the mobile robot to calibrate its positioning parameters after the mobile robot has been stationary for a preset time. Calibration schemes include zero-position calibration and zero-bias calibration, and different calibration schemes correspond to different preset stationary times. The specific calibration schemes and corresponding preset stationary times are described above and will not be repeated here.

[0132] To solve the above technical problems, the present application also provides a computer device. Figure 23 , Figure 23 This is a basic structural block diagram of the computer device in this embodiment.

[0133] The computer device 6 includes a memory 61, a processor 62, and a network interface 63 that are interconnected through a system bus. It should be noted that the figure only shows a computer device 6 with components 61-63, but it should be understood that it is not required to implement all the components shown, and more or fewer components can be implemented instead. Among them, those skilled in the art can understand that the computer device here is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0134] The computer device may be a desktop computer, notebook computer, PDA, cloud server, etc. The computer device may interact with the user via a keyboard, mouse, remote control, touchpad, or voice control device.

[0135] The memory 61 includes at least one type of readable storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic storage, magnetic disk, optical disk, etc. In some embodiments, the memory 61 can be an internal storage unit of the computer device 6, such as the hard disk or memory of the computer device 6. In other embodiments, the memory 61 can also be an external storage device of the computer device 6, such as a plug-in hard disk equipped on the computer device 6, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Of course, the memory 61 can also include both the internal storage unit of the computer device 6 and its external storage device. In this embodiment, the memory 61 is generally used to store the operating system installed on the computer device 6 and various information management operating systems, such as computer-readable instructions for the parameter calibration method of the mobile robot. In addition, the memory 61 can also be used to temporarily store various types of data that have been output or are to be output.

[0136] In some embodiments, the processor 62 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chip. The processor 62 is generally used to control the overall operation of the computer device 6. In this embodiment, the processor 62 is used to execute computer-readable instructions or process data stored in the memory 61, such as computer-readable instructions for executing a parameter calibration method for a mobile robot.

[0137] The network interface 63 may include a wireless network interface or a wired network interface. The network interface 63 is generally used to establish a communication connection between the computer device 6 and other electronic devices.

[0138] The present application also provides another embodiment, namely, providing a computer program product, which stores computer-readable instructions, and the computer-readable instructions can be executed by at least one processor to enable the at least one processor to perform the steps of the parameter calibration method of the mobile robot as described above.

[0139] Embodiments of the present application provide a method and system for calibrating parameters of a mobile robot. The method comprises: determining whether the mobile robot has moved to a preset position; if the mobile robot has moved to the preset position, controlling the mobile robot to stop moving; and, after the mobile robot has remained stationary for a preset period of time, controlling the mobile robot to calibrate its own positioning parameters. Therefore, the mobile robot can calibrate its positioning parameters at each preset position. If multiple preset positions are set, the mobile robot can continuously calibrate its positioning parameters at multiple preset positions, thereby improving the positioning accuracy of the mobile robot.

[0140] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0141] The technical features of the above embodiments can 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.

[0142] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A parameter calibration method for a mobile robot, characterized in that: The parameter calibration method comprises: Determining whether the mobile robot has moved to a preset position; If the mobile robot moves to the preset position, controlling the mobile robot to stop moving; After the mobile robot remains stationary for a preset time, the mobile robot is controlled to calibrate its own positioning parameters.

2. The parameter calibration method according to claim 1, characterized in that: The method for determining whether the mobile robot has moved to a preset position includes: Determining whether the mobile robot automatically docks on a base station; If the mobile robot automatically docks on the base station, it is determined that the mobile robot has moved to the preset position; If the mobile robot does not automatically dock on the base station, it is determined that the mobile robot has not moved to the preset position.

3. The parameter calibration method according to claim 2, characterized in that: After determining that the mobile robot has not moved to the preset position, the parameter calibration method further includes: controlling the mobile robot to exit the base station; The mobile robot is controlled to dock on the base station again.

4. The parameter calibration method according to claim 3, characterized in that: The base station base is provided with a boundary wire, and the method of controlling the mobile robot to re-dock on the base station includes: The mobile robot is controlled to stop at the base station along the boundary wire.

5. The parameter calibration method according to any one of claims 1 to 4, characterized in that: The method for controlling the mobile robot to calibrate its own positioning parameters includes: The mobile robot is controlled to perform zero-position calibration on its own positioning parameters.

6. The parameter calibration method according to claim 5, characterized in that: The mobile robot is provided with an inertial sensing unit, and the method for controlling the mobile robot to perform zero-position calibration on its own positioning parameters comprises: The mobile robot is controlled to set the angle of the inertial sensing unit to zero.

7. The parameter calibration method according to claim 1, characterized in that: The working area of ​​the mobile robot is surrounded by a boundary wire, and the method for determining whether the mobile robot has moved to a preset position includes: Determining whether the mobile robot has moved to the inflection point of the boundary wire; If the mobile robot moves to the inflection point of the boundary wire, it is determined that the mobile robot has moved to the preset position; or The mobile robot is controlled to continue moving, and when the mobile robot moves a first preset distance, it is determined that the mobile robot moves to the preset position.

8. The parameter calibration method according to claim 7, characterized in that: The mobile robot is provided with a first boundary sensor and a second boundary sensor, and the method for determining whether the mobile robot has moved to the inflection point position of the boundary wire includes: Acquire a first boundary signal feature detected by the first boundary sensor; acquiring a second boundary signal feature detected by the second boundary sensor; determining whether the first boundary signal characteristic or the second boundary signal characteristic changes; If the first boundary signal feature or the second boundary signal feature changes, it is determined that the mobile robot has moved to the inflection point position of the boundary wire.

9. The parameter calibration method according to claim 1, characterized in that: The working area of ​​the mobile robot is surrounded by a boundary wire, and the mobile robot is provided with a first boundary sensor and a second boundary sensor. The method for determining whether the mobile robot has moved to a preset position includes: Determining whether the mobile robot has moved to the inflection point of the boundary wire; If the mobile robot moves to the inflection point of the boundary wire, obtaining a first boundary signal feature detected by the first boundary sensor and a second boundary signal feature detected by the second boundary sensor; Determining whether the mobile robot has turned; If the mobile robot has turned, determining whether the intensity of the first boundary signal feature is equal to the intensity of the second boundary signal feature; When the intensity of the first boundary signal feature is equal to the intensity of the second boundary signal feature, it is determined that the mobile robot has moved to the preset position.

10. The parameter calibration method according to claim 1, characterized in that: The method for determining whether the mobile robot has moved to a preset position includes: Determining whether the battery level of the mobile robot is lower than a preset battery threshold; If the battery level of the robot is lower than the preset battery threshold, it is determined that the mobile robot has moved to the preset position.

11. The parameter calibration method according to claim 1, wherein: The working area of ​​the mobile robot is surrounded by a boundary wire, and the method for determining whether the mobile robot has moved to a preset position includes: determining whether the mobile robot has reached the boundary wire; If the mobile robot reaches the boundary wire, it is determined that the mobile robot has moved to a preset position; or, When the mobile robot is controlled to move along the boundary wire for a second preset distance, it is determined that the mobile robot moves to the preset position.

12. The parameter calibration method according to claim 11, characterized in that: The mobile robot is provided with a first boundary sensor and a second boundary sensor, and the method for determining whether the mobile robot has reached the boundary wire includes: Acquire a first boundary signal feature detected by a first boundary sensor; Acquiring a second boundary signal feature detected by a second boundary sensor; Determining whether both the first boundary signal feature and the second boundary signal feature have changed; If both the first boundary signal feature and the second boundary signal feature change, it is determined that the mobile robot has reached the boundary wire.

13. The parameter calibration method according to claim 1, characterized in that: The method for determining whether the mobile robot has moved to a preset position includes: Determining whether the mobile robot has reached the working area or the working starting point of the working area; If the mobile robot travels to the working area or the working starting point of the working area, it is determined that the mobile robot moves to the preset position.

14. The parameter calibration method according to any one of claims 7 to 13, characterized in that: The method for controlling the mobile robot to calibrate its own positioning parameters includes: The mobile robot is controlled to perform zero-bias calibration on its own positioning parameters.

15. The parameter calibration method according to claim 14, characterized in that: The method for controlling the mobile robot to perform zero-bias calibration on its own positioning parameters comprises: Obtaining reference positioning parameters of the mobile robot in a stationary state; Based on the reference positioning parameters, zero bias calibration is performed on the motion positioning parameters of the mobile robot.

16. The parameter calibration method according to claim 14, characterized in that: The mobile robot is provided with an inertial sensing unit, and the positioning parameter is the angular velocity detected by the inertial sensing unit.

17. The parameter calibration method according to claim 1, characterized in that: Before the mobile robot remains stationary for a preset time, the method further includes: Obtaining a preset position of the mobile robot; The preset time is determined according to the preset position.

18. The parameter calibration method according to claim 17, characterized in that: The method for determining the preset time according to the preset position includes: Determining whether the mobile robot is docked on a base station; If the mobile robot is docked on the base station, the stationary time of the mobile robot is a first preset time; If the mobile robot does not dock on the base station, the stationary time of the mobile robot is a second preset time; Wherein, the first preset time is greater than the second preset time.

19. The parameter calibration method according to claim 1, characterized in that: Before the mobile robot remains stationary for a preset time, the method further includes: Obtaining the working mode of the mobile robot when it is at the preset position; The preset time is determined according to the working mode.

20. A parameter calibration system for a mobile robot, characterized in that: The parameter calibration system comprises: A judging module, configured to judge whether the mobile robot has moved to a preset position; A moving module, configured to control the mobile robot to stop moving when the judging module determines that the mobile robot has moved to the preset position; The calibration module is used to control the mobile robot to calibrate its own positioning parameters after the mobile robot has been stationary for a preset time.

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