Height adjustment calibration method and apparatus for lifting / lowering mechanism, and self-moving device and storage medium

Abstract

The present disclosure relates to the field of smart homes. Provided are a height adjustment calibration method and apparatus for a lifting / lowering mechanism, a self-moving device and a storage medium. The method comprises: acquiring first target information with respect to the ground before a lifting / lowering mechanism performs a height adjustment operation, and second target information with respect to the ground after the lifting / lowering mechanism performs the height adjustment operation; on the basis of the first target information and the second target information, determining whether the height adjustment operation satisfies a preset threshold requirement; and when the height adjustment operation does not satisfy the preset threshold requirement, controlling, on the basis of the first target information and / or the second target information, the lifting / lowering mechanism to perform a calibration operation. Thus, during use, the self-moving device can determine by itself whether the height adjustment operation of the lifting / lowering mechanism satisfies preset precision, and perform self-calibration, so as to improve the mapping and positioning precision of the self-moving device and ensure higher obstacle crossing capability.

Description

Methods, devices, self-moving equipment, and storage media for adjusting the height of lifting mechanisms Cross-references to related applications

[0001] This disclosure claims priority to Chinese patent application No. 202510128635.8, filed on January 27, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of smart homes, and in particular to a height adjustment calibration method, device, self-moving device, and storage medium for a lifting mechanism. Background Technology

[0003] With the rapid development of technology and the continuous improvement of people's living standards, smart homes have gradually become an indispensable part of modern families. In the field of smart homes, self-moving devices, such as robotic vacuum cleaners, have been favored by consumers for their efficiency and convenience. Currently, some robotic vacuum cleaners are equipped with lifting mechanisms to increase the distance between the walking mechanism and the body, thereby increasing the ground clearance of the machine, in order to enhance its obstacle-crossing ability. Summary of the Invention

[0004] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This part of the disclosure is not intended to limit the key features and essential technical features of the claimed technical solutions, nor is it intended to determine the scope of protection of the claimed technical solutions.

[0005] In a first aspect, embodiments of this disclosure provide a height adjustment calibration method for a lifting mechanism, used in a self-moving device. The self-moving device includes a body, a walking module, and a lifting mechanism. The lifting mechanism is used to perform a height adjustment operation to drive the walking module to extend and retract relative to the body. The method includes: acquiring first target information relative to the ground before the lifting mechanism performs the height adjustment operation, and second target information relative to the ground after the lifting mechanism performs the height adjustment operation; determining whether the height adjustment operation meets a preset threshold requirement based on the first target information and the second target information; and controlling the lifting mechanism to perform a calibration operation based on the first target information and / or the second target information when the height adjustment operation does not meet the preset threshold requirement.

[0006] Secondly, embodiments of this disclosure provide a height adjustment calibration device for a lifting mechanism, used in a self-moving device. The self-moving device includes a body, a walking module, and a lifting mechanism. The lifting mechanism is used to perform a height adjustment operation to drive the walking module to extend and retract relative to the body. The device includes: an acquisition module, used to acquire first target information relative to the ground before the lifting mechanism performs the height adjustment operation, and second target information relative to the ground after the lifting mechanism performs the height adjustment operation; a determination module, used to determine whether the height adjustment operation meets a preset threshold requirement based on the first target information and the second target information; and a calibration module, used to control the lifting mechanism to perform a calibration operation based on the first target information and / or the second target information when the height adjustment operation does not meet the preset threshold requirement.

[0007] Thirdly, embodiments of this disclosure provide a self-moving device, including: a body; a walking module disposed at the bottom of the body; a lifting mechanism for performing a height adjustment operation to drive the walking module to extend and retract relative to the body; a memory storing programs or instructions; and a processor that, when executing the programs or instructions, implements the steps of the method as described in the first aspect.

[0008] Fourthly, embodiments of this disclosure provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method as described in the first aspect.

[0009] Fifthly, embodiments of this disclosure provide a chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the method as described in the first aspect.

[0010] In a sixth aspect, embodiments of this disclosure provide a computer program product stored in a storage medium, which is executed by at least one processor to implement the method as described in the first aspect.

[0011] The above description is merely an overview of the technical solution disclosed herein. In order to better understand the technical means of this disclosure and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this disclosure more apparent and understandable, specific embodiments of this disclosure are described below. Attached Figure Description

[0012] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this disclosure, illustrate exemplary embodiments of the present disclosure and are used to explain the disclosure, but do not constitute an undue limitation of the disclosure. In the drawings:

[0013] Figure 1 shows one of the flowcharts of the height adjustment calibration method of the lifting mechanism according to an embodiment of the present disclosure;

[0014] Figure 2 shows a simplified structural diagram of the self-moving device according to an embodiment of the present disclosure from one perspective;

[0015] Figure 3 shows a simplified structural diagram of the self-moving device according to an embodiment of the present disclosure from another perspective;

[0016] Figure 4 shows one of the schematic diagrams of various postures of the self-moving device during the height adjustment and calibration process of the lifting mechanism according to an embodiment of the present disclosure;

[0017] Figure 5 shows a second schematic diagram of the various postures of the self-moving device during the height adjustment and calibration process of the lifting mechanism according to an embodiment of the present disclosure;

[0018] Figure 6 shows a schematic diagram of the various postures of the self-moving device during the height adjustment and calibration process of the lifting mechanism according to an embodiment of the present disclosure;

[0019] Figure 7 shows a simplified structural diagram of a self-movement device for determining the current sub-height of a servo motor according to an embodiment of the present disclosure;

[0020] Figure 8 shows a structural block diagram of the height adjustment calibration device of the lifting mechanism according to an embodiment of the present disclosure.

[0021] Figure label:

[0022] 100 Self-moving equipment, 110 fuselage, 120 walking module, 121 drive wheel, 122 driven wheel, 130 lifting mechanism, 131 first servo motor, 132 second servo motor, 200 ground, 800 height adjustment and calibration device for the lifting mechanism, 801 acquisition module, 802 determination module, 803 calibration module. Detailed Implementation

[0023] The technical solutions of the embodiments of this disclosure will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure are within the scope of protection of this disclosure.

[0024] The terms "first," "second," etc., used in this disclosure and in the claims are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this disclosure can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0025] Since robotic vacuum cleaners usually have a sensing system installed on their bodies, if the body is uneven after being raised, it will affect the accuracy of mapping and positioning. If the body does not reach the specified height after being raised, it will affect the obstacle-crossing ability.

[0026] As shown in Figures 1 to 8, the following detailed description, in conjunction with the accompanying drawings, of the height adjustment calibration method, apparatus, self-moving device 100, and readable storage medium of the lifting mechanism provided in this disclosure, through specific embodiments and application scenarios, will be provided in detail.

[0027] This disclosure provides a height adjustment and calibration method for a lifting mechanism, used in a self-moving device 100. The self-moving device 100 can be an automated driving device with obstacle-crossing capabilities, such as a sweeping robot, a mopping robot, a sweeping and mopping combo robot, an automated food delivery robot, or a package sorting robot. As shown in Figures 2 and 3, the self-moving device 100 includes a body 110, a walking module 120, and a lifting mechanism 130. The walking module 120 is located at the bottom of the body 110 and can drive the body 110 to move on an operating surface, which can be the surface to be cleaned or the surface to be traveled on. In some embodiments, the self-moving device 100 works or travels on the ground, which can be understood as the operating surface. For ease of description, this embodiment uses a sweeping robot as an example to describe the technical solution of this disclosure.

[0028] As shown in Figures 2 and 3, the walking module 120 includes a drive wheel 121 and a drive wheel module. The drive wheel 121 includes two drive wheels, left and right, and the drive wheel module can simultaneously control the left and right drive wheels. In some embodiments, to more precisely control the movement of the machine, the drive wheel module includes a left wheel module and a right wheel module to control the left and right drive wheels respectively. It is understood that the left wheel module and the right drive wheel module are arranged along the transverse axis defined by the body 110. To enable the self-moving device 100 to move more stably on the ground or to have stronger movement capabilities, the walking module 120 may also include one or more driven wheels 122, including but not limited to casters.

[0029] As shown in Figures 2 and 4, and Figures 5 and 6, the lifting mechanism 130 is connected to the body 110 and the walking module 120. The lifting mechanism 130 is used to perform a height adjustment operation to drive the walking module 120 to rise or fall relative to the body 110, so that the walking module 120 can extend or retract relative to the body 110 to adjust the distance between the body 110 and the operating surface, thereby increasing the ground clearance of the body 110, thereby improving the obstacle crossing height, increasing the operating range and cleaning range of the self-moving equipment 100, and improving user satisfaction.

[0030] The lifting mechanism 130 includes at least two servo motors. Different servo motors are connected to different parts of the travel module 120 and different parts of the fuselage 110 to enable the extension and retraction of different parts of the travel module 120 relative to the fuselage 110. Specifically, there can be two servo motors, which can respectively enable the extension and retraction of the left drive wheel and the right drive wheel relative to the fuselage 110, or the two servo motors can respectively enable the extension and retraction of the drive wheel 121 and the driven wheel 122 relative to the fuselage 110. Alternatively, there can be three servo motors, which respectively enable the extension and retraction of the left drive wheel, the right drive wheel, and the driven wheel 122 relative to the fuselage 110. Alternatively, the number of servo motors can be equal to the number of wheels, and each wheel can include two drive wheels and at least one driven wheel 122 to enable the extension and retraction of the corresponding wheel relative to the fuselage 110. Specifically, as shown in Figures 2 and 3, the walking module 120 includes two driving wheels 121 and one driven wheel 122, and the lifting mechanism 130 includes two first servo motors 131 and a second servo motor 132. The two first servo motors 131 are used to drive the two driving wheels 121 to extend and retract relative to the fuselage 110, respectively, and the second servo motor 132 is used to drive the driven wheel 122 to extend and retract relative to the fuselage 110.

[0031] Furthermore, the self-moving device 100 also includes, but is not limited to, a sensing module and a control module, with the sensing module, control module, walking module 120, lifting mechanism 130, etc., integrated on the body 110. The self-moving device 100 can be a self-moving cleaning device, which is a device that automatically performs cleaning operations in a certain area to be cleaned without user operation.

[0032] The sensing system includes a position determination device on the fuselage 110, a collision sensor and a proximity sensor on the buffer of the forward part of the fuselage 110, a cliff sensor on the lower part of the fuselage 110, and sensors such as a magnetometer, accelerometer, gyroscope, and odometer installed inside the fuselage 110, used to provide the control system with various position and motion status information of the machine. The position determination device includes, but is not limited to, a camera module and a laser distance measuring device (LDS, short for Laser Distance Sensor).

[0033] The control system includes a circuit board located within the fuselage 110, comprising a computing processor (e.g., a central processing unit, application processor) that communicates with non-transitory memory (e.g., hard disk, flash memory, random access memory). The application processor uses localization algorithms, such as Simultaneous Localization and Mapping (SLAM), to create a real-time map of the environment in which the self-moving device 100 is located, based on obstacle information fed back by the laser rangefinder. Furthermore, it combines distance and speed information fed back by sensors on the buffer, cliff sensors, magnetometers, accelerometers, gyroscopes, odometers, etc., to comprehensively determine the current operating state, location, and pose of the self-moving device 100. It also provides specific next action strategies for different situations, such as controlling the lifting mechanism 130 to drive the walking module 120 to rise and fall relative to the fuselage 110, thereby increasing the ground clearance of the fuselage 110 and improving its obstacle-crossing height.

[0034] As shown in Figure 1, the height adjustment calibration method for the lifting mechanism provided in this disclosure includes:

[0035] Step S101: Obtain the first target information relative to the ground before the lifting mechanism performs the height adjustment operation, and the second target information relative to the ground after the lifting mechanism performs the height adjustment operation.

[0036] To reduce the size of the self-moving device 100 and thus minimize its space occupation, while increasing its operating and cleaning range, the self-moving device 100 typically operates in an initial state with the walking module 120 retracted relative to the body 110. This ensures that the gap between the body 110 and the ground is minimized. In other words, the lifting mechanism 130 is initially in a retracted state, before it performs a height adjustment operation. When it is necessary to increase the gap between the body 110 and the ground to enhance obstacle-crossing capability, the lifting mechanism 130 will perform a height adjustment operation, extending the walking module 120 relative to the body 110 to increase the distance between the body 110 and the ground.

[0037] In Figure 4, 100a shows the initial posture of the self-moving device 100, i.e., the posture before the lifting mechanism 130 performs the height adjustment operation. Figure 4, 100b shows the posture of the self-moving device 100 after the lifting mechanism 130 performs the height adjustment operation. At this time, due to the inaccuracy of the height adjustment operation of the lifting mechanism 130, the fuselage 110 may be uneven, tilted, or have an unreasonable clearance between the fuselage 110 and the ground. Figure 4, 100c shows the posture of the self-moving device 100 after the height adjustment calibration operation. At this time, the fuselage 110 is level, and the clearance between the fuselage 110 and the ground is reasonable. That is, the first target information is obtained when the self-moving device 100 is in posture 100a, and the second target information is obtained when the self-moving device 100 is in posture 100b.

[0038] In this step, by acquiring the first target information relative to the ground before the lifting mechanism 130 performs the height adjustment operation, we can understand the relevant information of the walking mechanism relative to the ground when it is in the retracted state relative to the fuselage 110, that is, when the gap between the fuselage 110 and the ground is small or minimal. By acquiring the second target information relative to the ground after the lifting mechanism 130 performs the height adjustment operation, we can understand the relevant information of the walking mechanism relative to the ground when it is in the extended state relative to the fuselage 110, that is, when the gap between the fuselage 110 and the ground increases.

[0039] Step S102: Based on the first target information and the second target information, determine whether the adjustment operation meets the preset threshold requirements.

[0040] In this step, based on the first target information and the second target information, we can understand the changes of the lifting mechanism 130 relative to the ground before and after performing the height adjustment operation, and thus understand the changes of the fuselage 110. This is helpful for accurately judging whether the height adjustment operation meets the preset threshold requirements, so as to ensure that the subsequent calibration operation can be carried out in a timely and accurate manner, and to ensure that the lifting mechanism 130 meets the height adjustment threshold requirements.

[0041] In some possible implementations provided in this disclosure, determining whether the increase operation meets a preset threshold requirement includes:

[0042] After the lifting mechanism performs the height adjustment operation, determine the current height of the fuselage and the current horizontal attitude of the fuselage;

[0043] If the current height does not meet the height threshold, and / or the current horizontal attitude does not meet the horizontality threshold, then the height adjustment operation is determined to not meet the preset threshold requirements; otherwise, the height adjustment operation is determined to meet the preset threshold requirements.

[0044] The height threshold can be understood as the target height that the fuselage 110 is expected to reach relative to the ground after the lifting mechanism 130 performs the height adjustment operation, or the distance that the lifting mechanism 130 extends after the height adjustment operation compared to before the operation. The levelness threshold can be understood as the expected levelness of the plane on which the fuselage 110 is located after the lifting mechanism 130 performs the height adjustment operation. Levelness refers to whether the plane is on the same horizontal line, or the angle between the plane and the horizontal plane. In other words, the levelness is inversely proportional to the angle between the plane and the horizontal plane; the smaller the angle, the higher the levelness of the plane, and the closer the plane is to being horizontal.

[0045] In this embodiment, after the lifting mechanism 130 performs the height adjustment operation, as shown in Figure 4, when the self-moving device 100 is in posture 100b, that is, after the walking module 120 extends relative to the body 110 and the gap between the body 110 and the ground increases, the current height and current horizontal posture of the body 110 are determined, and it is judged whether the current height of the body 110 meets the height threshold and whether the current horizontal posture of the body 110 meets the horizontality threshold. When either the current height or the current horizontal posture of the body 110 does not reach the expected value, that is, the current height of the body 110 does not meet the height threshold; or, the current horizontal posture of the body 110 does not meet the horizontality threshold; or, the current height of the body 110 does not meet the height threshold and the current horizontal posture of the body 110 does not meet the horizontality threshold. In any of the three situations mentioned above, it can be determined that the height adjustment operation does not meet the preset threshold requirements, that is, the height adjustment operation of the lifting mechanism 130 is inaccurate, which will affect the measurement accuracy of the sensing module or the gap between the body 110 and the ground, thereby affecting the accuracy of the mapping and positioning of the self-moving device 100 or its obstacle crossing ability, and a calibration operation is required.

[0046] When the current height of the fuselage 110 meets the height threshold and the current horizontal attitude of the fuselage 110 meets the horizontality threshold, it means that the height adjustment operation meets the preset threshold requirements, has little or no impact on the measurement accuracy of the sensing module, and will not affect the accuracy of mapping and positioning. At the same time, the gap between the fuselage 110 and the ground is reasonable, and the self-moving device 100 occupies little space while having a strong obstacle-crossing ability. The height adjustment operation of the lifting mechanism 130 does not require calibration.

[0047] Step S103: When the adjustment operation does not meet the preset threshold requirements, control the execution of the calibration operation according to the first target information and / or the second target information.

[0048] In this step, since the height adjustment operation does not meet the preset threshold requirements, it will affect the measurement accuracy of the sensing module, and thus affect the accuracy of the mapping and positioning of the self-moving device 100. Therefore, it is necessary to control the lifting mechanism 130 to perform a calibration operation to ensure the measurement accuracy of the sensing module, reduce the impact on the accuracy of mapping and positioning, as well as obstacle crossing ability, improve mapping and positioning accuracy, and thus improve the operating accuracy of the self-moving device 100. At the same time, it ensures that the self-moving device 100 has strong obstacle crossing ability, a wide operating range, and improves user satisfaction.

[0049] Meanwhile, in related technologies, the self-moving device performs height calibration on the lifting mechanism 130 before leaving the factory and stores the factory data. After a period of use or maintenance, the lifting mechanism 130 needs to be recalibrated using the factory data. However, due to wear and tear on the mechanical structure from prolonged use, or changes in the installation position or angle of the lifting mechanism 130 after disassembly and maintenance, using the factory data for height calibration may result in significant deviations. Therefore, in this step, the lifting mechanism 130 is controlled to perform a calibration operation based on either the first target information, the second target information, or both. This achieves self-calibration of the height adjustment operation of the self-moving device 100 on the lifting mechanism 130, improving the intelligence of the self-maintenance of the self-moving device 100. Furthermore, this height calibration method does not utilize the factory data, reducing or avoiding deviations caused by mechanical wear and tear or using the factory data for height calibration of the lifting mechanism 130, significantly improving the accuracy of the height calibration operation and ensuring high measurement accuracy of the sensing module.

[0050] In this embodiment, by acquiring first target information relative to the ground before the lifting mechanism 130 performs a height adjustment operation, it is possible to understand the relevant information of the walking mechanism relative to the ground in the retracted state relative to the fuselage 110. By acquiring second target information relative to the ground after the lifting mechanism 130 performs a height adjustment operation, it is possible to understand the relevant information of the walking mechanism relative to the ground in the extended state relative to the fuselage 110. Therefore, based on the first and second target information, the changes in the lifting mechanism 130 relative to the ground before and after the height adjustment operation can be understood, thereby understanding the changes in the attitude of the fuselage 110. This allows for accurate determination of whether the height adjustment operation meets a preset threshold requirement. If the height adjustment operation does not meet the preset threshold requirement, the lifting mechanism 130 is controlled to perform a calibration operation based on the first and / or second target information. Thus, the self-moving device can automatically determine whether the height adjustment operation of the lifting mechanism meets the preset threshold requirement during use and perform self-calibration. This ensures the measurement accuracy of the sensing module and guarantees sufficient clearance between the body 110 and the ground, improving the mapping and positioning accuracy of the self-moving device 100 and ensuring strong obstacle-crossing capability. This, in turn, improves the operational accuracy and operating range of the self-moving device 100. Specifically, during use, the self-moving device 100 can automatically determine whether the height adjustment operation of the lifting mechanism meets the preset accuracy and perform calibration. Simultaneously, this calibration operation reduces or avoids deviations caused by mechanical wear and tear or factory data in the height adjustment calibration of the lifting mechanism 130, further improving the accuracy of the height adjustment calibration and ensuring high measurement accuracy of the sensing module.

[0051] In some possible embodiments provided in this disclosure, obtaining first target information relative to the ground before the lifting mechanism performs a height adjustment operation includes:

[0052] Before the lifting mechanism performs the height adjustment operation, the first initial information of the ground point cloud is obtained based on the self-moving device traveling on the horizontal plane; the first initial information is filtered to determine the first target information.

[0053] In this embodiment, the horizontal plane can be understood as a relatively flat operating surface, i.e., an operating surface with a high degree of horizontality, such as a relatively flat and level ground. Before the lifting mechanism 130 performs the height adjustment operation, i.e., when the walking module 120 is retracted relative to the body 110, when the self-moving device 100 is traveling on the horizontal plane, the attitude of the body 110 is relatively horizontal, i.e., the body 110 is close to or almost horizontal. At this time, acquiring the first initial information of the ground point cloud is beneficial to improving the accuracy of the first initial information, so that the first initial information can more accurately and reliably represent the position information of the ground point cloud in the horizontal state before the height adjustment operation.

[0054] By filtering the initial information, such as filtering out non-ground points or data fluctuations caused by bumps, the filtered data can be identified as the first target information. This can further improve the accuracy of the first target information, enabling it to accurately and reliably represent the position information of the ground point cloud in a horizontal state before the elevation adjustment operation.

[0055] In some possible embodiments provided in this disclosure, obtaining second target information relative to the ground after the lifting mechanism performs a height adjustment operation includes:

[0056] After the lifting mechanism performs the height adjustment operation, the self-moving device travels on the horizontal plane to obtain the second initial information of the ground point cloud; the second initial information is filtered to determine the second target information.

[0057] In this embodiment, after the lifting mechanism 130 performs the height adjustment operation, that is, when the walking module 120 extends relative to the body 110, the body 110 has a relatively high level of horizontality when the self-moving device 100 is traveling on a horizontal plane, meaning the body 110 is close to or almost horizontal. At this time, acquiring the second initial information of the ground point cloud is beneficial to improving the accuracy of the second initial information, enabling the second initial information to more accurately and reliably characterize the position information of the ground point cloud in a horizontal state after the height adjustment operation.

[0058] By filtering the second initial information, such as filtering out non-ground points or data fluctuations caused by turbulence in the second initial information, the filtered data can be determined as the second target information. This can further improve the accuracy of the second target information, enabling the second target information to accurately and reliably represent the position information of the ground point cloud in a horizontal state after the elevation adjustment operation.

[0059] It is understandable that since both the first and second initial information are acquired by the self-moving device 100 during its horizontal movement, the scenarios for the first and second initial information are roughly the same, reducing the impact of scene and environmental factors on the differences between the first and second initial information. Simultaneously, since both the first and second initial information undergo filtering operations, and if the filtering operations are identical, the same filtering operation is performed, resulting in the first and second target information respectively. Therefore, the first and second target information can accurately characterize the changes in the ground point cloud before and after the height adjustment operation of the lifting mechanism 130. That is, the changes in the first and second target information are mainly or almost entirely affected by the height adjustment operation of the lifting mechanism 130, thus providing a precise reference for determining whether the height adjustment operation meets the preset accuracy, and improving the accuracy of judging whether the height adjustment operation meets the preset accuracy.

[0060] In some possible embodiments provided in this disclosure, first target information and second target information can be acquired through sensors. Specifically, the sensors are configured to have height measurement capabilities, meaning they can acquire ground point clouds and wall point clouds. Such sensors may include, but are not limited to, structured light sensors, RGBD sensors, depth sensors, multiple single-point laser rangefinders, or other 3D sensors. It is understood that the first and second initial information can be acquired through sensors, and then filtered to obtain the first and second target information; alternatively, the first and second target information can be acquired directly through sensors.

[0061] In the above embodiments, the self-moving device 100 may include a sensor, that is, the sensor may be part of the sensing module of the self-moving device 100. Thus, the self-moving device 100 uses its own sensor to obtain first target information and second target information. After determining that the height adjustment operation of the lifting mechanism 130 does not meet the preset accuracy through a related program, the self-moving device 100 controls the lifting mechanism 130 to perform a height adjustment calibration operation based on the information obtained by its own sensor. This realizes the self-calibration operation of the height adjustment operation of the lifting mechanism 130, which greatly improves the intelligence of the self-moving device 100.

[0062] In the above embodiments, the sensor can also be placed externally in the surrounding environment of the self-moving device 100. This simplifies the structure of the self-moving device 100 and reduces its manufacturing cost.

[0063] In some possible implementations provided in this disclosure, controlling the lifting mechanism to perform a calibration operation includes:

[0064] Determine the calibration strategy based on the type of sensor;

[0065] According to the calibration strategy, the lifting mechanism is controlled to perform the corresponding calibration operation.

[0066] In this embodiment, because the measurement accuracy of ground point clouds and wall point clouds acquired by different types of sensors varies, the accuracy of the ground and wall information acquired by the sensors also differs. If the same calibration strategy is used to perform height adjustment calibration operations based on the first target information and / or second target information acquired by different types of sensors, there may be inaccuracies in some height adjustment calibration operations. Therefore, in this embodiment, a corresponding calibration strategy is determined according to the sensor type, and the lifting mechanism 130 is controlled to perform the corresponding calibration operation according to the calibration strategy. This ensures that the calibration strategy corresponds to the sensor type, which helps improve the accuracy of the calibration operation, thereby improving the operational accuracy of the self-moving device 100 and increasing user satisfaction.

[0067] In some possible embodiments provided in this disclosure, the sensor types include a first type of sensor, a second type of sensor, and a third type of sensor. Specifically, the first type of sensor is configured to acquire ground point cloud accuracy that meets a first preset threshold; the second type of sensor is configured to acquire wall point cloud accuracy that meets a second preset threshold; and the third type of sensor is configured to acquire ground point cloud accuracy that does not meet the first preset threshold, and acquire wall point cloud accuracy that does not meet the second preset threshold.

[0068] The first preset threshold can be used as a standard to judge the accuracy of the ground point cloud. For example, if the accuracy of the ground point cloud acquired by a certain sensor meets the first preset threshold, it indicates that the accuracy of the ground point cloud acquired by that sensor is relatively accurate. Specifically, the first preset threshold can be represented by the distance deviation, such as any value between +1cm and -1cm or other values. Similarly, the second preset threshold can be used as a standard to judge the accuracy of the wall point cloud. For example, if the accuracy of the wall point cloud acquired by a certain sensor meets the second preset threshold, it indicates that the accuracy of the wall point cloud acquired by that sensor is relatively accurate. Specifically, the second preset threshold can be represented by the distance deviation, such as any value between +1cm and -1cm or other values.

[0069] In other words, in this embodiment, the first type of sensor can acquire ground point clouds relatively accurately, such as a multi-line structured light module. The second type of sensor cannot acquire ground point clouds accurately, but can acquire wall point clouds relatively accurately, such as a TOF sensor, etc., where the MPI phenomenon on the ground interferes with the accuracy of the point cloud. The third type of sensor cannot acquire ground point clouds accurately, nor can it acquire wall point clouds accurately, such as a horizontal single-line structured light module, etc.

[0070] The calibration strategy may include a first calibration strategy corresponding to the first type of sensor, a second calibration strategy corresponding to the second type of sensor, and a third calibration strategy corresponding to the third type of sensor. This makes each calibration strategy specific to each type of sensor, so that the first target information and / or second target information acquired by different types of sensors can be accurately calibrated by controlling the lifting mechanism 130. This improves the mapping and positioning accuracy of the self-moving device 100 and ensures the accurate clearance between the body 110 and the ground, thereby improving the operating accuracy of the self-moving device 100.

[0071] In some possible implementations provided in this disclosure, the first calibration strategy includes alternating between horizontal and vertical calibration.

[0072] In this embodiment, horizontal calibration and height calibration are performed alternately. This can be understood as either performing horizontal calibration first, then height calibration, and then horizontal calibration again, or performing height calibration first, then horizontal calibration, and then height calibration again, in other words, horizontal calibration and height calibration can be performed in any order and alternate between the two.

[0073] Since the accuracy of the ground point cloud acquired by the first type of sensor meets the first preset threshold, it indicates that the first sensor can acquire the ground point cloud relatively accurately. The first calibration strategy corresponds to the first type of sensor. The first calibration strategy is to alternate between horizontal calibration and height calibration. This ensures that the lifting mechanism 130 can be controlled according to the first target signal and / or second target information acquired by the first type of sensor, so as to achieve accurate calibration, improve the mapping and positioning accuracy of the self-moving device 100, and improve the operating accuracy of the self-moving device 100.

[0074] In some possible implementations provided in this disclosure, the lifting mechanism 130 includes at least two servo motors, with horizontal and vertical calibrations performed alternately, including:

[0075] Fit the first ground equation based on the first target information, fit the second ground equation based on the second target information, and determine the angle between the normal vectors and the difference in the constant term between the first ground equation and the second ground equation.

[0076] Since the angle between the normal vectors does not meet the horizontality threshold, the height of the servo motor is adjusted so that the angle between the normal vectors meets the horizontality threshold, and the process returns to the step of re-executing the acquisition of the second target information.

[0077] If the constant term difference does not meet the height threshold, adjust the height of the servo motor so that the constant term difference meets the height threshold, and then return to the step of re-executing the second target information;

[0078] This continues until the angle between the normal vectors meets the horizontality threshold and the difference in the constant terms meets the height threshold.

[0079] In this embodiment, the first target information can be obtained by the self-moving device 100 in the attitude of 100a in Figure 4, and the second target information can be obtained by the self-moving device 100 in the attitude of 100b in Figure 4. Since the lifting mechanism 130 of the self-moving device 100 performs a height adjustment operation during the acquisition of the first and second target information, the ground first equation is fitted based on the first target information, and the ground second equation is fitted based on the second target information. The difference between the ground first equation and the ground second equation allows us to understand the attitude change of the fuselage 110 before and after the height adjustment operation. The angle between the normal vectors of the ground first equation and the ground second equation can characterize the angle between the planes on the ground before and after the height adjustment operation of the lifting mechanism 130, and indirectly characterize the angle between the planes on the fuselage 110 before and after the height adjustment operation of the lifting mechanism 130. The difference in the constant terms of the ground first equation and the ground second equation can characterize the height difference between the planes on the fuselage 110 before and after the height adjustment operation of the lifting mechanism 130.

[0080] The process of alternately judging the relationship between the angle of the normal vector and the levelness threshold, and the relationship between the difference of the constant term and the height threshold, can be understood as first judging the relationship between the angle of the normal vector and the levelness threshold, and then judging the relationship between the difference of the constant term and the height threshold, and so on; or, judging the relationship between the difference of the constant term and the height threshold, and then judging the relationship between the angle of the normal vector and the levelness threshold, and so on.

[0081] When the angle between the normal vectors of the first and second ground equations does not meet the levelness threshold, it indicates that the angle between the planes where the fuselage 110 is located before and after the elevation adjustment operation performed by the lifting mechanism 130 is large, and the fuselage 110 is not currently level, which will affect the accuracy of mapping and positioning. By adjusting the height of the servo motor, the angle between the normal vectors is made to meet the levelness threshold, making the fuselage 110 more level, that is, the current levelness of the fuselage 110 reaches the expected levelness value, enabling the self-moving device 100 to accurately map and position, thus improving the operating accuracy of the self-moving device 100. Then, the process returns to the step of re-executing the acquisition of the second target information to re-determine whether the elevation adjustment operation meets the preset accuracy, and then executes the subsequent steps. It can be understood that the subsequent execution judges the relationship between the constant term difference and the height threshold.

[0082] When the angle between the normal vectors of the ground first equation and the ground second equation meets the levelness threshold, it means that the current levelness of the fuselage 110 has reached the expected levelness value. It can return to the step of obtaining the second target information again to re-determine whether the altitude adjustment operation meets the preset accuracy, and then execute the subsequent steps. It can be understood that the subsequent execution judges the relationship between the constant term difference and the altitude threshold.

[0083] When the difference between the constant terms of the first and second ground equations does not meet the height threshold, it indicates that the height change of the fuselage 110 before and after the height adjustment operation performed by the lifting mechanism 130 has not reached the expected value. In other words, the current height of the fuselage 110 has not reached the expected height, the clearance between the fuselage 110 and the ground is unreasonable, affecting obstacle-crossing capability. A height adjustment calibration operation is required, such as adjusting the height of the servo motor, to ensure that the difference between the constant terms meets the height threshold, so that the height of the fuselage 110 after the height adjustment operation reaches the expected value. This ensures a reasonable clearance between the fuselage 110 and the ground, giving the self-moving device 100 a higher obstacle-crossing capability and increasing its operating range. Then, the process returns to re-execute the step of obtaining the second target information to re-determine whether the height adjustment operation meets the preset accuracy, and then executes subsequent steps. It is understandable that subsequent execution will determine the relationship between the angle of the normal vector and the horizontality threshold.

[0084] When the difference between the constant terms of the first and second ground equations meets the altitude threshold, it indicates that the current altitude of the fuselage 110 has reached the expected value. The reasonable gap between the fuselage 110 and the ground can ensure good obstacle crossing strength. The process can return to the step of obtaining the second target information to re-determine whether the altitude adjustment operation meets the preset accuracy and execute the subsequent steps. It is understandable that the subsequent execution will judge the relationship between the angle of the normal vector and the horizontality threshold.

[0085] Until the angle between the normal vectors meets the horizontality threshold and the difference of the constant terms meets the height threshold, that is, when the attitude of the self-moving device 100 reaches the attitude of 100c in Figure 4, it indicates that the accuracy of the height adjustment operation of the lifting mechanism 130 meets the preset accuracy, the current horizontality of the body 110 meets the expected value, the current height of the body 110 meets the expected value, the mapping and positioning accuracy of the self-moving device 100 is high, and it has a high obstacle crossing ability.

[0086] In the above embodiments, adjusting the height of the servo motor includes: determining the height to be adjusted for each servo motor based on the relationship between the angle between the normal vectors that do not meet the horizontality threshold and the horizontality threshold, or the relationship between the difference of the constant term that does not meet the height threshold and the height threshold, and the design position of each servo motor, and controlling each servo motor to adjust the corresponding height to be adjusted.

[0087] In this embodiment, when the included angle of the normal vector does not meet the levelness threshold, it indicates that the fuselage 110 is not level. Based on the difference between the included angle of the normal vector and the levelness threshold, as well as the design position of each servo, the height to be adjusted for each servo is determined. Then, each servo is controlled to adjust to the height to be adjusted so that the included angle of the normal vector meets the levelness threshold, thereby realizing the adjustment of the levelness of the fuselage 110.

[0088] When the difference in constant terms does not meet the height threshold, it means that the height of fuselage 110 has not reached the expected value. Based on the difference between the difference in constant terms and the height threshold, as well as the design position of each servo, the height to be adjusted for each servo is determined. Then, each servo is controlled to adjust to the height to be adjusted so that the difference in constant terms meets the height threshold, thereby realizing the adjustment of the height of fuselage 110.

[0089] Understandably, when the angle between the normal vectors does not meet the levelness threshold, the fuselage level can be adjusted by adjusting the height of the servo motor. Similarly, when the difference in the constant term does not meet the height threshold, the fuselage height can be adjusted by adjusting the height of the servo motor. It is also understandable that when both the angle between the normal vectors and the difference in the constant term do not meet the height threshold, either the fuselage level or the fuselage height can be adjusted first; the order of these two adjustments is not critical.

[0090] In some possible implementations provided in this disclosure, the sensor type includes a second type of sensor, which is configured to acquire a wall point cloud with an accuracy that meets a second preset threshold; the calibration strategy includes a second calibration strategy corresponding to the second type of sensor, which includes: first horizontal calibration and then height calibration.

[0091] In this embodiment, since the accuracy of the wall point cloud acquired by the second type of sensor meets the second preset threshold, it indicates that the second sensor can acquire the wall point cloud relatively accurately, while the acquired ground point cloud is inaccurate. The second calibration strategy corresponds to the second type of sensor; the second calibration strategy is to first calibrate horizontally and then calibrate vertically. This ensures that the lifting mechanism 130 is controlled based on the first target signal and / or the second target information acquired by the second type of sensor, thereby achieving accurate calibration, improving the mapping and positioning accuracy of the self-moving device 100, and improving the operational accuracy of the self-moving device 100.

[0092] In some possible implementations provided in this disclosure, the lifting mechanism 130 includes at least two servo motors, and performs horizontal calibration followed by height calibration, including:

[0093] Fit the first equation of the wall surface based on the first target information, fit the second equation of the wall surface based on the second target information, and determine the angle between the normal vectors of the first equation and the second equation of the wall surface.

[0094] Since the angle between the normal vectors does not meet the horizontality threshold, the height of the servo motor is adjusted, and the process of obtaining the second target information is repeated until the angle between the normal vectors meets the horizontality threshold.

[0095] Determine the first height difference of the same feature in the external environment after the servo motor performs an adjustment operation and before and after the lifting mechanism performs a height adjustment operation. Based on the fact that the first height difference does not meet the height threshold, control each servo motor to adjust to the same height so that the first height difference meets the height threshold.

[0096] In this embodiment, the first target information can be obtained by the self-moving device 100 in the posture of 100a in Figure 5, and the second target information can be obtained by the self-moving device 100 in the posture of 100b in Figure 5. Since the lifting mechanism 130 of the self-moving device 100 performs a height adjustment operation during the acquisition of the first and second target information, the difference between the first and second wall equations—fitted based on the first target information and fitted based on the second target information—can reveal the attitude change of the fuselage 110 before and after the height adjustment operation. The angle between the normal vectors of the first and second wall equations can characterize the angle between the planes containing the wall before and after the height adjustment operation, and indirectly characterize the angle between the planes containing the fuselage 110 before and after the height adjustment operation.

[0097] Therefore, when the angle between the normal vectors of the first equation and the second equation of the wall does not meet the levelness threshold, it indicates that the angle between the normal vectors of the plane containing the fuselage 110 before and after the lifting mechanism 130 performs the height adjustment operation is large, and the fuselage 110 is not currently level, which will affect the accuracy of mapping and positioning. Adjust the height of the servo motors. Based on the difference between the normal vector angle and the levelness threshold, and the design position of each servo motor, determine the height to be adjusted for each servo motor, and then control each servo motor to adjust to the height to be adjusted so that the normal vector angle meets the levelness threshold, thereby achieving the levelness adjustment of the fuselage 110. Then return and re-execute the step of obtaining the second target information until the normal vector angle meets the levelness threshold, indicating that the fuselage 110 is level. It can be understood that the attitude of the self-moving device 100 at this time can be as shown by 100d in Figure 5.

[0098] The adjustment operation performed by the servo motor can be understood as the lifting mechanism 130 performing a height adjustment operation and then disengaging to adjust the fuselage 110 to a horizontal position, as shown in 100d in Figure 5. The initial state before the lifting mechanism 130 performs the height adjustment operation can be understood as 100a in Figure 5. Since the position of the same feature in the external environment remains fixed after the servo motor adjustment operation and before the lifting mechanism 130 performs the height adjustment operation, the first height difference between the same feature in the external environment and the fuselage 110 before the lifting mechanism 130 performs the height adjustment operation can be understood as the height difference between the initial state before the height adjustment operation and the state after the horizontal calibration of the fuselage 110. Therefore, by determining the first height difference, if the first height difference does not meet the height threshold, it indicates that the current height of the fuselage 110 after horizontal calibration has not reached the expected value, the gap between the fuselage 110 and the ground has not reached the expected value, and the obstacle-crossing capability of the self-moving device 100 is limited. Since the fuselage 110 has already been kept in a horizontal position, by controlling each servo motor to adjust to the same height so that the first height difference meets the height threshold, the self-moving device 100 can be in the posture shown in 100c in Figure 5. This ensures that the fuselage 110 reaches the desired height, achieves the height calibration of the fuselage 110, ensures that the clearance between the fuselage 110 and the ground is reasonable, and that the self-moving device 100 has a strong obstacle-crossing ability.

[0099] In the above embodiments, the method further includes: returning to and re-executing the step of obtaining the second target information until the angle between the normal vectors meets the horizontality threshold and the first height difference meets the height threshold.

[0100] In this embodiment, by returning and re-executing the step of obtaining the second target information, and then repeating the above-mentioned operations of calibrating the attitude level of the fuselage 110 and calibrating the height of the fuselage 110, until the angle between the normal vectors meets the levelness threshold and the first height difference meets the height threshold, it is indicated that after the height adjustment operation, the levelness and height of the fuselage 110 have reached the expected values. Thus, the calibration operation of the height adjustment operation of the lifting mechanism 130 is completed. At this time, the mapping and positioning of the self-moving device 100 are accurate, and it has a high obstacle crossing ability.

[0101] In some possible implementations provided in this disclosure, the lifting mechanism includes at least two servo motors; the type of sensor includes a third type of sensor; the calibration strategy includes a third calibration strategy corresponding to the third type of sensor; the third calibration strategy includes: individual servo motor height calibration.

[0102] In this embodiment, since the accuracy of the ground point cloud acquired by the third type of sensor does not meet the first preset threshold, and the accuracy of the wall point cloud does not meet the second preset threshold, it indicates that the third type of sensor cannot accurately acquire the ground point cloud or the wall point cloud; that is, the third type of sensor cannot accurately acquire the point cloud of a surface. The third calibration strategy corresponds to the third type of sensor and involves calibrating the height of each servo motor individually. This avoids the defect that the third type of sensor cannot accurately acquire the point cloud of a surface. Based on the first target signal and / or second target information acquired by the third type of sensor, and combined with other factors, controlling the lifting mechanism 130 can achieve accurate calibration, thereby improving the mapping and positioning accuracy of the self-moving device 100 and enhancing its obstacle-crossing capability, thus improving the operating accuracy and operating range of the self-moving device 100.

[0103] In some possible implementations provided in this disclosure, individual servo height calibration includes:

[0104] Adjust the extension height of each servo motor in turn to meet the height threshold, and record the second height difference between the extension height of each servo motor when it reaches the height threshold and before the adjustment operation is performed;

[0105] If the second height difference of at least two servos is not equal, then the height of the corresponding servos is adjusted according to the distribution of the difference in the second height difference until all the second height differences are equal.

[0106] The height threshold can be understood as the expected height of the lifting mechanism 130 after the lifting operation. When the height of the lifting mechanism 130 after the lifting operation reaches the height threshold, it means that the height of the fuselage 110 has reached the expected value after the lifting operation.

[0107] In this embodiment, the posture of the self-moving device 100 before the lifting mechanism 130 performs the height adjustment operation can be shown as 100a in Figure 6, and the posture of the self-moving device 100 after the lifting mechanism 130 performs the height adjustment operation can be shown as 100b in Figure 6. Based on 100b, the extension height of any one of the at least two servos is adjusted to meet the height threshold, so that the extension height of the servo can meet the expected value of the extension height after the lifting mechanism 130 performs the height adjustment operation, that is, the self-moving device 100 is adjusted to the posture of 100d in Figure 6. By sequentially adjusting the extension height of any one of the at least two servos to meet the height threshold, the extension height of each servo can meet the expected value of the length difference of the extension after the lifting mechanism 130 performs the height adjustment operation, so that the height of the fuselage 110 relative to each servo reaches the expected value, so that the entire self-moving device 100 is adjusted to the posture of 100c in Figure 6.

[0108] The second height difference can be understood as the height change of each servo motor in two states: before the lifting mechanism 130 performs the height adjustment operation and when the extension height of the servo motor reaches the height threshold. That is, the extension height difference between the servo motor before the lifting mechanism 130 performs the height adjustment operation and when the extension height reaches the height threshold, which is the offline extension height difference of the self-moving device 100 in attitude 100a and attitude 100d in Figure 6. Therefore, by recording the second height difference between the extension height of each servo motor when it reaches the height threshold and before the height adjustment operation, and determining whether the second height differences of each servo motor are equal, if the second height differences of at least two servo motors are not equal, it indicates that there is a risk of unevenness in the fuselage 110. Therefore, based on the distribution of the unequal second height differences and the design position of each servo motor, the height of the corresponding servo motor is adjusted until all the second height differences are equal, as shown in 100c in Figure 6. This indicates that the extension height difference of each servo motor before the height adjustment operation of the lifting mechanism 130 and in the current posture is equal. Therefore, it can be ensured that the overall extension height of the lifting mechanism 130 reaches the preset threshold, so that the current height of the fuselage 110 can reach the expected value, and the levelness of the fuselage 110 is high. The levelness of the fuselage 110 ensures the mapping and positioning accuracy of the self-moving device 100 and improves the obstacle crossing ability, thereby improving the operating accuracy and operating range of the self-moving device 100.

[0109] In some possible implementations provided in this disclosure, adjusting the extension height of any servo motor to meet a height threshold includes:

[0110] Determine the current sub-height of any of the servos after the height adjustment operation is performed;

[0111] If the current sub-height does not meet the height threshold, adjust the height of the servo and return to the previous step to determine the current sub-height of the servo until the current sub-height meets the height threshold.

[0112] In this embodiment, after the lifting mechanism 130 performs a height adjustment operation, i.e., in the posture of 100b as shown in Figure 6, the current sub-height of any servo motor is first determined. The method for determining the current sub-height of the servo motor will be explained in detail later. Then, it is determined whether the current sub-height of the servo motor meets a height threshold. If the current sub-height of the servo motor does not meet the height threshold, the height of the servo motor is adjusted. Then, the process returns to the step of re-determining the current sub-height of the servo motor until the current sub-height of the servo motor meets the height threshold.

[0113] In some possible implementations provided in this disclosure, determining the current sub-height of any servo motor after performing an elevation adjustment operation includes:

[0114] Based on the original external parameters of the third type of sensor, the design position of the servo motor, and the information of the second target, determine the ground reference equation corresponding to the fuselage coordinate system after the elevation adjustment operation is performed;

[0115] Obtain the ground reference height measured by the third type of sensor after the elevation adjustment operation is performed;

[0116] The current sub-altitude of the servo motor is determined based on the ground reference equation and the ground reference altitude.

[0117] After the lifting mechanism 130 performs the height adjustment operation, as shown in 100b of Figure 7, the fuselage 110 is raised to a certain height. At this time, due to the characteristics of the third type of sensor, it cannot measure the angle of the fuselage 110. However, the original extrinsic parameters of the third type of sensor and the design position of the servo motor are known during the design process of the self-moving device 100. Specifically, the original extrinsic parameters of the sensor refer to its position and attitude parameters relative to a fixed coordinate system (such as the fuselage coordinate system) when the sensor is installed on the device. These parameters include the rotation matrix and translation vector, which together describe the sensor's specific position and orientation in space.

[0118] Therefore, in this embodiment, based on the original external parameters of the third type of sensor, the design position of the servo, and the second target information, the ground reference equation corresponding to the fuselage 110 coordinate system after the height adjustment operation is determined, that is, the ground reference equation of the fuselage 110 coordinate system when the fuselage 110 is in a horizontal state. Then, the ground reference height measured by the third type of sensor after the height adjustment operation is obtained. It can be understood that the ground reference height measured by the third type of sensor after the height adjustment operation is usually negative. Then, based on the ground reference equation and the ground reference height, combined with trigonometric functions, the current sub-height of the servo can be determined.

[0119] As shown in Figure 7, the third type of sensor is located on the front side of the fuselage 110, as indicated by S in Figure 7. When the lifting mechanism 130 performs the height adjustment operation, the attitude of the self-moving device 100 is shown as 100b in Figure 7. At least one of the two servos is raised to a preset height, which can be represented by line segment RQ in the figure. The third type of sensor can be a horizontal laser sensor or a single-point ranging sensor, and the actual optical path of the third type of sensor is the straight line SN. At this time, the self-moving device 100 cannot accurately know the angle of the fuselage 110. Therefore, it can be assumed that the fuselage 110 is horizontal at this time. In the fuselage 110 coordinate system, the plane where the ground is located is the straight line 200', that is, the straight line where QOM is located (i.e., the ground reference equation). It can be understood that the ground reference equation corresponding to the fuselage 110 coordinate system can be determined based on the original external parameters of the third type of sensor, the design position of the servo, and the second target information. Then, the actual ground plane is the straight line 200, and the ground height measured by the third type of sensor is a negative value, which is represented by line segment MN (i.e., the ground reference height). Since triangles OPQ and OMN are similar, a functional relationship between PQ and MN can be established by moving away from similar triangles. Since MN can be measured by a third type of sensor, and the distance of PR can be calculated based on the original external parameters of the third type of sensor and the design position of the servo, a functional relationship between RQ and MN can be obtained, and thus the current sub-height of the servo can be determined after the lifting mechanism 130 performs the height adjustment operation.

[0120] In some possible implementations provided in this disclosure, the method further includes:

[0121] After completing the calibration operation, record the current position information of the lifting mechanism.

[0122] In this embodiment, by recording the current position information of the lifting mechanism 130 after the calibration operation is completed, the current information of the lifting mechanism 130 recorded after the previous calibration operation can be used as reference data when the lifting mechanism 130 performs the calibration operation next time. This helps to simplify the calibration operation steps and computer program, thereby improving calibration efficiency.

[0123] As shown in Figure 8, as a specific implementation of the control method for the above-mentioned self-moving device, this embodiment of the present disclosure provides a height adjustment calibration device 800 for a lifting mechanism, used for a self-moving device. The self-moving device includes a body, a walking module, and a lifting mechanism. The lifting mechanism is used to perform a height adjustment operation to drive the walking module to extend and retract relative to the body. The device 800 includes: an acquisition module 801, used to acquire first target information relative to the ground before the lifting mechanism performs the height adjustment operation, and second target information relative to the ground after the lifting mechanism performs the height adjustment operation; a determination module 802, used to determine whether the height adjustment operation meets a preset threshold requirement based on the first target information and the second target information; and a calibration module 803, used to control the lifting mechanism to perform a calibration operation based on the first target information and / or the second target information when the height adjustment operation does not meet the preset threshold requirement.

[0124] In some possible implementations provided in this disclosure, the acquisition module 801 includes:

[0125] The first acquisition unit is used to acquire the first initial information of the ground point cloud based on the self-moving device traveling on the horizontal plane before the lifting mechanism performs the height adjustment operation;

[0126] The first filtering unit is used to filter the first initial information to determine the first target information.

[0127] In some possible implementations provided in this disclosure, the acquisition module 801 includes:

[0128] The second acquisition unit is used to acquire the second initial information of the ground point cloud based on the self-moving device traveling on the horizontal plane after the lifting mechanism performs the height adjustment operation.

[0129] The second filtering unit is used to filter the second initial information to determine the second target information.

[0130] In some possible implementations provided in this disclosure, the determining module 802 includes:

[0131] The first determining unit is used to determine the current height and current horizontal attitude of the fuselage after the lifting mechanism performs the height adjustment operation.

[0132] The second determining unit is used to determine that the height adjustment operation does not meet the threshold requirements if the current height does not meet the height threshold and / or the current horizontal attitude does not meet the horizontality threshold; otherwise, it determines that the height adjustment operation meets the preset threshold requirements.

[0133] In some possible implementations provided in this disclosure, the device 800 further includes:

[0134] The first target information and the second target information are acquired through sensors;

[0135] The self-moving device includes a sensor, or the sensor is externally located in the surrounding environment of the self-moving device.

[0136] In some possible implementations provided in this disclosure, the calibration module 803 includes:

[0137] A strategy determination unit is used to determine a calibration strategy based on the type of sensor.

[0138] The calibration unit is used to control the lifting mechanism to perform the corresponding calibration operation according to the calibration strategy.

[0139] In some possible implementations provided in this disclosure, the type of sensor includes a first type of sensor, which is configured to acquire ground point cloud accuracy that meets a first preset threshold.

[0140] The calibration strategy includes a first calibration strategy corresponding to the first type of sensor, which includes alternating horizontal calibration and height calibration.

[0141] In some possible implementations provided in this disclosure, the lifting mechanism includes at least two servo motors, with horizontal calibration and height calibration performed alternately, including:

[0142] Fit the first ground equation based on the first target information, fit the second ground equation based on the second target information, and determine the angle between the normal vectors and the difference in the constant term between the first ground equation and the second ground equation.

[0143] The relationship between the angle between the normal vectors and the levelness threshold, and the relationship between the difference of the constant term and the height threshold are judged alternately.

[0144] Since the angle between the normal vectors does not meet the horizontality threshold, the height of the servo motor is adjusted so that the angle between the normal vectors meets the horizontality threshold, and the process returns to the step of re-executing the acquisition of the second target information.

[0145] If the constant term difference does not meet the height threshold, adjust the height of the servo motor so that the constant term difference meets the height threshold, and then return to the step of re-executing the second target information;

[0146] If the angle between the normal vectors meets the horizontality threshold, or if the difference in the constant terms meets the height threshold, return to the step of re-executing the second target information;

[0147] This continues until the angle between the normal vectors meets the horizontality threshold and the difference in the constant terms meets the height threshold.

[0148] In some possible implementations provided in this disclosure, adjusting the height of the servo motor includes:

[0149] Based on the relationship between the angle between the normal vectors that do not meet the levelness threshold and the levelness threshold, or the relationship between the difference of the constant term that does not meet the height threshold and the height threshold, and the design position of each servo, the height to be adjusted for each servo is determined, and each servo is controlled to adjust the corresponding height to be adjusted.

[0150] In some possible implementations provided in this disclosure, the type of sensor includes a second type of sensor, which is configured to acquire a wall point cloud with an accuracy that meets a second preset threshold.

[0151] The calibration strategy includes a second calibration strategy corresponding to the second type of sensor, which includes: horizontal calibration first, followed by height calibration.

[0152] In some possible implementations provided in this disclosure, the lifting mechanism includes at least two servo motors, performing horizontal calibration followed by height calibration, including:

[0153] Fit the first equation of the wall surface based on the first target information, fit the second equation of the wall surface based on the second target information, and determine the angle between the normal vectors of the first equation and the second equation of the wall surface.

[0154] Since the angle between the normal vectors does not meet the horizontality threshold, the height of the servo motor is adjusted, and the process of obtaining the second target information is repeated until the angle between the normal vectors meets the horizontality threshold.

[0155] The system determines the first height difference between the same feature in the external environment and the fuselage after the servo motor performs an adjustment operation and before the lifting mechanism performs an elevation adjustment operation. Based on the fact that the first height difference does not meet the height threshold, the system controls each servo motor to adjust to the same height so that the first height difference meets the height threshold.

[0156] In some possible implementations provided in this disclosure, the device 800 further includes:

[0157] The return module is used to return and re-execute the steps of obtaining the second target information until the angle between the normal vectors meets the horizontality threshold and the first height difference meets the height threshold.

[0158] In some possible implementations provided in this disclosure, the lifting mechanism includes at least two servo motors;

[0159] The types of sensors include a third type of sensor, which is configured such that the accuracy of the acquired ground point cloud does not meet a first preset threshold and the accuracy of the acquired wall point cloud does not meet a second preset threshold.

[0160] The calibration strategy includes a third calibration strategy corresponding to the third type of sensor, which includes calibrating the servo height one by one.

[0161] In some possible implementations provided in this disclosure, the servo height is calibrated individually, including:

[0162] Adjust the extension height of each servo motor in turn to meet the height threshold, and record the second height difference between the extension height of each servo motor when it reaches the height threshold and before the adjustment operation is performed;

[0163] If the second height difference of at least two servos is not equal, then the height of the corresponding servos is adjusted according to the distribution of the difference in the second height difference until all the second height differences are equal.

[0164] In some possible implementations provided in this disclosure, adjusting the extension height of any servo motor to meet a height threshold includes:

[0165] Determine the current sub-height of any servo motor after the height adjustment operation is performed;

[0166] If the current sub-height does not meet the height threshold, adjust the height of the servo and return to the step of determining the current sub-height of the servo until the current sub-height meets the height threshold.

[0167] In some possible implementations provided in this disclosure, determining the current sub-height of any servo motor after performing an elevation adjustment operation includes:

[0168] Based on the original external parameters of the third type of sensor, the design position of the servo motor, and the information of the second target, determine the ground reference equation corresponding to the fuselage coordinate system after the elevation adjustment operation is performed;

[0169] Obtain the ground reference height measured by the third type of sensor after the elevation adjustment operation is performed;

[0170] The current sub-altitude of the servo motor is determined based on the ground reference equation and the ground reference altitude.

[0171] In some possible implementations provided in this disclosure, the device 800 further includes:

[0172] The recording module is used to record the current position information of the lifting mechanism after the calibration operation is completed.

[0173] The height adjustment calibration device for the lifting mechanism in this embodiment can be a component in a self-moving device, such as an integrated circuit or a chip. The height adjustment calibration device for the lifting mechanism provided in this embodiment can realize the various processes implemented in the height adjustment calibration method embodiments of the lifting mechanism in Figures 1 and 8. To avoid repetition, these processes will not be described again here.

[0174] This disclosure also provides a self-moving device, which includes: a body; a walking module disposed at the bottom of the body; a lifting mechanism for performing a height adjustment operation to drive the walking module to extend and retract relative to the body; a memory storing programs or instructions; and a processor that, when executing programs or instructions, implements the various steps of the above-described height adjustment calibration method of the lifting mechanism, and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0175] Memory can be used to store software programs and various data. Memory may primarily consist of a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store the operating system, application programs or instructions required for at least one function, etc. Furthermore, memory may include volatile memory or non-volatile memory, or both. Non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The memory in embodiments of this disclosure includes, but is not limited to, these and any other suitable types of memory.

[0176] The processor may include one or more processing units; optionally, the processor integrates an application processor and a modem processor, wherein the application processor mainly handles operations related to the operating system, user interface, and applications, while the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into the processor.

[0177] This disclosure also provides a readable storage medium storing a program or instructions that, when executed by a processor, implement the various processes of the above-described lifting mechanism height calibration method and achieve the same technical effect. To avoid repetition, these will not be described again here.

[0178] This disclosure also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run programs or instructions to implement each process of the height adjustment and calibration method of the above-mentioned lifting mechanism, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0179] It should be understood that the chip mentioned in the embodiments of this disclosure may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0180] This disclosure also provides a computer program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the height adjustment calibration method embodiment of the lifting mechanism described above, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0181] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this disclosure is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0182] The embodiments of this disclosure have been described above with reference to the accompanying drawings. However, this disclosure is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this disclosure without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this disclosure.

Claims

1. A height adjustment and calibration method for a lifting mechanism, used in a self-moving device, the self-moving device comprising a body, a traveling module, and the lifting mechanism, the lifting mechanism being used to perform a height adjustment operation to drive the traveling module to extend and retract relative to the body, the method comprising: Obtain first target information relative to the ground before the lifting mechanism performs the height adjustment operation, and second target information relative to the ground after the lifting mechanism performs the height adjustment operation; Based on the first target information and the second target information, determine whether the increase operation meets the preset threshold requirements; When the height adjustment operation does not meet the preset threshold requirement, the lifting mechanism is controlled to perform a calibration operation based on the first target information and / or the second target information.

2. The method according to claim 1, wherein obtaining the first target information relative to the ground before the lifting mechanism performs the height adjustment operation includes: Before the lifting mechanism performs the height adjustment operation, the first initial information of the ground point cloud is obtained based on the self-moving device traveling on the horizontal plane. The first initial information is filtered to determine the first target information.

3. The method according to claim 1 or 2, wherein obtaining the second target information relative to the ground after the lifting mechanism performs the height adjustment operation includes: After the lifting mechanism performs the height adjustment operation, the second initial information of the ground point cloud is obtained based on the self-moving device traveling on the horizontal plane. The second initial information is filtered to determine the second target information.

4. The method according to any one of claims 1 to 3, wherein determining whether the adjustment operation meets the preset threshold requirement includes: After the lifting mechanism performs the height adjustment operation, the current height of the fuselage and the current horizontal attitude of the fuselage are determined. If the current height does not meet the height threshold, and / or the current horizontal posture does not meet the horizontality threshold, then it is determined that the height adjustment operation does not meet the preset threshold requirement; otherwise, it is determined that the height adjustment operation meets the preset threshold requirement.

5. The method according to claim 4, wherein the calibration method further comprises: The first target information and the second target information are acquired through sensors; The self-moving device includes the sensor, or the sensor is externally located in the surrounding environment of the self-moving device.

6. The method according to claim 5, wherein controlling the lifting mechanism to perform a calibration operation includes: Determine the calibration strategy based on the type of sensor; According to the calibration strategy, the lifting mechanism is controlled to perform the corresponding calibration operation.

7. The method according to claim 6, The type of sensor includes a first type of sensor, which is configured to acquire ground point cloud accuracy that meets a first preset threshold. The calibration strategy includes a first calibration strategy corresponding to the first type of sensor, the first calibration strategy including: Horizontal calibration and height calibration are performed alternately.

8. The method according to claim 7, wherein the lifting mechanism comprises at least two servo motors, and the horizontal calibration and height calibration are performed alternately, comprising: Fit a first ground equation based on the first target information, fit a second ground equation based on the second target information, and determine the angle between the normal vectors and the difference in constant terms between the first ground equation and the second ground equation. The relationship between the angle between the normal vectors and the levelness threshold, and the relationship between the difference of the constant term and the height threshold are judged alternately. Since the included angle of the normal vector does not meet the horizontality threshold, the height of the servo motor is adjusted so that the included angle of the normal vector meets the horizontality threshold, and the process returns to re-execute the step of obtaining the second target information; Since the difference in the constant term does not meet the height threshold, the height of the servo motor is adjusted so that the difference in the constant term meets the height threshold, and the process returns to re-execute the step of obtaining the second target information; If the angle between the normal vectors satisfies the horizontality threshold, or if the difference in the constant terms satisfies the height threshold, return to the step of re-executing the second target information; Until the angle between the normal vectors satisfies the horizontality threshold, and the difference in the constant terms satisfies the height threshold.

9. The method according to claim 8, wherein adjusting the height of the servo motor comprises: Based on the relationship between the angle of the normal vector that does not meet the levelness threshold and the levelness threshold, or the relationship between the difference of the constant term that does not meet the height threshold and the height threshold, and the design position of each of the servos, the height to be adjusted for each of the servos is determined, and each of the servos is controlled to adjust the corresponding height to be adjusted.

10. The method according to any one of claims 6 to 9, The type of sensor includes a second type of sensor, which is configured to acquire a wall point cloud with an accuracy that meets a second preset threshold. The calibration strategy includes a second calibration strategy corresponding to the second type of sensor, the second calibration strategy including: First calibrate the horizontal alignment, then calibrate the vertical alignment.

11. The method according to claim 10, wherein the lifting mechanism comprises at least two servo motors, and the step of first calibrating the horizontal position and then calibrating the height comprises: Fit a first equation for the wall surface based on the first target information, fit a second equation for the wall surface based on the second target information, and determine the angle between the normal vectors of the first equation and the second equation. If the angle between the normal vectors does not meet the horizontality threshold, adjust the height of the servo motor, return and re-execute the step of obtaining the second target information until the angle between the normal vectors meets the horizontality threshold; The system determines the first height difference between the same feature in the external environment and the fuselage after the servo motor performs the adjustment operation and before the lifting mechanism performs the height adjustment operation. Based on the fact that the first height difference does not meet the height threshold, the system controls each of the servo motors to adjust to the same height so that the first height difference meets the height threshold.

12. The method according to claim 11, further comprising: Return and re-execute the step of obtaining the second target information until the angle between the normal vectors meets the horizontality threshold and the first height difference meets the height threshold.

13. The method according to any one of claims 6 to 12, wherein the lifting mechanism comprises at least two servo motors; The type of sensor includes a third type of sensor, which is configured such that the accuracy of the acquired ground point cloud does not meet a first preset threshold and the accuracy of the acquired wall point cloud does not meet a second preset threshold. The calibration strategy includes a third calibration strategy corresponding to the third type of sensor, the third calibration strategy including: The height of each servo motor was calibrated individually.

14. The method according to claim 13, wherein calibrating the height of each servo motor individually comprises: The extension height of any one of the servos is adjusted sequentially to meet the height threshold, and the second height difference between the extension height of each servo reaching the height threshold and before the height adjustment operation is performed is recorded; If the second height difference between at least two of the servos is not equal, the height of the corresponding servo is adjusted according to the distribution of the difference in the second height difference until all the second height differences are equal.

15. The method of claim 14, wherein adjusting the extension height of any one of the servos to meet the height threshold comprises: Determine the current sub-height of any of the servos after the height adjustment operation is performed; If the current sub-height does not meet the height threshold, adjust the height of the servo motor and return to the step of determining the current sub-height of the servo motor until the current sub-height meets the height threshold.

16. The method according to claim 15, wherein determining the current sub-height of any of the servos after performing the height adjustment operation comprises: Based on the original extrinsic parameters of the third type of sensor, the design position of the servo motor, and the second target information, determine the ground reference equation corresponding to the coordinate system of the fuselage after the elevation adjustment operation is performed; Obtain the ground reference height measured by the third type of sensor after performing the height adjustment operation; The current sub-altitude of the servo motor is determined based on the ground reference equation and the ground reference altitude.

17. The method according to any one of claims 1 to 16, further comprising: After completing the calibration operation, record the current position information of the lifting mechanism.

18. A height adjustment and calibration device for a lifting mechanism, used in a self-moving device, the self-moving device comprising a body, a traveling module, and the lifting mechanism, the lifting mechanism being used to perform a height adjustment operation to drive the traveling module to extend and retract relative to the body, the device comprising: The acquisition module is used to acquire first target information relative to the ground before the lifting mechanism performs the height adjustment operation, and second target information relative to the ground after the lifting mechanism performs the height adjustment operation; The determining module is used to determine whether the increase operation meets the preset threshold requirement based on the first target information and the second target information; The calibration module is used to control the lifting mechanism to perform a calibration operation based on the first target information and / or the second target information when the height adjustment operation does not meet the preset threshold requirements.

19. The apparatus according to claim 18, wherein the acquisition module comprises: The first acquisition unit is used to acquire the first initial information of the ground point cloud based on the self-moving device traveling on the horizontal plane before the lifting mechanism performs the height adjustment operation; The first filtering unit is used to filter the first initial information to determine the first target information.

20. The apparatus according to claim 18 or 19, wherein the acquisition module comprises: The second acquisition unit is used to acquire second initial information of the ground point cloud based on the self-moving device traveling on the horizontal plane after the lifting mechanism performs the height adjustment operation; The second filtering unit is used to filter the second initial information to determine the second target information.

21. The apparatus according to any one of claims 18 to 20, wherein the determining module comprises: The first determining unit is used to determine the current height of the fuselage and the current horizontal attitude of the fuselage after the lifting mechanism performs the height adjustment operation; The second determining unit is configured to determine that the height adjustment operation does not meet the preset threshold requirement if the current height does not meet the height threshold and / or the current horizontal attitude does not meet the horizontality threshold; otherwise, it is determined that the height adjustment operation meets the preset threshold requirement.

22. The apparatus according to claim 21, wherein the first target information and the second target information are acquired by a sensor; wherein, The self-moving device includes the sensor, or the sensor is externally located in the surrounding environment of the self-moving device.

23. The apparatus of claim 22, wherein the calibration module comprises: A strategy determination unit is used to determine a calibration strategy based on the type of the sensor; The calibration unit is used to control the lifting mechanism to perform corresponding calibration operations according to the calibration strategy.

24. The apparatus of claim 23, wherein the type of sensor includes a first type of sensor, the first type of sensor being configured to acquire ground point cloud accuracy that satisfies a first preset threshold; The calibration strategy includes a first calibration strategy corresponding to the first type of sensor, the first calibration strategy including: Horizontal calibration and height calibration are performed alternately.

25. The apparatus of claim 24, wherein the lifting mechanism comprises at least two servo motors, and the horizontal calibration and height calibration are performed alternately, comprising: Fit a first ground equation based on the first target information, fit a second ground equation based on the second target information, and determine the angle between the normal vectors and the difference in constant terms between the first ground equation and the second ground equation. The relationship between the angle between the normal vectors and the levelness threshold, and the relationship between the difference of the constant term and the height threshold are judged alternately. Since the included angle of the normal vector does not meet the horizontality threshold, the height of the servo motor is adjusted so that the included angle of the normal vector meets the horizontality threshold, and the process returns to re-execute the step of obtaining the second target information; Since the difference in the constant term does not meet the height threshold, the height of the servo motor is adjusted so that the difference in the constant term meets the height threshold, and the process returns to re-execute the step of obtaining the second target information; If the angle between the normal vectors satisfies the horizontality threshold, or if the difference in the constant terms satisfies the height threshold, return to the step of re-executing the second target information; Until the angle between the normal vectors satisfies the horizontality threshold, and the difference in the constant terms satisfies the height threshold.

26. The apparatus of claim 25, wherein adjusting the height of the servo motor comprises: Based on the relationship between the angle of the normal vector that does not meet the levelness threshold and the levelness threshold, or the relationship between the difference of the constant term that does not meet the height threshold and the height threshold, and the design position of each of the servos, the height to be adjusted for each of the servos is determined, and each of the servos is controlled to adjust the corresponding height to be adjusted.

27. The apparatus according to any one of claims 23 to 26, wherein the type of sensor includes a second type of sensor, the second type of sensor being configured such that the accuracy of the acquired wall point cloud meets a second preset threshold; the calibration strategy includes a second calibration strategy corresponding to the second type of sensor, the second calibration strategy including: First calibrate the horizontal alignment, then calibrate the vertical alignment.

28. The apparatus of claim 27, wherein the lifting mechanism comprises at least two servo motors, and the step of first calibrating the horizontal position and then calibrating the height comprises: Fit a first equation for the wall surface based on the first target information, fit a second equation for the wall surface based on the second target information, and determine the angle between the normal vectors of the first equation and the second equation. If the angle between the normal vectors does not meet the horizontality threshold, adjust the height of the servo motor, return and re-execute the step of obtaining the second target information until the angle between the normal vectors meets the horizontality threshold; The system determines the first height difference between the same feature in the external environment and the fuselage after the servo motor performs the adjustment operation and before the lifting mechanism performs the height adjustment operation. Based on the fact that the first height difference does not meet the height threshold, the system controls each of the servo motors to adjust to the same height so that the first height difference meets the height threshold.

29. The apparatus of claim 28, further comprising: The return module is used to return and re-execute the step of obtaining the second target information until the angle between the normal vectors meets the horizontality threshold and the first height difference meets the height threshold.

30. The apparatus according to any one of claims 23 to 29, wherein the lifting mechanism comprises at least two servo motors; The type of sensor includes a third type of sensor, which is configured such that the accuracy of the acquired ground point cloud does not meet a first preset threshold and the accuracy of the acquired wall point cloud does not meet a second preset threshold. The calibration strategy includes a third calibration strategy corresponding to the third type of sensor, the third calibration strategy including: The height of each servo motor was calibrated individually.

31. The apparatus of claim 30, wherein the step of individually calibrating the height of each servo motor comprises: The extension height of any one of the servos is adjusted sequentially to meet the height threshold, and the second height difference between the extension height of each servo reaching the height threshold and before the height adjustment operation is performed is recorded; If the second height difference between at least two of the servos is not equal, the height of the corresponding servo is adjusted according to the distribution of the difference in the second height difference until all the second height differences are equal.

32. The apparatus of claim 31, wherein adjusting the extension height of any one of the servos to meet the height threshold comprises: Determine the current sub-height of any of the servos after the height adjustment operation is performed; If the current sub-height does not meet the height threshold, adjust the height of the servo motor and return to the step of determining the current sub-height of the servo motor until the current sub-height meets the height threshold.

33. The apparatus of claim 32, wherein determining the current sub-height of any of the servos after performing the height adjustment operation comprises: Based on the original extrinsic parameters of the third type of sensor, the design position of the servo motor, and the second target information, determine the ground reference equation corresponding to the coordinate system of the fuselage after the elevation adjustment operation is performed; Obtain the ground reference height measured by the third type of sensor after performing the height adjustment operation; The current sub-altitude of the servo motor is determined based on the ground reference equation and the ground reference altitude.

34. The apparatus according to any one of claims 18 to 33, further comprising: The recording module is used to record the current position information of the lifting mechanism after the calibration operation is completed.

35. A self-propelled device, comprising: body; A walking module, wherein the walking module is disposed at the bottom of the body; A lifting mechanism is used to perform a height adjustment operation to drive the walking module to extend and retract relative to the body; A memory that stores programs or instructions; A processor, which, when executing the program or the instructions, implements the steps of the height adjustment calibration method for the lifting mechanism as described in any one of claims 1 to 17.

36. A readable storage medium having a program or instructions stored thereon, which, when executed by a processor, implement the steps of the height adjustment calibration method for a lifting mechanism as described in any one of claims 1 to 17.

Images