CN111707289A - Mobile robot, sensor calibration method and computer readable storage medium - Google Patents
Mobile robot, sensor calibration method and computer readable storage medium Download PDFInfo
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- CN111707289A CN111707289A CN202010426317.7A CN202010426317A CN111707289A CN 111707289 A CN111707289 A CN 111707289A CN 202010426317 A CN202010426317 A CN 202010426317A CN 111707289 A CN111707289 A CN 111707289A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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Abstract
The invention provides a mobile robot, a sensor calibration method and a computer readable storage medium, wherein the mobile robot comprises: the robot comprises a machine main body, a driving module, a sensor, a moving line segment recording and storing module, a straight line segment distance acquiring module and a straight line segment distance acquiring module, wherein the moving line segment information and the straight line segment distance acquiring module are connected with the moving line segment recording and storing module and are used for extracting the distance of a straight line segment which finishes the straight line movement currently in the moving line segment information; the processing module is connected with the straight line segment distance acquisition module and the sensor and used for calculating the mean value and the mean value floating value of the numerical value on the sensor within the range of the preset recording point on the straight line segment; and the sensor dynamic calibration module is connected with the processing module, and takes the mean value as the dynamic calibration value of the sensor when the up-and-down floating range of the value on the sensor in the preset recording point range on the straight line segment is not more than the mean value floating value. The invention can realize dynamic and stable calibration of the sensor according to the actual detection value of the sensor.
Description
Technical Field
The invention relates to the technical field of sensor calibration, in particular to a mobile robot, a sensor calibration method and a computer readable storage medium.
Background
With the popularization of smart home concepts, mobile robots for automatic cleaning (commonly known as floor sweeping robots) gradually come into the lives of people. In the related art, when the robot cleaner recognizes an obstacle, the sensor value of the infrared sensor is compared with a calibration value set at the time of factory shipment, and whether the robot cleaner encounters the obstacle is determined according to the comparison result. For example, if the sensor value gradually increases and exceeds a predetermined value, it is determined that an obstacle is present ahead.
However, in practical applications, the sensor is susceptible to the influence of ambient light, so that the sensor value is different from the sensor value not affected by the ambient light, and when the sensor value affected by the ambient light is compared with the calibration value, misjudgment is easily caused, so that the situation that the front is not an obstacle but the obstacle decelerates in advance is misjudged, or the front is the obstacle but the obstacle and the obstacle collide with each other is misjudged, and the use experience of the sweeping robot is reduced.
Therefore, how to provide a sensor calibration scheme with high accuracy and strong stability is a technical problem to be solved in the field.
Disclosure of Invention
The invention provides a mobile robot, a sensor calibration method and a computer readable storage medium, so as to achieve the technical effect of accurately and stably calibrating a sensor.
In one aspect of the present invention, there is provided a mobile robot including:
a machine body defining a shape of a mobile robot;
the driving module is arranged on the machine main body and is used for driving the mobile robot to walk;
a sensor that emits a detection signal at least when the mobile robot is walking;
a moving line segment recording storage module configured to record information of a moving line segment of the mobile robot;
the straight line segment distance acquisition module is configured to extract the distance of a straight line segment which finishes the straight line movement at present in the information of the moving line segment;
the processing module is connected with the straight line segment distance acquisition module and the sensor and is configured to: when the distance of the straight line segment is greater than a preset straight line segment distance threshold value, calculating the mean value of the sensor values in a preset recording point range on the straight line segment and a mean value floating value based on the mean value;
a sensor dynamic calibration module, coupled to the processor, configured to: and when the up-down floating range of the value on the sensor in the range of the preset recording point on the straight line segment is not larger than the mean value floating value, taking the mean value as the dynamic calibration value of the sensor.
Optionally, the sensor includes: the device comprises a front sensor positioned in the moving forward direction, a left front sensor and a right front sensor positioned on the left side and the right side of the moving forward direction; the sensor dynamic calibration module comprises: a front sensor calibration unit and a side front sensor calibration unit;
the front sensor calibration unit is connected with the processing module and is configured to: when the upper and lower floating range of the numerical value on the front sensor is not larger than the mean value floating value, taking the mean value as a dynamic calibration value of the front sensor;
the front side sensor calibration unit is connected with the processing module and is configured to: and when the up-down floating range of the numerical value on the left front sensor/the right front sensor is not larger than the mean value floating value, taking the mean value as the dynamic calibration value of the left front sensor/the right front sensor.
Optionally, the sensor dynamic calibration module includes: a filtering processing unit and a dynamic calibration unit:
the filtering processing unit is connected with the processing module and is configured to: when the up-down floating range of the numerical value on the sensor in the range of the preset recording point on the straight line segment is not larger than the mean value floating value, acquiring the data point with the maximum difference between the numerical value on the sensor and the mean value in the straight line segment based on a preset proportion, and carrying out filtering treatment;
the dynamic calibration unit is connected with the filtering processing unit and is configured to: and calculating the average value of the values on the sensor left after filtering as the dynamic calibration value of the sensor.
Optionally, the straight line segment distance obtaining module includes: a straight line segment end point recording unit and a straight line segment distance obtaining unit;
the straight line segment end point recording unit is connected with the moving line segment recording and storing module and is configured to: acquiring a straight line segment which finishes linear movement at present in the information of the moving line segment, and recording a preset spacing distance position before a segment end point of the straight line segment as a recording end point;
the straight line segment distance obtaining unit is connected with the straight line segment end point recording unit and is configured to: and extracting the distance between the segment starting point and the recording end point of the straight line segment as the distance of the straight line segment.
Optionally, the method further includes: a mean floating value updating module, connected to the processing module, configured to:
when the mean value floating value is smaller than the lower limit value of a preset floating threshold range, updating the mean value floating value by using the lower limit value;
and when the mean value floating value is larger than the upper limit value of a preset floating threshold range, updating the mean value floating value by using the upper limit value.
Optionally, the dynamic calibration module of the sensor includes: the device comprises a sensor minimum difference point acquisition unit and a sensor calibration unit;
the sensor minimum difference point acquisition unit is connected with the processing module and is configured to: when the upper and lower floating range of the values on the sensors in the range of the preset recording points on the straight line segment is not larger than the mean value floating value, acquiring the minimum difference data points with the minimum difference between the preset number of the values on the sensors and the mean value in the straight line segment;
the sensor calibration unit is connected with the sensor minimum difference point acquisition unit and is configured to: calculating the mean of the small difference data points as the dynamic calibration value of the sensor.
Optionally, the front side sensor calibration unit is further configured to:
extracting straight line segments at two sides of a left line segment/a right line segment which are covered leftwards and rightwards in the information of the moving line segments;
when the distance between the straight line segments on the two sides of the left line segment/right line segment is greater than a preset straight line segment distance threshold value, respectively calculating the average value of the values on the left front sensor/right front sensor of the straight line segments on the two sides of the left line segment/right line segment and the average value floating value based on the average value;
and when the up-down floating range of the numerical value on the left front sensor/the right front sensor on the straight line segments at the two sides of the left line segment/the right line segment is not larger than the mean value floating value, calculating the mean value of the straight line segments at the two sides of the left line segment/the right line segment as the dynamic calibration value of the left front sensor/the right front sensor.
Optionally, the moving line segment record storage module is further configured to:
presetting a numerical value recording period of a sensor;
and recording the starting point and the end point of the moving line segment, and recording the value of the sensor once every other recording period.
In another aspect of the present invention, a sensor calibration method is further provided, including:
acquiring information of the detected moving line segment;
extracting the distance of the straight line segment which finishes the linear movement at present in the information of the moving line segment;
when the distance of the straight line segment is greater than a preset straight line segment distance threshold value, calculating the mean value of the values on the sensor in the range of preset recording points on the straight line segment and the mean value floating value based on the mean value;
and when the up-down floating range of the value on the sensor in the range of the preset recording point on the straight line segment is not larger than the mean value floating value, taking the mean value as the dynamic calibration value of the sensor.
In still another aspect of the present invention, a computer-readable storage medium is provided, which stores instructions that, when executed by a processor, implement the above-mentioned sensor calibration method.
The mobile robot, the sensor calibration method and the computer readable storage medium provided by the invention can acquire the detection value of the sensor on the straight line segment moving straight, judge the stability of the sensor on the detection straight line segment through the mean value and the mean value floating range of the detection value on the straight line segment, and stably identify the real Free Space value (air value). Whether the front is an obstacle or air can be accurately judged according to a real Free Space value (air value) in the navigation process, the acceleration of the robot in the air environment is reasonably adjusted, and the cleaning efficiency and experience of the robot are improved by the deceleration of the front obstacle. Whether the front is air or not can be accurately judged according to the real FreeStace value (air value) in the wall-following process, so that the condition of traveling along the air is avoided, and the whole navigation planning is not influenced. And under the condition that the value on the sensor on the straight line segment is stable, the value on the sensor is used for dynamically calibrating the sensor, so that the sensor is dynamically and stably calibrated according to the actual detection value of the sensor. The front impact sensor can be applied to all machines with sensors, and the problem of different consistency of the front impact sensors is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
fig. 1 is a schematic structural diagram of a mobile robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a second mobile robot according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a mobile robot extracting a straight line segment distance according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a third mobile robot according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a fourth mobile robot according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a fifth mobile robot according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a sixth mobile robot according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a left/right coverage movement track of a mobile robot according to an embodiment of the present invention;
fig. 9 is a schematic flowchart of a sensor calibration method according to an embodiment of the present invention;
FIG. 10 is a schematic flow chart illustrating a second method for calibrating a sensor according to an embodiment of the present invention;
FIG. 11 is a schematic flow chart illustrating a third method for calibrating a sensor according to an embodiment of the present invention;
FIG. 12 is a schematic flow chart illustrating a fourth method for calibrating a sensor according to an embodiment of the present invention;
fig. 13 is a schematic flowchart of a fifth sensor calibration method according to an embodiment of the present invention;
fig. 14 is a schematic flowchart of a sixth sensor calibration method according to an embodiment of the present invention;
fig. 15 is a schematic flowchart of a seventh sensor calibration method according to an embodiment of the present invention;
fig. 16 is a schematic flowchart of an eighth sensor calibration method according to an embodiment of the present invention;
fig. 17 is a flowchart of an application embodiment of a sensor calibration method provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following embodiments and accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
Referring to fig. 1, a schematic structural diagram of a mobile robot 10 according to an embodiment of the present invention is provided, where the mobile robot includes: the device comprises a machine body 100, a driving module 200, a sensor 300, a moving line segment recording and storing module 400, a straight line segment distance acquiring module 500, a processing module 600 and a sensor dynamic calibration module 700;
a machine body 100, the machine body 100 defining the shape of a mobile robot
The driving module 200 is provided on the machine body 100 and configured to drive the mobile robot to travel.
And a sensor 300, wherein the sensor 300 sends out a detection signal at least when the mobile robot walks. The detection signal may be used to detect a current position of the mobile robot.
A moving line segment record storage module 400, connected to the sensor 300, configured to: and recording information of the moving line segment of the mobile robot.
In implementation, the information of the moving line segment can be understood as the sensor value detected by the sensor 300 during the movement of the device and the current time position.
Based on the limitation of the storage space of the moving line segment record storage module 400, a record period of the sensor value may be preset, and the record period of the value may be greater than the detection frequency of the sensor 300, so as to reduce the storage amount of data. During the movement of the device, the moving line segment recording and storing module 400 needs to record the starting point and the ending point of the moving line segment and record the value on the sensor 300 once every other recording period.
The straight line segment distance obtaining module 500 is connected to the moving line segment record storage module 400, and is configured to: and extracting the distance of the straight line segment which finishes the straight line movement at present from the information of the moving line segment.
In an implementation, the sensor 300 has a certain detection range, and if an obstacle exists in the detection range, the detection result of the sensor 300 may be affected, for example, when the device moves linearly toward the wall, and when the wall appears in the detection range of the sensor 300, the detection result of the sensor 300 may be affected, and in order to ensure the accuracy of dynamic calibration, the value of the sensor 300 in a preset interval before the end point of the linear movement may be filtered, and the preset interval may be greater than the detection range of the sensor 300, for example, the detection range of the sensor 300 is 20cm, and the preset interval may be 50 cm.
Based on this, referring to fig. 2, a schematic structural diagram of a second mobile robot 20 according to an embodiment of the present invention is provided, in which the straight line segment distance obtaining module 500 includes: a straight line segment end point recording unit 501 and a straight line segment distance acquisition unit 502,
specifically, the straight line segment end point recording unit 501, connected to the moving line segment recording storage module 400, is configured to: acquiring a straight line segment which finishes linear movement at present in the information of the moving line segment, and recording a position with a preset interval distance in front of a segment end point of the straight line segment as a recording end point;
a straight line segment distance obtaining unit 502, connected to the straight line segment end point recording unit 501, configured to: the distance between the starting point and the recording end point of the straight line segment is extracted as the distance of the straight line segment, so that when the numerical value on the sensor 300 is used for dynamic calibration in the subsequent process, even if the numerical value on the sensor 300 fluctuates due to the influence of obstacles within the preset interval distance before the end point of the straight line segment, the accuracy of the dynamic calibration cannot be influenced. Referring to fig. 3, a schematic diagram of extracting a distance of a straight line segment for a mobile robot according to an embodiment of the present invention is shown, as shown in the diagram, a position 50cm before a line segment of the straight line segment is emphasized is set as a recording end point, and a distance between a line segment start point and the recording end point of the straight line segment is extracted as the distance of the straight line segment.
The processing module 600, connected to the straight line segment distance acquiring module 500 and the sensor 300, is configured to: when the distance of the straight line segment is greater than the preset straight line segment distance threshold, the mean value of the values on the sensor 300 within the range of the preset recording point on the straight line segment and the mean value floating value based on the mean value are calculated.
In implementation, the greater the distance of the straight line segment and the greater the stability of the value of the sensor 300 on the straight line segment, the greater the accuracy in the subsequent dynamic calibration of the sensor 300. Therefore, the straight line distance threshold may be set, that is, when the straight line distance is greater than the preset straight line distance threshold, the sensor 300 starts to be dynamically calibrated.
The mean value of the values on the sensor 300 is the mean value of the sensor values of the sensor 300 recorded by the moving line segment recording and storing module 400 in the straight line segment, and the values on the sensor 300 in the range of the preset recording point can be selected to calculate the mean value when calculating the mean value, for example, the values on the sensor can be selected to calculate the mean value between the starting point and the recording end point of the straight line segment, or the values on the sensor 300 in any distance can be selected to calculate the mean value between the starting point and the recording end point of the straight line segment.
The mean shift value is a standard for evaluating stability of the value of the sensor 300 on the straight line segment, and the mean shift value is calculated based on the mean value, and may be, for example, 50% of the mean value.
In implementation, in order to prevent an error from occurring when the mean value floating value is too large or too small, when the stability of the value of the sensor 300 is determined, for example, if the mean value floating value is larger, the criterion for evaluating the upper and lower floating ranges of the value on the sensor 300 is correspondingly larger, and a misjudgment may occur; based on this, a floating threshold range can be preset, for example, the floating threshold range is: 20-100 parts of; and updating the mean shift value when the mean shift value exceeds the range of the shift threshold value.
Specifically, referring to fig. 4, a schematic structural diagram of a third mobile robot 40 according to an embodiment of the present invention is provided, where the apparatus further includes: a mean floating value update module 800, coupled to the mean and processing module 600,
a mean float value update module 800 configured to: when the mean value floating value is smaller than the lower limit value of the preset floating threshold range, updating the mean value floating value by using the lower limit value; and when the mean value floating value is larger than the upper limit value of the preset floating threshold range, updating the mean value floating value by using the upper limit value.
A sensor dynamic calibration module 700, coupled to the processing module 600, configured to: and when the upper and lower floating ranges of the numerical value on the sensor 300 in the range of the preset recording point on the straight line segment are not larger than the mean value floating value, taking the mean value as the dynamic calibration value of the sensor 300.
In practice, a smaller fluctuation range of the value on the sensor 300 indicates a higher stability of the value on the sensor 300, and in one implementation, the fluctuation range of the value on the sensor 300 may be a fluctuation range between a maximum value and a minimum value of the value on the sensor 300, that is, a difference between the maximum value and the minimum value, and the value on the sensor 300 is considered to be stable when the difference between the maximum value and the minimum value is not greater than a mean value fluctuation value;
in another implementation, the upper and lower floating ranges of the values on the sensor 300 may be floating ranges of each value compared to the mean value, that is, the difference between each value and the mean value is calculated, and the value on the sensor 300 is considered to be stable when each calculated difference is smaller than the floating value of the mean value.
In order to improve the robustness of dynamic calibration, referring to fig. 5, which is a schematic structural diagram of a fourth mobile robot 50 provided in the embodiment of the present invention, the sensor dynamic calibration module includes 700: a filter processing unit 701 and a dynamic calibration unit 702;
the filtering processing unit 701 is connected to the processing module 600, and is configured to: when the upper and lower floating range of the value on the sensor 300 in the range of the preset recording point on the straight line segment is not larger than the mean value floating value, acquiring the data point with the maximum difference between the value on the sensor 300 and the mean value in the straight line segment based on the preset proportion, and carrying out filtering processing;
the dynamic calibration unit 702 is connected to the filtering processing unit 701, and is configured to: the average of the values on the sensor 300 remaining after filtering is calculated as the dynamic calibration of the sensor 300.
And filtering the values on the sensor 300 according to a preset proportion to filter data points with the maximum difference between the values on the sensor 300 and the mean value, and dynamically calibrating the sensor 300 by using the mean value of the values on the sensor 300 left after filtering, so as to improve the robustness of dynamic calibration.
In another implementation manner, referring to fig. 6, a schematic structural diagram of a fifth mobile robot 60 according to an embodiment of the present invention is provided, where the sensor dynamic calibration module 700 includes: a sensor minimum difference point acquisition unit 703 and a sensor calibration unit 704;
a sensor minimum difference point obtaining unit 703, connected to the processing module 600, configured to: when the upper and lower floating ranges of the values on the sensor 300 in the range of the preset recording points on the straight line segment are not larger than the mean value floating value, acquiring the minimum difference data points with the minimum difference between the preset number of the values on the sensor 300 and the mean value in the straight line segment;
a sensor calibration unit 704, connected to the sensor minimum difference point obtaining unit 703, configured to: the mean of the small difference data points is calculated as the dynamic calibration of the sensor 300.
In the implementation, the dynamic calibration can be performed on the plurality of sensors 300 at the same time, for example, the front sensor located in the moving forward direction, the left front sensor and the right front sensor located on the left and right sides of the moving forward direction can be dynamically calibrated at the same time, and when the plurality of sensors 300 are calibrated at the same time, the dynamic calibration needs to be performed on each sensor 300 according to the value on each sensor 300 on the straight line segment.
Referring to fig. 7, a schematic structural diagram of a sixth mobile robot 70 according to an embodiment of the present invention is provided, in which the sensor dynamic calibration module 700 includes: a front sensor calibration unit 705 and a side front sensor calibration unit 706, so as to dynamically calibrate the front sensor, the left front sensor and the right front sensor at the same time.
Specifically, the front sensor calibration unit 705 is connected to the processing module 600, and is configured to:
and when the upper and lower floating range of the numerical value on the front sensor is not larger than the mean value floating value, taking the mean value as the dynamic calibration value of the front sensor.
In implementation, the upper and lower floating range of the value on the front sensor is not larger than the mean value floating value, namely when the value on the front sensor is stable, the front is indicated to be an open environment without the interference of obstacles/dynamic obstacles/strong light, and the mean value of the value on the front sensor can be used for dynamic calibration.
The front side sensor calibration unit 706 is connected to the processing module 600 and is configured to: and when the upper and lower floating range of the numerical value on the left front sensor/the right front sensor is not larger than the floating value of the mean value, taking the mean value as the dynamic calibration value of the left front sensor/the right front sensor.
In implementation, when the left front sensor/the right front sensor are dynamically calibrated, in order to guarantee the calibration accuracy, the left side/the right side of the device needs to be determined to be an open environment without obstacles/dynamic obstacles/strong light interference.
Referring to fig. 8, which is a schematic diagram of a left/right covering movement track of the sensor calibration apparatus provided in the embodiment of the present invention, in the diagram, two straight line segments 1 and 2 are two straight line segments in the right covering movement process, and when a value on the right front sensor on the two straight line segments is stable, it can be determined that the right side is an open environment and there is no obstacle/dynamic obstacle/strong light interference;
in the figure, the two straight line segments 2 and 3 are two straight line segments in the left covering moving process, and under the condition that the values on the left front sensor on the two straight line segments are stable, the left side can be determined to be an open environment and no obstacle/dynamic obstacle/strong light interference exists.
In implementation, in the process of recording the information of the moving line segment detected by the sensor 300, the moving line segment recording and storing module 400 may delete the values of the sensors on the current straight line segment and the previous straight line segment when it is determined that the values of the sensor 300 on the current straight line segment are not stable, that is, when the upper and lower floating ranges of the values on the sensor 300 are greater than the mean floating value, so that the left/right front sensor calibrates the left/right front sensor when the values on the two adjacent straight line segments are stable.
Based on this, the side front sensor calibration unit 706 can extract the straight line segments at both sides of the left line segment/right line segment that are covered to the left/right in the information of the moving line segment during the dynamic calibration process;
when the distance between the straight line segments on the two sides of the left line segment/the right line segment is greater than a preset straight line segment distance threshold value, respectively calculating the average value of values on a left front sensor/a right front sensor of the straight line segments on the two sides of the left line segment/the right line segment and a mean value floating value based on the average value;
and when the up-down floating range of the numerical value on the left front sensor/the right front sensor on the straight line segments at the two sides of the left line segment/the right line segment is not larger than the mean value floating value, calculating the mean value of the straight line segments at the two sides of the left line segment/the right line segment as the dynamic calibration value of the left front sensor/the right front sensor.
By applying the scheme provided by the embodiment of the invention, the sensor can be dynamically calibrated by using the value on the sensor under the condition that the value on the sensor on the straight line segment is stable, so that the sensor can be dynamically and stably calibrated according to the actual detection value of the sensor.
Referring to fig. 9, a schematic flow chart of a sensor calibration method according to an embodiment of the present invention is shown, where the method includes:
s900, acquiring information of the detected moving line segment;
s910, extracting the distance of the straight line segment which finishes the straight line movement at present from the information of the moving line segment;
s920, when the distance of the straight line segment is greater than a preset straight line segment distance threshold value, calculating a mean value of values on the sensor in a preset recording point range on the straight line segment and a mean value floating value based on the mean value;
and S930, when the upper and lower floating ranges of the numerical value on the sensor in the range of the preset recording point on the straight line segment are not larger than the mean value floating value, taking the mean value as the dynamic calibration value of the sensor.
In one implementation, the sensor includes: the device comprises a front sensor positioned in the moving forward direction, a left front sensor and a right front sensor positioned on the left side and the right side of the moving forward direction; referring to fig. 10, a schematic flow chart of a second sensor calibration method according to an embodiment of the present invention is provided, in this implementation manner, different from that in fig. 9, the foregoing S930 is replaced with:
s931, when the upper and lower fluctuation ranges of the values on the front sensor are not greater than the mean value fluctuation value, taking the mean value as a dynamic calibration value of the front sensor;
and S932, when the up-down floating range of the numerical value on the left front sensor/the right front sensor is not larger than the mean value floating value, taking the mean value as the dynamic calibration value of the left front sensor/the right front sensor.
In an implementation manner, referring to fig. 11, a flowchart of a third method for calibrating a sensor according to an embodiment of the present invention is shown, where, unlike in fig. 9, the foregoing S930 is replaced with:
s933, when the up-down floating range of the numerical value on the sensor in the range of the preset recording point on the straight line segment is not larger than the mean value floating value, acquiring the data point with the maximum difference between the numerical value on the sensor and the mean value in the straight line segment based on a preset proportion, and carrying out filtering processing;
and S934, calculating the average value of the values on the sensors left after filtering as the dynamic calibration value of the sensors.
In an implementation manner, referring to fig. 12, a flowchart of a fourth method for calibrating a sensor according to an embodiment of the present invention is shown, where, unlike in fig. 9, S910 is replaced with:
s911, acquiring a straight line segment which finishes the straight line movement at present in the information of the moving line segment, and recording a position which is a preset interval distance before a segment end point of the straight line segment as a recording end point;
s912, extracting a distance between a line segment start point and the recording end point of the straight line segment as the distance of the straight line segment.
In an implementation manner, referring to fig. 13, a schematic flow chart of a fifth sensor calibration method according to an embodiment of the present invention is shown, where in this implementation manner, different from that in fig. 9, between S920 and S930, the method further includes:
s925, when the mean value floating value is smaller than the lower limit value of a preset floating threshold range, updating the mean value floating value by using the lower limit value; and when the mean value floating value is larger than the upper limit value of a preset floating threshold range, updating the mean value floating value by using the upper limit value.
In an implementation manner, referring to fig. 14, a flowchart of a sixth sensor calibration method provided in the embodiment of the present invention is shown, where, unlike in fig. 9, the foregoing S930 is replaced with:
s935, when the up-down floating range of the values on the sensors in the range of the preset recording points on the straight line segment is not more than the mean value floating value, acquiring a preset number of minimum difference data points with the minimum difference between the values on the sensors and the mean value in the straight line segment;
s936, calculating the average value of the small difference data points as the dynamic calibration value of the sensor.
In an implementation manner, referring to fig. 15, a schematic flow chart of a seventh sensor calibration method according to an embodiment of the present invention is shown, where, unlike in fig. 10, the foregoing S932 is replaced with:
s937, extracting straight line segments at two sides of the left line segment/right line segment which are covered leftwards and rightwards in the information of the moving line segment;
s938, when the distance between the straight line segments on the two sides of the left line segment/right line segment is greater than a preset straight line segment distance threshold value, respectively calculating the average value of the values on the left front sensor/right front sensor of the straight line segments on the two sides of the left line segment/right line segment, and the average value floating value based on the average value;
s939, when the vertical floating range of the values on the front left sensor/front right sensor on the straight line segments on both sides of the left line segment/right line segment is not greater than the mean floating value, calculating the mean value of the straight line segments on both sides of the left line segment/right line segment as the dynamic calibration value of the front left sensor/right sensor.
In an implementation manner, referring to fig. 16, a schematic flow chart of an eighth sensor calibration method provided in the embodiment of the present invention is shown, where in this implementation manner, different from that in fig. 9, between S900 and S910, further including:
s905, presetting a numerical value recording period of a sensor; and recording the starting point and the end point of the moving line segment, and recording the value of the sensor once every other recording period.
In an implementation manner of the embodiment of the present invention, a computer-readable storage medium is further provided, where the computer-readable storage medium stores a plurality of instructions, and the plurality of instructions, when executed by a processor, may implement a sensor calibration method, refer to fig. 17, which is a flowchart of an application embodiment of the sensor calibration method, and may be applied to the mobile robot.
When the mobile robot starts to clean, recording the current time position and the numerical value of the sensor every 20ms in the process of carrying out covering motion along a straight line by the mobile robot, and determining whether the length of a straight line segment is greater than 1m or not after the straight line covering motion is finished;
under the condition that the length of the straight line segment is not more than 1m, deleting the numerical values of the sensors on the current straight line segment and the previous straight line segment, aiming at simultaneously calibrating the left/right front sensors when the numerical values of the sensors on the two adjacent straight line segments are stable;
under the condition that the length of the straight line segment is greater than 1m, deleting the numerical value of the sensor at a distance of 50cm before the end point of the straight line segment, and filtering the numerical value of the rest sensors after deletion;
deleting the values of the sensors on the current straight line segment and the previous straight line segment under the condition that the value of the sensor after filtering treatment is determined to be unstable;
when the numerical value of the sensor after filtering processing is determined to be stable, the numerical value of the front sensor is used for dynamically calibrating the front sensor; then, when the left covering movement is determined according to the recorded data of the two straight line segments, the left front sensor is dynamically calibrated by using the numerical value of the left front sensor; and when the right covering movement is determined according to the recorded data of the two straight line segments, dynamically calibrating the right front sensor by using the numerical value of the right front sensor.
By applying the scheme provided by the embodiment of the invention, the sensor can be dynamically calibrated by using the value on the sensor under the condition that the value on the sensor on the straight line segment is stable, so that the sensor can be dynamically and stably calibrated according to the actual detection value of the sensor.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the method and apparatus embodiments, since they are substantially similar to the apparatus embodiments, the description is relatively simple, and reference may be made to some of the descriptions of the method embodiments for relevant points.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. A mobile robot, comprising:
a machine body defining a shape of a mobile robot;
the driving module is arranged on the machine main body and is used for driving the mobile robot to walk;
a sensor that emits a detection signal at least when the mobile robot is walking;
a moving line segment recording storage module configured to record information of a moving line segment of the mobile robot;
the straight line segment distance acquisition module is configured to extract the distance of a straight line segment which finishes the straight line movement at present in the information of the moving line segment;
the processing module is connected with the straight line segment distance acquisition module and the sensor and is configured to: when the distance of the straight line segment is greater than a preset straight line segment distance threshold value, calculating the mean value of the values on the sensor in a preset recording point range on the straight line segment and a mean value floating value based on the mean value;
a sensor dynamic calibration module, connected to the processing module, configured to: and when the up-down floating range of the value on the sensor in the range of the preset recording point on the straight line segment is not larger than the mean value floating value, taking the mean value as the dynamic calibration value of the sensor.
2. The mobile robot of claim 1, wherein the sensor comprises:
the device comprises a front sensor positioned in the moving forward direction, a left front sensor and a right front sensor positioned on the left side and the right side of the moving forward direction;
the sensor dynamic calibration module comprises: a front sensor calibration unit and a side front sensor calibration unit;
the front sensor calibration unit is connected with the processing module and is configured to: when the upper and lower floating range of the numerical value on the front sensor is not larger than the mean value floating value, taking the mean value as a dynamic calibration value of the front sensor;
the front side sensor calibration unit is connected with the processing module and is configured to: and when the up-down floating range of the numerical value on the left front sensor/the right front sensor is not larger than the mean value floating value, taking the mean value as the dynamic calibration value of the left front sensor/the right front sensor.
3. The mobile robot of claim 1, wherein the sensor dynamic calibration module comprises: a filtering processing unit and a dynamic calibration unit;
the filtering processing unit is connected with the processing module and is configured to: when the upper and lower floating range of the sensor value in the range of the preset recording point on the straight line segment is not larger than the mean value floating value, acquiring a data point with the maximum difference between the sensor value and the mean value in the straight line segment based on a preset proportion, and carrying out filtering processing;
the dynamic calibration unit is connected with the filtering processing unit and is configured to: and calculating the average value of the values on the sensor left after filtering as the dynamic calibration value of the sensor.
4. The mobile robot of claim 1, wherein the straight line segment distance acquisition module comprises: a straight line segment end point recording unit and a straight line segment distance obtaining unit;
the straight line segment end point recording unit is connected with the moving line segment recording and storing module and is configured to: acquiring a straight line segment which finishes linear movement at present in the information of the moving line segment, and recording a preset spacing distance position before a segment end point of the straight line segment as a recording end point;
the straight line segment distance obtaining unit is connected with the straight line segment end point recording unit and is configured to: and extracting the distance between the segment starting point and the recording end point of the straight line segment as the distance of the straight line segment.
5. The mobile robot of claim 1, further comprising: a mean floating value updating module, connected to the processing module, configured to:
when the mean value floating value is smaller than the lower limit value of a preset floating threshold range, updating the mean value floating value by using the lower limit value;
and when the mean value floating value is larger than the upper limit value of a preset floating threshold range, updating the mean value floating value by using the upper limit value.
6. The mobile robot of claim 1, wherein the sensor dynamic calibration module comprises: the device comprises a sensor minimum difference point acquisition unit and a sensor calibration unit;
the sensor minimum difference point acquisition unit is connected with the processing module and is configured to: when the upper and lower floating range of the values on the sensors in the range of the preset recording points on the straight line segment is not larger than the mean value floating value, acquiring the minimum difference data points with the minimum difference between the preset number of the values on the sensors and the mean value in the straight line segment;
the sensor calibration unit is connected with the sensor minimum difference point acquisition unit and is configured to: calculating the mean of the small difference data points as the dynamic calibration value of the sensor.
7. The mobile robot of claim 2, wherein the front side sensor calibration unit is further configured to:
extracting straight line segments at two sides of a left line segment/a right line segment which are covered leftwards and rightwards in the information of the moving line segments;
when the distance between the straight line segments on the two sides of the left line segment/right line segment is greater than a preset straight line segment distance threshold value, respectively calculating the average value of the values on the left front sensor/right front sensor of the straight line segments on the two sides of the left line segment/right line segment and the average value floating value based on the average value;
and when the up-down floating range of the numerical value on the left front sensor/the right front sensor on the straight line segments at the two sides of the left line segment/the right line segment is not larger than the mean value floating value, calculating the mean value of the straight line segments at the two sides of the left line segment/the right line segment as the dynamic calibration value of the left front sensor/the right front sensor.
8. The mobile robot of claim 1, wherein the mobile line segment record storage module is further configured to:
presetting a numerical value recording period of a sensor;
and recording the starting point and the end point of the moving line segment, and recording the value of the sensor once every other recording period.
9. A sensor calibration method is characterized by comprising the following steps:
acquiring information of the detected moving line segment;
extracting the distance of the straight line segment which finishes the linear movement at present in the information of the moving line segment;
when the distance of the straight line segment is greater than a preset straight line segment distance threshold value, calculating the mean value of values on the sensor within a preset recording point range on the straight line segment and a mean value floating value based on the mean value;
and when the up-down floating range of the value on the sensor in the range of the preset recording point on the straight line segment is not larger than the mean value floating value, taking the mean value as the dynamic calibration value of the sensor.
10. A computer readable storage medium storing instructions that, when executed by a processor, perform the method of calibrating a sensor of claim 9.
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