CN116524035A

CN116524035A - Calibration method and system of self-mobile equipment and self-mobile equipment

Info

Publication number: CN116524035A
Application number: CN202210098875.4A
Authority: CN
Inventors: 程立业; 薄慕婷; 邬芮璠
Original assignee: Dreame Innovation Technology Suzhou Co Ltd
Current assignee: Dreame Innovation Technology Suzhou Co Ltd
Priority date: 2022-01-24
Filing date: 2022-01-24
Publication date: 2023-08-01

Abstract

The invention discloses a calibration method and system of self-mobile equipment and the self-mobile equipment. In the implementation, position information such as point cloud data corresponding to a preset target can be acquired through a preset sensor of the self-mobile device; meanwhile, acquiring a target image corresponding to the preset target through camera devices such as a camera of the self-mobile device, wherein the target image comprises the preset target; and judging whether the position parameters of the image pickup device need to be adjusted according to the corresponding position information and the target image. Therefore, whether the position parameters of the camera device of the mobile equipment are accurate or not can be detected more efficiently, conveniently and automatically, and whether the position parameters of the camera device need to be adjusted or not can be judged in time.

Description

Calibration method and system of self-mobile equipment and self-mobile equipment

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a calibration method and system of self-moving equipment and the self-moving equipment.

Background

In the related art, many self-mobile devices are equipped with image pickup devices. The self-mobile device can utilize the camera to shoot images, and then complete data processing such as auxiliary positioning and the like by combining corresponding external parameters stored in advance.

However, during the production and assembly and the daily use, the actual position of the camera device relative to the self-moving robot is easy to change, so that the actual position parameters of the camera device no longer conform to the pre-stored corresponding external parameters. In this case, if the camera is continuously used to take pictures, and data processing is performed in combination with the corresponding external parameters stored in advance, errors are likely to occur, and thus the work of the self-moving robot is affected.

Accordingly, there is a need for an improvement over the prior art to overcome the deficiencies described in the prior art.

Disclosure of Invention

Therefore, the technical problem to be solved by the invention is to provide a calibration method, a calibration system and a self-moving device of the self-moving device, which can accurately judge whether the position parameter of the camera device needs to be adjusted.

In order to solve the above technical problems, an embodiment of the present disclosure provides a calibration method for a self-mobile device, where the method includes:

acquiring position information corresponding to a preset target through a preset sensor of the self-mobile device;

acquiring a target image corresponding to the preset target through a camera device of the self-mobile equipment, wherein the target image comprises the preset target;

and judging whether the position parameters of the image pickup device need to be adjusted according to the corresponding position information and the target image.

In one embodiment, the acquiring, by the preset sensor of the self-mobile device, the location information corresponding to the preset target includes:

transmitting a laser signal to the preset target through the preset sensor so that the laser signal returns a corresponding reflection signal after irradiating the preset target;

generating point cloud data corresponding to the preset target according to the reflected signal, and determining position information corresponding to the preset target according to the point cloud data;

correspondingly, the capturing, by the camera device of the self-mobile device, the target image corresponding to the preset target includes:

and acquiring a target image corresponding to the preset target through the camera device of the self-mobile equipment, wherein the target image comprises a first graph formed by the laser signal on the preset target.

In one embodiment, the determining, according to the corresponding position information and the target image, whether the position parameter of the image capturing device needs to be adjusted includes:

according to a preset coordinate conversion relation, the point cloud data are projected to the target image and a second graph is formed;

and judging whether the position parameters of the image pickup device need to be adjusted according to the deviation value between the first graph and the second graph.

In one embodiment, the laser signal comprises: and a line-type laser beam, wherein the first pattern comprises a first line segment, and the second pattern comprises a second line segment.

In one embodiment, after the point cloud data is projected to the target image and the second graph is formed according to a preset coordinate transformation relationship, the method further includes:

determining position coordinates of a first endpoint and a second endpoint of the first line segment in the target image; determining position coordinates of a first endpoint and a second endpoint of the second line segment in the target image;

and calculating to obtain a deviation value between the first graph and the second graph according to the position coordinates of the first endpoint and the second endpoint of the first line segment in the target image and the position coordinates of the first endpoint and the second endpoint of the second line segment in the target image.

In one embodiment, determining whether the position parameter of the image capturing device needs to be adjusted according to the deviation value between the first graph and the second graph includes:

comparing the deviation value with a preset deviation threshold value to obtain a corresponding comparison result;

and according to the comparison result, determining that the position parameter of the image pickup device needs to be adjusted under the condition that the deviation value is larger than a preset deviation threshold value.

In one embodiment, in case it is determined that the position parameters of the image capturing apparatus need to be adjusted, the method further comprises:

and adjusting the relative position of the image pickup device relative to the self-moving equipment according to the deviation value so as to be matched with a preset camera external parameter.

In one embodiment, determining whether the position parameter of the image capturing device needs to be adjusted according to the corresponding position information and the target image further includes:

determining the position coordinates of a first graph according to the target image and a preset camera map coordinate system; the preset camera map coordinate system is built according to preset camera external parameters;

determining position coordinates corresponding to the point cloud data according to the point cloud data and a preset laser map coordinate system;

and judging whether the position parameters of the image pickup device need to be adjusted according to the position coordinates of the first graph and the position coordinates corresponding to the point cloud data.

The embodiment of the specification also provides a calibration system of the self-mobile device, which comprises the following steps:

the first acquisition module is used for acquiring position information corresponding to a preset target through a preset sensor of the self-mobile device;

the second acquisition module is used for acquiring a target image corresponding to the preset target through the camera device of the self-mobile equipment, wherein the target image comprises the preset target;

and the judging module is used for judging whether the position parameters of the image pickup device need to be adjusted according to the corresponding position information and the target image.

The embodiment of the specification also provides a self-mobile device, which comprises:

the device comprises a device main body, a control unit and a control unit, wherein the device main body is also provided with a preset sensor, an image pickup device and a controller;

wherein the controller is configured to:

controlling a preset sensor to acquire position information corresponding to a preset target;

controlling a camera device to acquire a target image corresponding to the preset target, wherein the target image comprises the preset target;

the controller is further configured to determine whether a position parameter of the image capturing device needs to be adjusted according to the corresponding position information and the target image.

Based on the calibration method and system of the self-mobile device and the self-mobile device provided by the specification, when the method and system are implemented, position information such as point cloud data corresponding to a preset target can be acquired through the preset sensor of the self-mobile device; meanwhile, acquiring a target image corresponding to the preset target through camera devices such as a camera of the self-mobile device, wherein the target image comprises the preset target; and judging whether the position parameters of the image pickup device need to be adjusted according to the corresponding position information and the target image. Therefore, whether the position parameters of the camera device of the mobile equipment are accurate or not can be detected more efficiently and conveniently, whether the position parameters of the camera device need to be adjusted or not can be judged accurately, and errors caused by data processing such as positioning and the like by continuously using images shot by the camera device under the condition that the actual position parameters of the camera device no longer accord with corresponding external parameters are avoided.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a calibration method of a self-mobile device according to an embodiment of the present invention;

fig. 2 is a schematic view of a scenario in which a calibration method of a mobile device provided by an embodiment of the present invention is applied in one scenario example;

FIG. 3 is a schematic structural diagram of a calibration system for a self-mobile device according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a self-mobile device according to an embodiment of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. The invention will be described in detail hereinafter with reference to the drawings in conjunction with embodiments. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.

In the present invention, unless otherwise indicated, terms of orientation such as "upper, lower, top, bottom" are used generally with respect to the orientation shown in the drawings or with respect to the component itself in the vertical, upright or gravitational direction; also, for ease of understanding and description, "inner and outer" refers to inner and outer relative to the profile of each component itself, but the above-mentioned orientation terms are not intended to limit the present invention.

A self-mobile device may be understood as a device that relies on artificial intelligence to automatically perform work tasks within a work area. Typically, a self-mobile device will build a map of the work area and implement path planning and location navigation at work based on the map.

Generally, when positioning and navigation are specifically performed by the self-mobile device, laser positioning is performed through a sensor, and meanwhile, image capturing is performed through a camera device to assist in positioning.

However, since the actual position of the camera device relative to the self-moving device is easily changed during the production and assembly and daily use, the actual position parameters of the camera device do not conform to the preset camera parameters. If the image shot by the camera device is used for data processing such as positioning, errors are easy to occur, and the positioning and navigation precision is affected. Based on the prior art, it is often difficult to automatically and accurately find the problems, so that the position parameters of the image pickup device under the conditions cannot be adjusted correspondingly in time, and the movement and the work of the self-mobile device in the working area are affected.

In order to solve the above-mentioned problems, referring to fig. 1, the embodiment of the present disclosure provides a calibration method for a self-mobile device, which may include the following when implemented.

S101: acquiring position information corresponding to a preset target through a preset sensor of the self-mobile device;

s102: acquiring a target image corresponding to the preset target through a camera device of the self-mobile equipment, wherein the target image comprises the preset target;

s103: and judging whether the position parameters of the image pickup device need to be adjusted according to the corresponding position information and the target image.

In one embodiment, the calibration method of the self-mobile device can be applied to the self-mobile device. The self-moving device may specifically include a self-moving cleaning device, for example, an automatic sweeper, an automatic mopping machine, and the like. In addition, the self-moving device can also comprise a self-moving inspection device, a nurse robot and the like.

Of course, it should be noted that the above-listed self-moving devices are only illustrative. In specific implementation, the method can be applied to other suitable types of self-moving robots or related devices in other scenes according to specific application scenes and processing requirements.

In one embodiment, at least a preset sensor and a camera device are disposed on the self-mobile device.

The preset sensor may specifically include a laser sensor disposed on the self-mobile device. Based on the preset sensor, the self-mobile device can emit laser signals to the target object and receive reflected signals of the laser signals reflected after the laser signals irradiate the target object.

The image capturing apparatus may specifically include a camera (or referred to as a camera) disposed on the self-mobile device. Based on the image pickup device, an image containing the target object can be acquired from the mobile device.

In one embodiment, the preset target may specifically include a calibration plate. The preset target may also include an obstacle, such as a baffle, a wall, etc., that can better reflect the laser signal and easily form a clear light pattern on the surface. The baffle may be a planar baffle, a curved baffle, or the like.

Of course, it should be noted that the above-listed preset targets are only illustrative. In specific implementation, other suitable targets may be selected as the preset targets according to specific situations and processing requirements.

In one embodiment, the location information corresponding to the preset target collected by the preset sensor may specifically include point cloud data corresponding to the preset target. In general, the self-mobile device can determine corresponding position coordinates according to the acquired point cloud data so as to realize positioning navigation.

In one embodiment, specifically, the self-mobile device may trigger detection and calibration of the position parameter of the image capturing device by using the calibration method of the self-mobile device provided in the present specification at regular intervals (for example, at intervals of one week, etc.). The self-mobile device can trigger the calibration method of the self-mobile device provided by the specification to detect and calibrate the position parameters of the camera device when detecting errors of positioning navigation. Based on the calibration method of the self-mobile device provided by the specification, whether the current position parameter of the image pickup device is accurate relative to the self-mobile device or not can be automatically detected by collecting and according to the position information corresponding to the preset target and the target image containing the preset target, and whether the current position parameter of the image pickup device accords with the preset camera external parameter can be judged, so that whether the current position parameter of the image pickup device needs to be adjusted can be judged, and the position parameter of the image pickup device can be correspondingly adjusted in time under the condition that the adjustment is determined, so that errors are reduced, and the accuracy in positioning and navigation is ensured.

In one embodiment, in an embodiment, the acquiring, by the preset sensor of the self-mobile device, the location information corresponding to the preset target may include the following when the implementation is performed: transmitting a laser signal to the preset target through the preset sensor so that the laser signal returns a corresponding reflection signal after irradiating the preset target; generating point cloud data corresponding to the preset target according to the reflected signal, and determining position information corresponding to the preset target according to the point cloud data; correspondingly, the capturing, by the camera device of the self-mobile device, the target image corresponding to the preset target includes: and acquiring a target image corresponding to the preset target through the camera device of the self-mobile equipment, wherein the target image comprises a first graph formed by the laser signal on the preset target.

The laser signal may be a linear laser beam, an arc laser beam, or the like.

In an embodiment, after the point cloud data corresponding to the preset target is generated according to the reflected signal, in implementation, the point cloud data corresponding to the preset target may be directly determined as the location information corresponding to the preset target. In the specific implementation, according to specific conditions, corresponding position coordinates can be further calculated according to point cloud data corresponding to a preset target; and determining the corresponding position coordinates as position information corresponding to the preset target.

Specifically, as shown in fig. 2, a laser signal may be sent to the preset target through the preset sensor of the self-mobile device, and then the laser signal may reflect after being irradiated to the preset target. Correspondingly, the reflected signals can be acquired through a preset sensor; and acquiring point cloud data corresponding to a preset target according to the reflected signal as position information corresponding to the preset target.

After the laser signal is irradiated to the preset target through the preset sensor, a light pattern corresponding to the laser signal is formed on the surface of the preset target and can be recorded as a first pattern. For example, when the laser signal is a line-type laser beam, a line-type light pattern is formed on the surface of the predetermined target.

At this time, a target image corresponding to a preset target is acquired from an image pickup device of the mobile device, and the acquired target image includes a first pattern formed on the preset target by the laser signal.

Through the embodiment, on one hand, point cloud data corresponding to a preset target can be acquired and obtained based on reflection of the emitted laser signal irradiating the preset target; meanwhile, on the other hand, a target image containing a first pattern formed by irradiating a laser signal on a preset target can be acquired.

In one embodiment, when the laser signal is sent to the preset target by the preset sensor, the laser signal may be sent to the preset target along a preset included angle direction in a vertical direction. The specific angle of the preset included angle may include 0 degree, 30 degrees, 60 degrees, 90 degrees, or the like.

In an embodiment, the determining, according to the corresponding position information and the target image, whether the position parameter of the image capturing device needs to be adjusted may include the following when the embodiment is implemented: according to a preset coordinate conversion relation, the point cloud data are projected to the target image and a second graph is formed; and judging whether the position parameters of the image pickup device need to be adjusted according to the deviation value between the first graph and the second graph.

The second pattern formed by projecting the point cloud data onto the target image based on the preset coordinate transformation system may specifically be a pattern having the same or similar shape as the first pattern, but may have a deviation in position or deflection angle.

In one embodiment, the laser signal may specifically include: a line-shaped laser beam; accordingly, the first graphic may specifically include a first line segment, and the second graphic may specifically include a second line segment.

In addition, the laser signal may specifically further include: an arc-shaped laser beam; correspondingly, the first graph can specifically further comprise a first arc, the second graph can further comprise a second arc and the like.

The following will specifically describe an example in which a laser signal is mainly a line-type laser beam and a pattern is a line segment.

In one embodiment, after the point cloud data is projected to the target image and the second graph is formed according to the preset coordinate conversion relationship, the method may further include the following when implemented: determining position coordinates of a first endpoint and a second endpoint of the first line segment in the target image; determining position coordinates of a first endpoint and a second endpoint of the second line segment in the target image; and calculating to obtain a deviation value between the first graph and the second graph according to the position coordinates of the first endpoint and the second endpoint of the first line segment in the target image and the position coordinates of the first endpoint and the second endpoint of the second line segment in the target image.

In an embodiment, the determining whether the position parameter of the image capturing device needs to be adjusted according to the deviation value between the first graph and the second graph may include the following steps: comparing the deviation value with a preset deviation threshold value to obtain a corresponding comparison result; and according to the comparison result, determining that the position parameter of the image pickup device needs to be adjusted under the condition that the deviation value is larger than a preset deviation threshold value.

The specific value of the preset deviation threshold can be flexibly set according to specific situations and precision requirements. The specification is not limited to specific values of the preset deviation threshold. The position parameters of the image capturing device may specifically include coordinate parameters and/or angle parameters of the image capturing device with respect to the self-mobile device.

In one embodiment, according to the comparison result, when it is determined that the deviation value is greater than the preset deviation threshold, it may be determined that the position parameter of the image capturing device is not matched with the preset camera external parameter, and further it may be determined that the position parameter of the image capturing device needs to be adjusted.

In contrast, according to the comparison result, when the deviation value is determined to be less than or equal to the preset deviation threshold, it may be determined that the position parameter of the image capturing device is still matched with the preset camera external parameter, and it may be further determined that adjustment of the position parameter of the image capturing device is not required.

Through the embodiment, the point cloud data can be projected into the target image to obtain the corresponding second graph; and based on the target image, accurately judging whether the position parameters of the image pickup device need to be adjusted according to the deviation condition between the first graph and the second graph.

In one embodiment, when determining that the position parameter of the image capturing apparatus needs to be adjusted, the method may further include the following steps: and adjusting the relative position of the image pickup device relative to the self-moving equipment according to the deviation value so as to be matched with a preset camera external parameter.

According to the embodiment, under the condition that the position parameters of the camera need to be adjusted, the relative position of the camera device relative to the self-moving equipment can be adjusted in a targeted manner by utilizing the deviation value, so that the position of the camera device can be adjusted more quickly and in a targeted manner, and the calibration of the camera device of the self-moving equipment is realized.

In an embodiment, the determining whether the position parameter of the image capturing device needs to be adjusted according to the corresponding position information and the target image may further include the following when the embodiment is implemented: determining the position coordinates of a first graph according to the target image and a preset camera map coordinate system; the preset camera map coordinate system is built according to preset camera external parameters; determining position coordinates corresponding to the point cloud data according to the point cloud data and a preset laser map coordinate system; and judging whether the position parameters of the image pickup device need to be adjusted according to the position coordinates of the first graph and the position coordinates corresponding to the point cloud data.

In this embodiment, the position coordinate corresponding to the first graphic may be calculated according to the target image based on a preset camera map coordinate system; meanwhile, based on a preset laser map coordinate system, calculating position coordinates corresponding to the point cloud data according to the point cloud data; and comparing the position coordinates corresponding to the first graph with the position coordinates corresponding to the point cloud data by taking the position coordinates corresponding to the point cloud data as a reference, so as to obtain a corresponding comparison result. If the difference value between the position coordinate corresponding to the first graph and the position coordinate corresponding to the point cloud data is greater than or equal to the preset difference threshold value according to the comparison result, the position parameter of the image pickup device can be determined to be required to be adjusted. In contrast, if it is determined that the difference value between the position coordinate corresponding to the first pattern and the position coordinate corresponding to the point cloud data is smaller than the preset difference threshold according to the comparison result, it may be determined that the position parameter of the image capturing apparatus does not need to be adjusted.

In one embodiment, after adjusting the relative position of the image capturing device relative to the self-mobile device according to the deviation value to match with a preset camera external parameter, the method may further include, when implemented: collecting images by using the adjusted camera device; and performing relevant positioning data processing according to the acquired image and a preset coordinate system.

Specifically, for example, the adjusted image capturing device may be used to capture a detected image including the front of the path, and determine whether an obstacle exists in front of the path according to the detected image through image recognition. Under the condition that the obstacle exists in front of the path, the position parameters of the obstacle can be calculated according to the detection image and a preset coordinate system; and adjusting the moving path according to the position parameters of the obstacle so as to control the self-moving equipment to bypass the obstacle.

Based on the calibration method of the self-mobile device provided by the embodiment of the specification, when the method is implemented, the position information such as point cloud data corresponding to the preset target can be acquired through the preset sensor of the self-mobile device; meanwhile, acquiring a target image corresponding to the preset target through camera devices such as a camera of the self-mobile device, wherein the target image comprises the preset target; and judging whether the position parameters of the image pickup device need to be adjusted according to the corresponding position information and the target image. Therefore, whether the position parameters of the camera device of the mobile equipment are accurate or not can be detected more efficiently and conveniently, whether the position parameters of the camera device need to be adjusted or not can be judged accurately, and errors caused by data processing such as positioning and the like can be avoided by continuously using images shot by the camera device under the condition that the actual position parameters of the camera device no longer accord with preset camera external parameters.

Referring to fig. 3, the embodiment of the present disclosure further provides a calibration system 300 for a self-mobile device, which may specifically include the following structural modules:

the first acquisition module 301 may be specifically configured to acquire, by using a preset sensor of the self-mobile device, position information corresponding to a preset target;

the second acquisition module 302 may be specifically configured to acquire, by using a camera of the self-mobile device, a target image corresponding to the preset target, where the target image includes the preset target;

the determining module 303 may be specifically configured to determine whether the position parameter of the image capturing device needs to be adjusted according to the corresponding position information and the target image.

In one embodiment, when the first acquisition module 301 is specifically implemented, the position information corresponding to the preset target may be acquired through the preset sensor of the self-mobile device in the following manner: transmitting a laser signal to the preset target through the preset sensor so that the laser signal returns a corresponding reflection signal after irradiating the preset target; and generating point cloud data corresponding to the preset target according to the reflected signal, and determining position information corresponding to the preset target according to the point cloud data.

In one embodiment, when the second acquisition module 302 is specifically implemented, the target image corresponding to the preset target may be acquired by using the camera of the self-mobile device in the following manner: and acquiring a target image corresponding to the preset target through the camera device of the self-mobile equipment, wherein the target image comprises a first graph formed by the laser signal on the preset target.

In one embodiment, when the determining module 303 is specifically implemented, it may determine whether the position parameter of the image capturing device needs to be adjusted according to the corresponding position information and the target image in the following manner: according to a preset coordinate conversion relation, the point cloud data are projected to the target image and a second graph is formed; and judging whether the position parameters of the image pickup device need to be adjusted according to the deviation value between the first graph and the second graph.

In one embodiment, the laser signal may specifically include: the linear laser beam, accordingly, the first pattern may include a first line segment, and the second pattern may include a second line segment.

In one embodiment, the determining module 303 may be further configured to determine position coordinates of the first endpoint and the second endpoint of the first line segment in the target image after projecting the point cloud data to the target image and forming the second graph according to a preset coordinate transformation relationship; determining position coordinates of a first endpoint and a second endpoint of the second line segment in the target image; and calculating to obtain a deviation value between the first graph and the second graph according to the position coordinates of the first endpoint and the second endpoint of the first line segment in the target image and the position coordinates of the first endpoint and the second endpoint of the second line segment in the target image.

In one embodiment, when the determining module 303 is specifically implemented, it may determine whether the position parameter of the image capturing device needs to be adjusted according to the deviation value between the first graph and the second graph in the following manner: comparing the deviation value with a preset deviation threshold value to obtain a corresponding comparison result; and according to the comparison result, determining that the position parameter of the image pickup device needs to be adjusted under the condition that the deviation value is larger than a preset deviation threshold value.

In an embodiment, the calibration device 300 of the self-mobile device may specifically further include an adjustment module, where the adjustment module may be configured to adjust, according to the deviation value, a relative position of the image capturing device relative to the self-mobile device to match with a preset camera external parameter when it is determined that the position parameter of the image capturing device needs to be adjusted.

In an embodiment, when the determining module 303 is specifically implemented, it may further determine whether the position parameter of the image capturing device needs to be adjusted according to the corresponding position information and the target image in the following manner: determining the position coordinates of a first graph according to the target image and a preset camera map coordinate system; the preset camera map coordinate system is built according to preset camera external parameters; determining position coordinates corresponding to the point cloud data according to the point cloud data and a preset laser map coordinate system; and judging whether the position parameters of the image pickup device need to be adjusted according to the position coordinates of the first graph and the position coordinates corresponding to the point cloud data.

Based on the calibration system of the self-mobile device provided by the embodiment of the specification, the position information such as point cloud data corresponding to a preset target can be acquired through the preset sensor of the self-mobile device; meanwhile, acquiring a target image corresponding to the preset target through camera devices such as a camera of the self-mobile device, wherein the target image comprises the preset target; and judging whether the position parameters of the image pickup device need to be adjusted according to the corresponding position information and the target image. Therefore, whether the position parameters of the camera device of the mobile equipment are accurate or not can be detected more efficiently and conveniently, whether the position parameters of the camera device need to be adjusted or not can be judged accurately, and errors caused by data processing such as positioning and the like by continuously using images shot by the camera device under the condition that the actual position parameters of the camera device no longer accord with preset camera external parameters are avoided.

Referring to fig. 4, the embodiment of the present disclosure further provides a self-mobile device, which may specifically include:

an apparatus main body 401, the apparatus main body 401 further provided with a preset sensor 402, an image pickup device 403, and a controller 404;

wherein, the controller 404 may specifically be configured to:

controlling a preset sensor 402 to acquire position information corresponding to a preset target;

controlling the camera 403 to acquire a target image corresponding to the preset target, wherein the target image comprises the preset target;

the controller 404 is further configured to determine whether the position parameter of the image capturing device needs to be adjusted according to the corresponding position information and the target image.

In one embodiment, when the preset sensor 402 is specifically implemented, a laser signal may be sent to the preset target, so that the laser signal returns a corresponding reflected signal after being irradiated to the preset target; the preset sensor 402 receives the reflected signal; the controller 404 generates point cloud data corresponding to the preset target according to the reflected signal, and determines position information corresponding to the preset target according to the point cloud data.

In an embodiment, when the image capturing device 403 is specifically implemented, a target image corresponding to the preset target may be acquired, where the target image includes a first pattern formed by the laser signal on the preset target.

In one embodiment, when the controller 404 is specifically implemented, the point cloud data may be projected to the target image and form a second graph according to a preset coordinate transformation relationship; and judging whether the position parameters of the image pickup device need to be adjusted according to the deviation value between the first graph and the second graph.

In one embodiment, the laser signal may specifically include: a line-shaped laser beam; the first graphic may include a first line segment and the second graphic may include a second line segment.

In one embodiment, the controller 404, when embodied, may determine the location coordinates of the first endpoint and the second endpoint of the first line segment in the target image; determining position coordinates of a first endpoint and a second endpoint of the second line segment in the target image; and calculating to obtain a deviation value between the first graph and the second graph according to the position coordinates of the first endpoint and the second endpoint of the first line segment in the target image and the position coordinates of the first endpoint and the second endpoint of the second line segment in the target image.

In one embodiment, when the controller 404 is specifically implemented, the deviation value may be compared with a preset deviation threshold value to obtain a corresponding comparison result; and according to the comparison result, determining that the position parameter of the image pickup device needs to be adjusted under the condition that the deviation value is larger than a preset deviation threshold value.

In an embodiment, when it is determined that the position parameter of the image capturing device needs to be adjusted, the controller 404 may further adjust the relative position of the image capturing device with respect to the self-mobile device according to the deviation value to match with a preset external parameter of the camera.

In one embodiment, when the controller 404 is specifically implemented, the position coordinates of the first graph may also be determined according to the target image and a preset camera map coordinate system; the preset camera map coordinate system is built according to preset camera external parameters; determining position coordinates corresponding to the point cloud data according to the point cloud data and a preset laser map coordinate system; and judging whether the position parameters of the image pickup device need to be adjusted according to the position coordinates of the first graph and the position coordinates corresponding to the point cloud data.

Based on the self-mobile device provided by the embodiment of the specification, whether the position parameter of the camera device of the self-mobile device is accurate or not can be detected more efficiently and conveniently, whether the position parameter of the camera device needs to be adjusted or not can be judged accurately, and errors caused by data processing such as positioning and the like by continuously using the image shot by the camera device under the condition that the actual position parameter of the camera device does not accord with the preset camera external parameters any more are avoided.

The embodiments of the present specification also provide a computer storage medium based on the calibration method of the self-mobile device, where the computer storage medium stores computer program instructions that when executed implement: acquiring position information corresponding to a preset target through a preset sensor of the self-mobile device; acquiring a target image corresponding to the preset target through a camera device of the self-mobile equipment, wherein the target image comprises the preset target; and judging whether the position parameters of the image pickup device need to be adjusted according to the corresponding position information and the target image.

In the present embodiment, the storage medium includes, but is not limited to, a random access Memory (Random Access Memory, RAM), a Read-Only Memory (ROM), a Cache (Cache), a Hard Disk (HDD), or a Memory Card (Memory Card). The memory may be used to store computer program instructions. The network communication unit may be an interface for performing network connection communication, which is set in accordance with a standard prescribed by a communication protocol.

In this embodiment, the functions and effects of the program instructions stored in the computer storage medium may be explained in comparison with other embodiments, and are not described herein.

It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, server, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), servers and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It will be apparent that the embodiments described above are merely some, but not all, embodiments of the invention. Based on the embodiments of the present invention, those skilled in the art may make other different changes or modifications without making any creative effort, which shall fall within the protection scope of the present invention.

Claims

1. A method for calibrating a self-mobile device, the method comprising:

2. The method for calibrating a self-mobile device according to claim 1, wherein the acquiring, by the preset sensor of the self-mobile device, the position information corresponding to the preset target includes:

the capturing, by the camera of the self-mobile device, a target image corresponding to the preset target includes:

3. The method for calibrating a self-mobile device according to claim 2, wherein the determining whether the position parameter of the image capturing device needs to be adjusted according to the corresponding position information and the target image includes:

4. A method of calibrating a self-mobile device according to claim 3, wherein the laser signal comprises: and a line-type laser beam, wherein the first pattern comprises a first line segment, and the second pattern comprises a second line segment.

5. The method according to claim 4, wherein after projecting the point cloud data to the target image and forming a second pattern according to a preset coordinate conversion relationship, the method further comprises:

6. The method for calibrating a self-mobile device according to any of claims 3-5, wherein determining whether the position parameter of the image capturing apparatus needs to be adjusted according to the deviation value between the first pattern and the second pattern comprises:

7. The method for calibrating a self-mobile device according to claim 6, wherein in case it is determined that a position parameter of an image capturing apparatus needs to be adjusted, the method further comprises:

8. The method according to any one of claims 1 to 5, wherein determining whether the position parameter of the image capturing device needs to be adjusted according to the corresponding position information and the target image, further comprises:

9. A calibration system for a self-moving device, comprising:

the second acquisition module is used for acquiring a target image corresponding to the preset target through a camera device of the self-mobile equipment, wherein the target image comprises the preset target;

10. A self-moving device, comprising:

wherein the controller is configured to: