CN107037807B - Self-moving robot pose calibration system and method - Google Patents
Self-moving robot pose calibration system and method Download PDFInfo
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- CN107037807B CN107037807B CN201610079681.4A CN201610079681A CN107037807B CN 107037807 B CN107037807 B CN 107037807B CN 201610079681 A CN201610079681 A CN 201610079681A CN 107037807 B CN107037807 B CN 107037807B
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- 238000003032 molecular docking Methods 0.000 claims description 11
- 238000009434 installation Methods 0.000 abstract description 6
- 238000001514 detection method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000004140 cleaning Methods 0.000 description 4
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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Abstract
A self-moving robot pose calibration system and method comprises a robot and a base (10), wherein a pose sensor and a control center are arranged on the robot, the robot is provided with a working mode and a calibration mode, when the working time of the robot reaches a preset time or the working walking distance reaches a preset distance, the calibration mode is started, and the control center controls the pose sensor of the calibration robot after the robot is correctly butted with the base. When a relative coordinate system is adopted, the invention takes the premise that the working time of the robot reaches the preset time or the working walking distance reaches the preset distance in the calibration mode, and completes the correct butt joint of the robot and the base through at least three butt joint reference points; the pose of the robot is reasonably adjusted, the butt joint of the robot and the base is accurate, the installation parts are simple, the cost is saved, the accuracy is high, and the use is convenient.
Description
Technical Field
The invention relates to a system and a method for calibrating the pose of an automatic mobile robot, belonging to the technical field of small household appliance manufacturing.
Background
When the existing planning type self-moving robot carries out positioning and navigation work, two positioning systems, namely an absolute coordinate system and a relative coordinate system, are generally adopted. A positioning system using an absolute coordinate system, for example, captures a position identification image set on a ceiling from a mobile robot by a CCD camera, and detects the current position of the robot itself accordingly based on the captured image. This positioning method results in higher cost since it requires the system to process a large amount of data quickly. However, the positioning system using the relative coordinate system, for example, the self-moving robot calculates its relative position by a driving distance sensor and an angle sensor, and the gyroscope is used as the angle sensor, and there is a detection error of 5% to 10% in general, and the robot cannot accurately walk along a planned path due to the accumulation of the detection error along with the repeated rotation of the self-moving robot, and therefore, it is necessary to calibrate the robot frequently, which brings a certain trouble to the user.
In the conventional calibration, it is usually determined whether the rotation amount of the angle sensor is accumulated to a certain extent to determine whether the calibration is required. Such as: the angle sensor may be set to calibrate once per 360 ° or 720 ° rotation, and so on. However, since the robot may work in different working environments each time, in some working environments, the robot may rotate repeatedly due to a complex path, calibration is required when the working time is short, and too frequent calibration obviously affects the working efficiency of the robot. In some smooth working environments, after the robot is accumulatively operated for a long time, the angle sensor of the robot may not be calibrated because the preset accumulated rotation angle is still not reached, and when the robot is calibrated again, the accumulated error is large, so that the accuracy is affected.
Fig. 1 is a schematic structural view of CN1330274C in the related art. As shown in fig. 1, this prior art discloses a robot cleaner using a coordinate correction method so that it can efficiently travel in a planned travel direction. When it is determined that the accumulated angle exceeds a predetermined level, the robot cleaner stops a given operation and returns to a charging station. The current coordinates of the robot cleaner are calibrated with the reference coordinates of the charging station, and the robot cleaner moves to the previous place where it was before returning to the charging station and continues the given work from the stop. However, referring to fig. 1, it is possible to calibrate the posture thereof back to the charging station by providing a plurality of equidistant sensors 32 on the robot cleaner 10 and according to the distances d1 and d2 of the equidistant sensors to the detection plate 130 of the charging station. This way of calibrating the pose is costly and cannot adjust the position in a direction parallel to the detection plate 130, so that the pose adjustment back to the initial point is not accurate, which may result in the charging station and the charging electrodes correspondingly disposed on the robot cleaner not being aligned and butted. In addition, the robot only returns to the position parallel to the origin coordinate of the charging seat, the angle of the gyroscope of the robot is cleared, the running distance (step number) of the robot is not cleared, and the calibration accuracy of the method has certain errors.
Disclosure of Invention
The invention aims to solve the technical problem that the prior art is not enough, and provides a self-moving robot pose calibration system and a self-moving robot pose calibration method, wherein when a relative coordinate system is adopted, the correct butt joint of a robot and a base is completed through at least three butt joint reference points on the premise that the working time of the robot reaches the preset time or the working walking distance reaches the preset distance in a calibration mode; the pose of the robot is reasonably adjusted, the butt joint of the robot and the base is accurate, the installation parts are simple, the cost is saved, the accuracy is high, and the use is convenient.
The technical problem to be solved by the invention is realized by the following technical scheme:
the utility model provides a self-moving robot position appearance calbiration system, includes robot and base, be equipped with position appearance sensor and control center on the robot, the robot is equipped with mode and calibration mode, and when the walking distance that reaches preset time or work when the robot operating time reaches preset distance, start calibration mode, control center control robot with the base is the back of butt joint correctly, controls calibration robot's position appearance sensor.
The above pose sensor generally employs an angle sensor or a gyroscope.
In general, the robot is provided with a roller, and the pose calibration system is further provided with a first pose calibration switch, a second pose calibration switch and at least one first contact terminal D; the robot is close to the base, the butt joint point on the robot is in butt joint with the first position posture calibration switch, the second position posture calibration switch and the at least one first contact terminal D, and the control center controls the roller to adjust the posture of the robot according to signal feedback of the first position posture calibration switch, the second position posture calibration switch and the at least one first contact terminal D, so that the robot is in correct butt joint with the base.
According to the needs, the first and second position and posture calibration switches can be implemented by adopting different structures, in one embodiment of the invention, the first and second position and posture calibration switches are a first light touch switch a and a second light touch switch B which are respectively arranged on the bottom plate of the base, and the arrangement positions of the first light touch switch a and the second light touch switch B correspond to the positions of the rollers of the robot after entering the aligned bottom plate of the base.
In another embodiment of the present invention, the first position and orientation calibration switch and the second position and orientation calibration switch are optical signal emitting devices or optical signal receiving devices respectively disposed on the base, and a position of the optical signal emitting device or the optical signal receiving device on the base corresponds to a position of a docking point of the robot after entering the base of the base for alignment.
Besides the above-mentioned roller, when the first and second position calibration switches are optical signal emitting devices or optical signal receiving devices respectively disposed on the base, the docking point on the robot is correspondingly disposed as an optical signal receiving device or an optical signal emitting device on the robot.
According to different requirements, the optical signal emitting device or the optical signal receiving device on the base is arranged on the bottom plate, the back plate or the top plate of the base. And the optical signal receiving device or the optical signal transmitting device on the robot is correspondingly arranged at the bottom, the side edge or the top of the robot.
In addition, in order to save cost and fully utilize the existing structure on the robot, the optical signal receiving device or the optical signal transmitting device arranged at the bottom of the robot can be a downward-looking sensor.
In order to ensure that the robot is located at an effective position of the base bottom plate, two stopping parts are respectively arranged on the bottom plate of the base corresponding to the positions of the rollers and in a direction close to one side of the back plate of the base.
To improve accuracy, the system further comprises a second contact terminal arranged on the base.
According to the requirement, a guide signal transmitting point C is further arranged on the robot and used for guiding the robot to move towards the base, and one of the guide signal transmitting point C, the first contact terminal D and the second contact terminal E transmits a coded signal.
The invention also provides a calibration method for the pose sensor of the self-moving robot, which is characterized by comprising the following steps:
step 100: the robot performs work in a given area;
step 200: when the working time of the robot reaches the preset time or the working walking distance reaches the preset distance, the executing work is suspended, and the robot automatically returns to the base and is correctly butted with the base;
step 300: and calibrating a pose sensor arranged on the robot.
Further, the method also comprises the step 400: and after the robot finishes the calibration of the pose sensor, the robot automatically walks to a pause working position in a given area and continues to execute work. In actual work, if work is completed before the base calibration is finished, other work tasks are directly executed without returning to the previous position after the base calibration is finished. Specifically, the step 200 specifically includes:
step 201: the roller and the butt joint point of the robot are respectively in butt joint with any two of the first position and posture calibration switch, the second position and posture calibration switch and the at least one first contact terminal D;
step 202: the robot adjusts the pose under the coded signal emitted by the base, so that the robot, the base and the coded signal are completely butted, and the robot and the base are correctly butted.
In summary, when a relative coordinate system is adopted, the invention takes the premise that the working time of the robot reaches the preset time or the working walking distance reaches the preset distance in the calibration mode, and completes the correct butt joint of the robot and the base through at least three butt joint reference points; the pose of the robot is reasonably adjusted, the butt joint of the robot and the base is accurate, the installation parts are simple, the cost is saved, the accuracy is high, and the use is convenient.
The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is a schematic diagram of a prior art CN 1330274C;
FIG. 2 is a schematic structural diagram according to a first embodiment of the present invention;
fig. 3 is a schematic structural diagram of a second embodiment of the present invention.
Detailed Description
In the background art, the conventional self-moving robot may gradually accumulate and increase the detection errors of the angle and the distance in the coordinate system due to the motion change during the operation process, and therefore needs to return to the calibration device for calibration, which is usually a base and is mostly a charging seat. The calibration means that after the robot is successfully docked with the base, the sensor of the robot is calibrated by taking the standard direction or coordinate determined by the base as a reference, for example, the angle sensor (angle) and the distance sensor (step number) in the robot are recalculated from zero. After the calibration is completed, the robot moves to a fixed point of the working area before returning to the base again, and the operation is continued. For example, such as: a sweeping robot performs cleaning work in a work area, when the work reaches a preset time, such as 10 minutes, the system controls the robot to stop the cleaning work and perform the work of returning to a base, the position is point A, and then the work is stopped at point A, the point A is a fixed point, and the parameters for expressing the position of the point A are an angle theta and a distance H, such as: after the robot returns to the base calibration, the position with the parameter (theta, H) ((90 degrees, 50 m)) is searched again according to the previous description, the actual position of the parameter may be on the point B, and a small error may exist between the point B and the point a described previously, but the error basically does not affect the cleaning work of the robot. However, if the periodical calibration is not performed, the gyroscope angle error is accumulated more and more, so that the positioning accuracy of the robot is lower and lower, and the cleaning work of the robot is affected.
The invention provides a self-moving robot pose calibration system and a self-moving robot pose calibration method, wherein correct butt joint of a robot and a base is completed through at least three butt joint reference points on the premise that the working time of the robot reaches the preset time or the walking distance reaches the preset distance in a calibration mode; the pose of the robot is reasonably adjusted, the butt joint of the robot and the base is accurate, the installation parts are simple, the cost is saved, the accuracy is high, and the use is convenient.
Specifically, the self-moving robot pose calibration system provided by the invention comprises a robot and a base, wherein a control center and rollers are arranged on the robot, and at least three butt joint reference points comprise a first pose calibration switch, a second pose calibration switch and at least one first contact terminal D. The first and second position calibration switches may include various types, such as: the setting positions of the first light touch switch A and the second light touch switch B which are respectively arranged on the base bottom plate correspond to the positions of the rollers of the robot after entering the base bottom plate and being aligned; the optical signal transmitting device or the optical signal receiving device can be correspondingly arranged on the base respectively. Meanwhile, the arrangement position of the optical signal transmitting device or the optical signal receiving device on the base can also be selected in various ways, such as: may be provided on the bottom, back or top plate of the base.
Correspondingly, the docking points on the robot may also include various types, such as: two rollers which may be robots; it may also be two optical signal receiving devices or optical signal emitting devices on the robot. Likewise, two optical signal receiving devices or optical signal emitting devices on the robot can be arranged at the bottom or the side edge or the top of the robot.
In order to make the installation part simple and save cost, the existing device in the self-moving robot pose calibration system is effectively utilized, and the optical signal transmitting device or the optical signal receiving device at the bottom of the robot can be a downward-looking sensor. In addition, in order to ensure that the robot is located at an effective position of the base bottom plate, two blocking parts are respectively arranged on the base bottom plate corresponding to the positions of the rollers and in a direction close to one side of the back plate of the base.
In addition to the above-mentioned at least three docking reference points, in order to improve the accuracy, the system may further include a second contact terminal E provided on the base, in which case, the number of the docking reference points provided on the calibration device (base or charging stand) is four, and the first and second tact switches a and B, and the first and second contact terminals D and E are respectively provided symmetrically with respect to the base center line of the base.
According to the requirement, a guide signal emitting point C is further arranged on the robot and can emit a guide signal to guide the robot to move towards the base, and any one of the guide signal emitting point C, the first contact terminal D and the second contact terminal E can emit a coded signal to help the robot to adjust the pose and correctly butt the base. Of course, other transmitting devices on the base can be used for transmitting the coded signals to help the robot adjust the pose and be correctly butted with the base.
The overall concept of the present invention is described above, and the following describes the technical solution of the present invention in detail by using specific examples.
Example one
Fig. 2 is a schematic structural diagram of a first embodiment of the present invention. As shown in fig. 2, in the present embodiment, in the calibration means, that is: the base plate 20 of the base 10 is provided with a first tact switch a and a second tact switch B, a first contact terminal D and a second contact terminal E, the robot returns to the position right in front of the calibration device under the guiding signal of the base, and when entering the calibration device, the butt joint points on the robot (not shown in the figure) are: after the roller is in butt joint with the first light touch switch A and the second light touch switch B and the first contact terminal D and/or the second contact terminal E are/is in butt joint, the robot and the base are in correct butt joint, and the pose sensor arranged on the robot can be further calibrated. The pose sensor usually adopts an angle sensor or a gyroscope and the like.
Further, the respective fronts of the first tact switch a and the second tact switch B, that is: two stoppers 40 are provided at positions close to one side of the back plate 30 of the base 10. The stopping part 40 is used for preventing the roller of the robot from continuing to move forward after being aligned with the first light touch switch a and the second light touch switch B, and has the functions of limiting and assisting in positioning, so that the roller enters an effective position.
More specifically, as can be seen from the above description, when the robot enters the calibration device, two rollers of the robot contact the first tact switch a and the second tact switch B, and after the two rollers are butted with both the first tact switch a and the second tact switch B, the butting is considered to be successful. It should be noted that it is assumed here that the robot is mated with at least one contact terminal on the base. If only the first and second tact switches a and B are docked with the robot and the contact terminals on the base 10 are not docked with the robot, the robot may still be tilted, i.e. the robot has not yet completed a correct docking with the base 10.
However, due to a systematic error, the following four situations may occur in the process of the robot being docked with the first tact switch a and the second tact switch B:
in the first case:
the left roller is butted with the first tact switch A, but the right roller is not butted, at this time, any one of the guide signal transmitting point C, the first contact terminal D and the second contact terminal E on the bottom plate 20 can be used as a transmitter for transmitting a coded signal to the robot, the robot is informed that the robot is butted with the first tact switch A, the robot can obtain a steering mode according to the signal, the pose of the robot is finely adjusted, and the robot needs to be rotated rightwards to be butted B. Specifically, the pilot signal emitting point C, the first contact terminal D, and the second contact terminal E may each emit a signal, and the pilot signal emitting point C emits a pilot signal before the robot returns to the base. When only one of the left and right rollers is aligned and the other is not aligned, the transmitted signal is not the guiding signal but the coded signal. Such as: the left roller is aligned with the first tact switch a, and the right roller is not yet butted, at this time, the first tact switch a is recorded as 1, the second tact switch B is recorded as 0, and one of the signal transmission point C, the first contact terminal D, and the second contact terminal E is guided to react to this. For another example: the emitted red light or green light informs the robot to adjust the steering, or the first tact switch A and the second tact switch B are judged by emitting different light intensities to be in butt joint with which roller and which roller are not in butt joint, and the steering of the robot is adjusted according to the judgment.
Of course, in practical applications, it is not necessary that only the signals transmitted by the pilot signal transmitting point C, the first contact terminal D, and the second contact terminal E be used, and in normal cases, any position that can be received by the robot may be used as long as the position is any signal that can be transmitted and is provided on the base.
In the second case:
the right roller is in butt joint with the second light touch switch B, but the left roller is not in butt joint, at this time, any one of the guide signal transmitting point C, the first contact terminal D and the second contact terminal E on the base 20 can transmit a coded signal to the robot to tell that the robot is in butt joint with the second light touch switch B, and the robot can obtain a steering mode according to the signal, namely, the robot needs to rotate to the left to be in butt joint with the second light touch switch B.
In the first two cases, if one of the two rollers is docked and the other is not, the docked roller is stationary and the other roller is adjusted on the base.
In the third case:
and the first light touch switch A and the second light touch switch B are accurately butted, namely, the butting is finished.
In a fourth case:
if the first tact switch a and the second tact switch B are not butted, the robot needs to exit from the base 10 and enter the base 10 again to be butted according to the guidance of the guidance signal.
In this embodiment, in order to save resources, the first contact terminal and the second contact terminal are usually charging contacts on the base. Two rollers on the robot are used as butt joints to align with the base, so that additional sensors are not needed to be added to the robot to assist in calibration, and cost is reduced; and the contact surface of the roller and the base is very small, which is beneficial to the correct butt joint of the robot and the base and further reduces the condition that the robot inclines to butt joint the base.
In addition, it should be noted that the above four cases are only based on the assumption that the default robot is already in butt joint with at least one contact terminal on the base, and then it is determined whether the first tact switch a and the second tact switch B are correctly in butt joint, if yes, the butt joint action is completed, and if not, the robot is adjusted in posture to be aligned, so that the correct butt joint of the robot and the base is completed. In the actual docking process of the robot and the charging stand, the situations are various, and in fact, for the first light-touch switch a and the second light-touch switch B, and the first contact terminal D and the second contact terminal E, in most cases, the four can be aligned simultaneously; however, the first contact terminal D and the second contact terminal E are aligned first, and the first tact switch a and the second tact switch B are aligned by adjusting the posture of the robot; or the first tact switch A and the first contact terminal D are aligned firstly, and the second tact switch B and the second contact terminal E are aligned in other various situations by adjusting the posture of the robot. In any case, the process of adjusting the pose and aligning the robot is similar to the four cases, and is not described herein again.
Example two
Fig. 3 is a schematic structural diagram of a second embodiment of the present invention. As shown in fig. 3, the present embodiment is different from the first embodiment in that the robot pose is calibrated by an optical signal, that is, a signal corresponding to an under-view sensor of the robot (not shown) itself is provided on the base 10 to calibrate the pose.
Specifically, two signal transmitting (or receiving) devices a 'and B' may be provided on the base 10 at two downward-looking positions corresponding to the bottom of the robot. When the robot enters the base 10, the transmitting (or receiving) functions of the two downward-looking sensors on the robot are closed, and only the receiving (or transmitting) functions are opened, at the moment, the two downward-looking sensors receive signals transmitted by the two transmitting devices of the base; or two transmissions from the downward-looking sensor are used to transmit signals and two transmissions are received at two locations on the base 10 corresponding to the downward-looking sensor, if both locations receive optical signals and after docking the first contact terminal D and/or the second contact terminal E, it is indicated that the robot is aligned with the base. It should be noted that, the base 10 or the robot may be optionally provided with a transmitting device and a receiving device, as long as they correspond to each other, that is: if the base 10 is provided with a transmitting device, the receiving function of the robot bottom downward-looking sensor can be used, and vice versa. In addition, because the transmitted optical signal is fan-shaped, the light coverage area is large, and errors are easily caused, so that a blocking device can be further arranged to block a part of light, and the transmitted light is ensured to be a beam of light as much as possible and is accurately aligned.
If only one side receives the optical signal, the guiding signal transmitting point C, the first contact terminal D and the second contact terminal E can be used to transmit coded signals to inform the robot which side is aligned, adjust the direction to the other side, and if none of the sides are aligned, the robot moves back and realigns.
In this way, the transmitting or receiving sensor can be arranged at the front end, the side face or the top of the robot, the receiving or transmitting sensor is arranged at the position corresponding to the base, and the two are butted to be considered as successful. That is, in the present embodiment, the three-point calibration is performed by two optical signal transmitting or receiving devices disposed on the base and coupled with at least one contact terminal; or, the two contact terminals are matched, and the robot is correctly butted with the base in a four-point alignment mode.
Adopt the light signal calibration mode in this embodiment, utilized on robot and the base original look down the sensor signal and reached the purpose of butt joint each other, need not to set up unnecessary part, practice thrift cost, convenient to use.
In summary, the present invention provides a system and a method for calibrating pose of a self-moving robot, wherein when a relative coordinate system is adopted, the system and the method complete correct docking between the robot and a base through at least three docking reference points on the premise that the working time of the robot reaches the preset time or the working travel distance reaches the preset distance in the calibration mode; the pose of the robot is reasonably adjusted, the butt joint of the robot and the base is accurate, the installation parts are simple, the cost is saved, the accuracy is high, and the use is convenient.
Claims (12)
1. A self-moving robot pose calibration system comprises a robot and a base (10), wherein the robot is provided with a pose sensor and a control center, and is characterized in that the robot is provided with a working mode and a calibration mode, when the working time of the robot reaches a preset time or the working walking distance reaches a preset distance, the calibration mode is started, and the control center controls the pose sensor of the calibration robot after the robot is correctly butted with the base;
the robot is provided with a roller, and the pose calibration system is also provided with a first pose calibration switch, a second pose calibration switch and at least one first contact terminal (D);
the robot is close to the base, the butt joint point on the robot is in butt joint with the first position posture calibration switch, the second position posture calibration switch and the at least one first contact terminal (D), and the control center controls the roller to adjust the posture of the robot according to signal feedback of the first position posture calibration switch, the second position posture calibration switch and the at least one first contact terminal (D) and is in correct butt joint with the base.
2. The self-moving robot pose calibration system according to claim 1, wherein the first and second pose calibration switches are a first tact switch (a) and a second tact switch (B) respectively disposed on a bottom plate (20) of the base (10), and the positions of the first tact switch (a) and the second tact switch (B) correspond to the positions of rollers of the robot after entering the bottom plate of the base for alignment.
3. The self-moving robot pose calibration system according to claim 1, wherein the first pose calibration switch and the second pose calibration switch are optical signal emitting devices or optical signal receiving devices respectively arranged on the base (10), and the arrangement positions of the optical signal emitting devices or the optical signal receiving devices on the base correspond to the positions of the butt joints after the robot enters the base and is aligned with the bottom plate of the base.
4. The self-moving robot pose calibration system according to claim 3, wherein the docking point on the robot is an optical signal receiving device or an optical signal emitting device on the robot.
5. The pose calibration system of the self-moving robot according to claim 3, wherein the optical signal emitting device or the optical signal receiving device on the base is provided on a bottom plate (20), a back plate (30) or a top plate of the base (10).
6. The self-moving robot pose calibration system according to claim 5, wherein the optical signal receiving device or the optical signal emitting device on the robot is correspondingly arranged at the bottom, the side edge or the top of the robot.
7. The self-moving robot pose calibration system according to claim 6, wherein the optical signal receiving device or the optical signal transmitting device arranged at the bottom of the robot is a downward-looking sensor.
8. The pose calibration system for the self-moving robot according to claim 1, wherein two stoppers (40) are respectively provided on the bottom plate (20) of the base (10) at positions corresponding to the rollers and in a direction of one side of the back plate (30) adjacent to the base.
9. The self-moving robot pose calibration system according to claim 1, wherein the system further comprises a second contact terminal (E) provided on the base (20).
10. The self-moving robot pose calibration system according to claim 9, wherein a guide signal emitting point (C) is further provided on the robot for guiding the robot to move toward the base (10), and one of the guide signal emitting point (C), the first contact terminal (D) and the second contact terminal (E) emits a coded signal.
11. A calibration method for a pose sensor of a self-moving robot is characterized by comprising the following steps:
step 100: the robot performs work in a given area;
step 200: when the working time of the robot reaches the preset time or the working walking distance reaches the preset distance, the executing work is suspended, and the robot automatically returns to the base and is correctly butted with the base;
step 300: calibrating a pose sensor arranged on the robot;
the step 200 specifically includes:
step 201: the roller and the butt joint point of the robot are respectively in butt joint with any two of the first position and posture calibration switch, the second position and posture calibration switch and the at least one first contact terminal (D);
step 202: the pose of the robot is adjusted under the coded signal emitted by the base, so that the robot, the base and the base are completely butted, and the robot and the base (10) are correctly butted.
12. The calibration method of claim 11, further comprising: step 400: and after the robot finishes the calibration of the pose sensor, the robot automatically walks to a pause working position in a given area and continues to execute work.
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| CN201610079681.4A CN107037807B (en) | 2016-02-04 | 2016-02-04 | Self-moving robot pose calibration system and method |
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| CN108879809B (en) * | 2017-09-25 | 2021-12-24 | 北京石头世纪科技股份有限公司 | Automatic cleaning equipment and charging method thereof |
| CN108888188B (en) * | 2018-06-14 | 2020-09-01 | 深圳市无限动力发展有限公司 | Sweeping robot position calibration method and system |
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