Accuracy measurement method of autonomous mobile vehicle, calculating device, and autonomous mobile vehicle

An autonomous mobile vehicle, comprising:

• a processing device;
• a calculating device configured to be assembled to the autonomous mobile vehicle and to perform an accuracy measurement method of the autonomous mobile vehicle, wherein the calculating device is configured to be electrically coupled to the processing device, the processing device is configured to control the autonomous mobile vehicle to move to a predetermined position, the calculating device is configured to be electrically coupled to an image capture device for controlling a movement of the image capture device and receiving a to-be-analyzed image emitted from the image capture device;
• a detecting device configured to detect a surrounding environment of the autonomous mobile vehicle to generate a detection information, wherein the detecting device is configured to transmit the detection information to the processing device;
• and
• a driving device electrically connected to the processing device, wherein the processing device is configured to control the driving device to be operated according to the detection information, so that the autonomous mobile vehicle is moved to the predetermined position;
• wherein the accuracy measurement method is for being-performed to measure an X-axis offset and a Y-axis offset of the autonomous mobile vehicle respectively along an X-axis direction and a Y-axis direction, the accuracy measurement method comprising:
• a distance calculating step that is repeatedly performed for a predetermined number of times greater than or equal to two times, wherein the distance calculating step includes:
• a controlling step that is implemented to control the autonomous mobile vehicle to move to the predetermined position;
• a light beam emitting step that is implemented to control a light beam device to emit at least one light beam toward a marker so as to form one or more light spot on the marker, wherein the marker has an AprilTag or an ArUco tag, wherein, in the light beam emitting step, the light spot is away from the AprilTag or the ArUco tag, and wherein the light beam device is disposed on the autonomous mobile vehicle and the marker is disposed on a periphery of the predetermined position, or the marker is disposed on the autonomous mobile vehicle and the light beam device is disposed on the periphery of the predetermined position;
• an image capturing step that is implemented to control the image capture device to capture an image of the marker so as to form the to-be-analyzed image, wherein the to-be-analyzed image includes a label image corresponding to the AprilTag or the ArUco tag and a light spot image corresponding to the light spot;
• an image analyzing step that is implemented to analyze the label image in the to-be-analyzed image so as to obtain four corner coordinates corresponding to the AprilTag or the ArUco tag, and to obtain an X-axis distance in the X-axis direction and a Y-axis distance in the Y-axis direction of a reference point coordinate of the label image, and a light spot center coordinate of the light spot image, wherein the reference point coordinate is one of the four corner coordinates or the reference point coordinate is a label central point coordinate of the label image that is calculated from the four corner coordinates;
• a converting step that is implemented to convert the X-axis distance and the Y-axis distance into an X-axis true distance and a Y-axis true distance so as to generate a measurement coordinate by using a true length of one side of the AprilTag or the ArUco tag and a straight line distance calculated from two of the four corner coordinates on a same axis, wherein the measurement coordinate includes the X-axis true distance and the Y-axis true distance;
• and
• a regression center calculating step that is performed by using a regression calculation to calculate a plurality of the measurement coordinates so as to obtain a regression center coordinate;
• and
• an average calculating step that is performed by calculating the plurality of the measurement coordinates and the regression center coordinate to obtain the X-axis offset and the Y-axis offset of the autonomous mobile vehicle, wherein the regression center coordinate and each of the plurality of the measurement coordinates have a difference in the X-axis direction therebetween and a difference in the Y-axis direction therebetween, the X-axis offset is defined as an average of a plurality of the differences in the X-axis direction, and the Y-axis offset is defined as an average of a plurality of the differences in the Y-axis direction.