# US 2025/0164618 A1 · Angle compensation method, electronic device and autonomous mobile robot employing method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2025/0164618 A1 - Document ID: US20250164618A1 - Status: Published application - Kind: A1 - Application number: 18/425,344 - Filed: 2024-01-29 - Published: 2025-05-22 - Earliest claimed: 2023-11-17 - Assignees: Futaijing Precision Electronics (Yantai) Co., Ltd.; Hon Hai Precision Industry Co., Ltd. - Applicants: Futaijing Precision Electronics (Yantai) Co., Ltd.; Hon Hai Precision Industry Co., Ltd. - Inventors: Hsiao-Lun Chen - Web page: https://patentgrep.com/patent/US20250164618A1 ## CPC - G01S 7/497: Means for monitoring or calibrating - G01S 7/4972: {Alignment of sensor} - G01S 17/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) - G01S 17/931: of land vehicles - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract A angle compensation method for improving an accuracy of a light detection and ranging (LiDAR) for position detection includes: obtaining a first position of an object, the first position being an actual position of the object relative to a predetermined reference area; obtaining a second position of the object detected by the LiDAR when the LiDAR reaches the predetermined reference area; obtaining a first distance between the second position and the first position; and determining a compensation angle of the LiDAR according to the first distance, the compensation angle being configured to compensate an angle detected by the LiDAR. An autonomous mobile robot and an electronic device are also disclosed. ## Claims ### Claim 1 An angle compensation method applied to an electronic device, comprising: obtaining a first position of an object, wherein the first position is an actual position of the object relative to a predetermined reference area; obtaining a second position of the object detected by a light detection and ranging (LiDAR) when the LiDAR reaches the predetermined reference area; obtaining a first distance between the second position and the first position; and determining a compensation angle of the LiDAR according to the first distance, wherein the compensation angle is configured to compensate an angle detected by the LiDAR. ### Claim 2 (depends on 1) The angle compensation method of claim 1, wherein after obtaining the first distance between the second position and the first position, the method further comprises: determining the LiDAR meets a predetermined installation standard when the first distance is less than a predetermined distance. ### Claim 3 (depends on 2) The angle compensation method of claim 2, wherein determining the compensation angle of the LiDAR according to the first distance further comprises: determining the compensation angle of the LiDAR according to the first distance when the LiDAR meets the predetermined installation standard. ### Claim 4 (depends on 2) The angle compensation method of claim 2, wherein after obtaining the first distance between the second position and the first position, the method further comprises: determining the LiDAR does not meet the predetermined installation standard when the first distance is greater than the predetermined distance; and outputting a prompt of reinstalling the LiDAR. ### Claim 5 (depends on 1) The angle compensation method of claim 1, wherein determining the compensation angle of the LiDAR according to the first distance further comprises: obtaining a second distance between the predetermined reference area and the object; obtaining a sinusoidal value of the compensation angle according to a ratio of the first distance and the second distance; and determining the compensation angle of the LiDAR according to the sinusoidal value. ### Claim 6 (depends on 1) The angle compensation method of claim 1, wherein the electronic device communicates with a fixed device, the fixed device is located in the predetermined reference area, and before obtaining the second position of the object detected by the LiDAR, the method further comprises: sending a first instruction to the fixed device to fix the LiDAR when the LiDAR reaches the predetermined reference area, and after obtaining the second position of the object detected by the LiDAR, the method further comprises: sending a second instruction to the fixed device to release the LiDAR. ### Claim 7 (depends on 1) The angle compensation method of claim 1, wherein the electronic device communicates with a pressure sensor, the pressure sensor is located in the predetermined reference area, and before obtaining the second position of the object detected by the LiDAR when the LiDAR reaches the predetermined reference area, the method further comprises: determining the LiDAR reaches the predetermined reference area when a pressure value is detected by the pressure sensor and the pressure value is within a predetermined pressure range. ### Claim 8 An autonomous mobile robot (AMR) comprising a light detection and ranging (LiDAR), the AMR configured for obtaining an initial detection angle of an object detected by the LiDAR, and obtaining an actual angle of the object according to a compensation angle and the initial detection angle, wherein the compensation angle is obtained by using an angle compensation method, the angle compensation method comprising: obtaining a first position of the object, wherein the first position is an actual position of the object relative to a predetermined reference area; obtaining a second position of the object detected by the LiDAR when the LiDAR reaches the predetermined reference area; obtaining a first distance between the second position and the first position; and determining the compensation angle of the LiDAR according to the first distance. ### Claim 9 (depends on 8) The AMR of claim 8, wherein the AMR is configured to rotate the initial detection angle counterclockwise to N degrees to obtain the actual angle of the object when the compensation angle is N degrees of clockwise deflection of the second position relative to the first position, and the AMR is further configured to rotate the initial detection angle clockwise to N degrees to obtain the actual angle of the object when the compensation angle is N degrees of counterclockwise deflection of the second position relative to the first position. ### Claim 10 An electronic device comprising: at least one processor; and a data storage storing one or more programs which when executed by the at least one processor, cause the at least one processor to: obtain a first position of an object, wherein the first position is an actual position of the object relative to a predetermined reference area, obtain a second position of the object detected by a light detection and ranging (LiDAR) when the LiDAR reaches the predetermined reference area, obtain a first distance between the second position and the first position, and determine a compensation angle of the LiDAR according to the first distance, wherein the compensation angle is configured to compensate an angle detected by the LiDAR. ### Claim 11 (depends on 10) The electronic device of claim 10, wherein the at least one processor is further caused to: determine the LiDAR meets a predetermined installation standard when the first distance is less than a predetermined distance. ### Claim 12 (depends on 11) The electronic device of claim 11, wherein when the at least one processor determines the compensation angle of the LiDAR according to the first distance, the at least one processor is further caused to: determine the compensation angle of the LiDAR according to the first distance when the LiDAR meets the predetermined installation standard. ### Claim 13 (depends on 11) The electronic device of claim 11, wherein the at least one processor is further caused to: determine the LiDAR does not meet the predetermined installation standard when the first distance is greater than the predetermined distance, and output a prompt of reinstalling the LiDAR. ### Claim 14 (depends on 10) The electronic device of claim 10, wherein when the at least one processor determines the compensation angle of the LiDAR according to the first distance, the at least one processor is further caused to: obtain a second distance between the predetermined reference area and the object, obtain a sinusoidal value of the compensation angle according to a ratio of the first distance and the second distance, and determine the compensation angle of the LiDAR according to the sinusoidal value. ### Claim 15 (depends on 10) The electronic device of claim 10, wherein the electronic device communicates with a fixed device, the fixed device is located in the predetermined reference area, the at least one processor is further caused to: send a first instruction to the fixed device to fix the LiDAR when the LiDAR reaches the predetermined reference area. ### Claim 16 (depends on 15) The electronic device of claim 15, wherein the at least one processor is further caused to: send a second instruction to the fixed device to release the LiDAR. ### Claim 17 (depends on 10) The electronic device of claim 10, wherein the electronic device communicates with a pressure sensor, the pressure sensor is located in the predetermined reference area, the at least one processor is further caused to: determine the LiDAR reaches the predetermined reference area when a pressure value is detected by the pressure sensor and the pressure value is within a predetermined pressure range.