Abstract: The present disclosure provides a joint parameter calibration method and system for a mobile robot, a device, and a storage medium. The method includes the following steps: step S100, causing the mobile robot to travel along a path passing through all modes, and correspondingly recording positioning trajectory data of a positioning sensor and data of a motor encoder; step S200, deducing ideal trajectory information of the mobile robot by the data of the motor encoder in combination with a kinematic model of the mobile robot; and step S300, converting the positioning trajectory data into trajectory information of the mobile robot according to a mounting position of the positioning sensor, and then performing least squares problem solving after performing differential alignment with the ideal trajectory information to acquire calibrated kinematic parameters of the mobile robot and mounting parameters of the positioning sensor, thereby realizing automatic calibration in one step.

Abstract: An electrical control box for superconducting magnet transportation and a device for transporting a superconducting magnet, relating to the field of superconducting magnet transportation, are configured to transport the cryogenic superconducting magnet. The electrical control box for superconducting magnet transportation is provided to address the problem that rated load capacity requirement of the transport apparatus is too high while transporting the superconducting magnet. A function of one input to two outputs is implemented through a power supply distribution module to supply power to a helium compressor and a refrigerator respectively to align with the common practice of transport personnel. In addition, a delay module is arranged in a power supply output connected to the helium compressor to provide power to the helium compressor later than the refrigerator, i.e., the start-up of helium compressor and the refrigerator are asynchronous.

Abstract: An electrical control box for superconducting magnet transportation and a device for transporting a superconducting magnet, relating to the field of superconducting magnet transportation, are configured to transport the cryogenic superconducting magnet. The electrical control box for superconducting magnet transportation is provided to address the problem that rated load capacity requirement of the transport apparatus is too high while transporting the superconducting magnet. A function of one input to two outputs is implemented through a power supply distribution module to supply power to a helium compressor and a refrigerator respectively to align with the common practice of transport personnel. In addition, a delay module is arranged in a power supply output connected to the helium compressor to provide power to the helium compressor later than the refrigerator, i.e., the start-up of helium compressor and the refrigerator are asynchronous.