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Method, device and system for calibrating relative error of left and right wheels of robot

A relative error, robot technology, used in control/adjustment systems, instruments, two-dimensional position/channel control, etc., and can solve problems such as size error, robot deviation, etc.

Active Publication Date: 2021-05-18
浙江立石工业互联科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the deficiencies of the prior art, the purpose of the present invention is to provide a method, device and system for calibrating the relative error of the left and right wheels of the robot, aiming at solving the problem of the relative size error between the left wheel and the right wheel of the robot in the prior art, which leads to the straight line of the robot. Problems leaning to one side while exercising

Method used

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  • Method, device and system for calibrating relative error of left and right wheels of robot
  • Method, device and system for calibrating relative error of left and right wheels of robot
  • Method, device and system for calibrating relative error of left and right wheels of robot

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specific Embodiment 1

[0044] Such as Figure 1a with Figure 1b As shown, the embodiment of the present invention provides a method for calibrating the relative error of the left and right wheels of the robot, including:

[0045] Fence setting step S101, setting two mutually parallel fences, denoted as the first fence and the second fence;

[0046] The first attitude angle acquisition step S102, after the robot drives between the fences, scans the environment through the laser radar installed in the middle of the top of the robot, monitors the two parallel lines of the fence, and obtains the first attitude angle a1 of the robot relative to the first fence;

[0047] Linear motion step S103, controlling the robot to walk a predetermined distance L in a straight line;

[0048] The second attitude angle acquisition step S104, after the robot moves, scans the environment through the laser radar, monitors the two parallel lines of the fence, and obtains the second attitude angle a2 of the robot relative...

specific Embodiment 2

[0057] Such as figure 2 As shown, the embodiment of the present invention provides a relative error calibration device for the left and right wheels of a robot, including:

[0058] The fence setting module 201 is used to set two fences parallel to each other, denoted as the first fence and the second fence;

[0059]The first attitude angle acquisition module 202 is used to scan the environment through the laser radar installed in the middle of the top of the robot after the robot enters between the fences, monitor the two parallel lines of the fence, and obtain the first attitude angle of the robot relative to the first fence a1;

[0060] The linear motion module 203 is used to control the robot to walk a predetermined distance L in a straight line;

[0061] The second attitude angle acquisition module 204 is used to scan the environment through the laser radar to monitor the two parallel lines of the fence to obtain the second attitude angle a2 of the robot relative to the...

specific Embodiment 3

[0069] Such as image 3 As shown, the embodiment of the present invention provides a relative error calibration system for the left and right wheels of a robot, including:

[0070] The relative error calibration device 301 of the left and right wheels of the robot in the second embodiment;

[0071] The fence 302 includes a first fence and a second fence parallel to each other, for providing a calibration field;

[0072] LiDAR 303, installed in the middle of the top of the robot, is used to scan the environment and monitor the 2 parallel lines of the fence.

[0073] In the embodiment of the present invention, two fences parallel to each other are set up to drive into the robot and control the robot to move in a straight line. By monitoring the attitude angle change of the robot relative to the fence through the laser radar, the radius of the actual running arc of the robot can be obtained. Through the radius The proportional error of the left and right wheels of the robot can...

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Abstract

The invention discloses a method, a device and a system for calibrating the relative error of the left and right wheels of a robot. Two fences parallel to each other are set up, the robot is driven into the robot and controlled to move in a straight line, and the attitude angle change of the robot relative to the fence is monitored by a laser radar. Take the radius of the actual running arc of the robot, through which the proportional error of the left and right wheels of the robot can be obtained, that is, the relative error of the left and right wheels. The present invention can calculate the relative error of the left and right wheels of the robot, and correct the ratio error of the left and right tires during the subsequent movement to follow a preset straight path.

Description

technical field [0001] The invention relates to a calibration method, device and system for the relative error of left and right wheels of a robot. Background technique [0002] There is a relative size error between the left wheel and the right wheel of the mobile robot, which will cause the mobile robot to deviate to one side when going straight. Therefore, it is necessary to calibrate this error to compensate for this error. Contents of the invention [0003] In order to overcome the deficiencies of the prior art, the purpose of the present invention is to provide a method, device and system for calibrating the relative error of the left and right wheels of the robot, aiming at solving the problem of the relative size error between the left wheel and the right wheel of the robot in the prior art, which causes the robot to be straight. Problems with leaning to one side while exercising. [0004] The object of the present invention adopts following technical scheme to re...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0257
Inventor 金杭张利刚
Owner 浙江立石工业互联科技有限公司