Wheel diameter correction method based on intelligent patrol robot

Abstract

The present invention discloses a wheel diameter correction method based on an intelligent patrol robot. The method comprises the following steps: obtaining a deviation distance, an actual operation distance and a straight-line distance; calculating an operation radius and an operation angle; calculating an inside radius and an outside radius according to a wheel diameter; calculating an actual operation speed difference between left-side wheel(s) and right-side wheel(s) according to an operation time; and multiplying the actual operation speed difference and a compensation coefficient as a speed compensation value to correct operation speed(s) of the left-side wheel(s) and the right-side wheel(s). According to the method, by calculating the actual operation speed difference between the left-side wheel(s) and the right-side wheel(s) of the intelligent patrol robot, when the intelligent patrol robot is tested before leaving the plant, the mechanical differences of the four wheels of therobot can be found rapidly, and thus the method is convenient for configuring software parameters timely and allowing the product meet plant-leaving requirement(s); and in the actual use, by dynamically adjusting motion parameters of the four wheels in the motion process, mechanical errors and the errors caused by abrasion are eliminated, and thus the robot can keep moving on a given track accurately.

Description

technical field [0001] The invention belongs to the technical field of intelligent robot control, and in particular relates to a wheel diameter correction method based on an intelligent inspection robot. Background technique [0002] The intelligent inspection robot is an intelligent robot that replaces manpower for daily inspection and inspection of application scenarios. On the one hand, when the intelligent inspection robot leaves the factory, there are mechanical errors in the rotation and installation of the four wheels; on the other hand, during the long-term use of the intelligent inspection robot, due to the different use environments and methods Each wheel will have different degrees of wear, which will lead to motion errors of the robot. Contents of the invention [0003] The purpose of the invention of the present invention is: in order to solve the above problems existing in the prior art, the present invention proposes a wheel diameter correction method based...

AI Technical Summary

Problems solved by technology

On the one hand, when the intelligent inspection robot leaves the factory, there are mechanical errors in the rotation and installation of the four wheels; on the other hand, during the long-term use of the intelligent inspection robot, due to the different use environments and methods Each wheel will have different degrees of wear, which will lead to the movement error of the robot

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