Motion model calibration method and device and odometer system of dual-wheel differential robot

Abstract

The invention relates to a motion model calibration method and device and an odometer system of a dual-wheel differential robot, and belongs to the field of artificial intelligence. The motion model calibration method comprises the steps that first parameters input by a user are obtained, and the rotating times, corresponding to the first parameters, of a left wheel motor and a right wheel motor of the robot are obtained in real time, and the first parameters comprise four pieces of track information in the process of the robot motion; pose calibration parameters of the robot are determined according to the first parameters and the rotating times, corresponding to the first parameters, of the left wheel motor and the right wheel motor of the robot; second parameters input by the user are obtained, the rotating times, corresponding to the second parameters, of the left wheel motor and the right wheel motor of the robot are obtained in real time, and the second parameters comprise two pieces of track information; location calibration parameters of the robot are determined according to the second parameters, the rotating times, corresponding to the second parameters, of the left wheelmotor and the right wheel motor of the robot and the pose calibration parameters; and a theoretical motion model is calibrated according to the pose calibration parameters and the location calibration parameters of the robot. According to the motion model calibration method and device and the odometer system of the dual-wheel differential robot, professional and technical requirements for workersare low, and the calibration time is saved.

Description

technical field [0001] The invention relates to a calibration method, device and odometer system for a motion model of a two-wheel differential robot, belonging to the field of artificial intelligence. Background technique [0002] Due to its simple structure and convenient control, the two-wheel differential robot is a form adopted by most wheeled robots at present. Usually, different motors are used to control the rotation of the left and right wheels to realize the movement of the robot. For example, to control the two-wheel differential movement to achieve The robot rotates, and the two wheels are controlled to move at a constant speed to realize the robot going straight. [0003] The control of a two-wheel differential robot needs to rely on the motion model. Usually, the motion model needs to be established according to the structural parameters of the robot. However, in the actual operation of the robot, there are "uncertain ground contact friction coefficients" and "...

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Problems solved by technology

[0003] The control of a two-wheel differential robot needs to rely on the motion model. Usually, the motion model needs to be established according to the structural parameters of the robot. However, in the actual operation of the robot, there are "uncertain ground contact friction coefficients" and "unequal wheel diameters". , "uncertain wheelbase" and "the actual average value of the two wheel diameters are not equal to the nominal average value" and other problems, resulting in large errors in the theoretical motion model of the robot, which cannot meet the actual use requirements, so the robot is put into use The theoretical model of motion needs to be calibrated before

[0004] At present, after the robot is built, it usually only includes the hardware part and the theoretical model. The robot developer needs to manually write the calibration code and adjust the parameters according to the actual use environment of the robot, combined with the theoretical model, to realize the calibration of the theoretical motion model of the robot. The method has very high requirements on the professional skills of the staff and requires a lot of development man-hours

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