A wheel diameter self-calibration method for a wheeled robot

Abstract

The invention discloses a method for self-calibrating the wheel diameter of a wheeled robot, which specifically includes the following steps: Step 1: equipment operation preparation, step 2: wheel diameter change monitoring, step 3: wheel diameter change alarm, step 4: wheel diameter self-calibration , step 5: guide and suggest evaluation, step 6: print related reports, the present invention relates to the field of robot technology. The wheel diameter self-calibration method of the wheeled robot monitors the balance of the tires in operation of the robot. Once the inner and outer pressures of the robot tires are found to be different, the relevant number of tires are adjusted through the tire inflation and deflation control module, and can be intelligently adjusted. It can judge whether the tire wear state is severe or light, and take corresponding timely and effective measures according to the judgment result, and through the wheel diameter change alarm module, once the wheel diameter changes greatly, the alarm horn can be triggered in time, and the alarm The module can save the alarm log in time.

Description

Technical field [0001] The present invention relates to the field of robotics, specifically a wheel diameter self-calibration method of wheeled robot. Background [0002] A robot is a mechanical device that performs work automatically. It can either take on human command, run pre-orchestrated programs, or act according to a principled framework based on AI technology. Its task is to assist or replace human work, such as production, construction, or hazardous work. Robotics are the product of advanced integration of cybernetics, mechatronics, computers, materials, and biomimics. It has important uses in industry, medicine, agriculture, construction and even the military. Robots are divided into two categories, namely industrial robots and special robots. The so-called industrial robot is a multi-articulated manipulator or a multi-degree of freedom robot for the industrial field. In addition to industrial robots, special robots are various advanced robots used in non-manufacturing ...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the deficiencies in the prior art, the present invention provides a wheel diameter self-calibration method for wheeled robots, which solves the problem that wheeled inspection robots in substations currently use four-wheel differential drive, and tire wear is relatively serious. In addition, tires of pneumatic tires The tire pressure will also affect the wheel diameter. The change of the tire diameter will lead to inaccurate odometer data, which seriously affects the normal use of the robot.

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