Robot odometer obtaining method and device and electronic equipment

An acquisition method and robot technology, which can be used in measurement devices, instruments, surveying and mapping, and navigation, etc., and can solve the problems of low calculation accuracy of robot odometers.

Active Publication Date: 2020-10-27
ゼジャンハーレイテクノロジーカンパニーリミテッド
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0005] The embodiment of the present application provides a robot odometer acquisition method, device and electronic equipment to at least solve the problem of low calculation accuracy of the robot odometer in the related art by estimating the center of curvature of the robot through the vertical line of each steering wheel to determine the odometer The problem

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  • Robot odometer obtaining method and device and electronic equipment
  • Robot odometer obtaining method and device and electronic equipment
  • Robot odometer obtaining method and device and electronic equipment

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Embodiment Construction

[0053] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0054] Obviously, the accompanying drawings in the following description are only some examples or embodiments of the present application, and those skilled in the art can also apply the present application to other similar scenarios. In addition, it can also be understood that although such development efforts may be complex and lengthy, for those of ...

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Abstract

The invention relates to a robot odometer obtaining method and device and electronic equipment. The robot odometer obtaining method comprises the steps: compared with related techniques, the robot odometer obtaining method is characterized by obtaining speedometer of a robot at the first moment, obtaining a first rotation angle and a first movement increment of each steering wheel of the robot ata second moment, obtaining the displacement increment of the steering wheel for robot according to the first rotation angle and the first movement increment, obtaining rotation increment of the steering wheel to the robot through vector point multiplication according to the first rotation angle and the first movement increment, and obtaining odometer of the robot at the second moment according tothe odometer at the first moment, the rotation increment and the displacement increment, so that the problem that the robot odometer is low in calculation precision due to the fact that the robot odometer is determined by estimating the curvature circle center of the robot through the perpendicular lines of all the steering wheels is solved, and the calculation precision of the robot odometer is improved.

Description

technical field [0001] The present application relates to the field of robot motion control, in particular to a method, device and electronic equipment for acquiring a robot odometer. Background technique [0002] The odometer refers to a device (such as installed on a car) to measure the distance. In the field of robotics, the odometer is an effective sensor for the relative positioning of the mobile robot, providing real-time pose information for the robot. The odometry model of the mobile robot is determined by the structure and movement mode of the mobile robot, that is, the kinematics model of the mobile robot. [0003] In the related art, in the aspect of the control of the four-rotation four-wheel drive robot, the center of curvature of the robot is estimated through the vertical lines of the four steering wheels, and then the point displacement increment of the center of the robot is calculated to calculate the odometer. In this calculation method, during the dynami...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C22/00
CPCG01C22/00
Inventor 王富平王秀建穆方波
Owner ゼジャンハーレイテクノロジーカンパニーリミテッド
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