Angle and angular velocity calibration device and calibration method for a steering robot

Abstract

The present invention relates to an angle and angular velocity calibration device and calibration method of a steering robot, which comprises: a base, which is equipped with an angle sensor; an adapter, which is used to connect with the steering robot, the adapter is connected with the angle sensor through a shaft, the adapter, the shaft and the angle sensor are coaxially arranged, and when the steering robot rotates, the steering robot drives the adapter and the shaft to rotate synchronously. Using the steering robot angle calibration device, the steering robot is fixed on the adapter, and the adapter is connected with the angle sensor through the shaft. When the steering robot rotates, the angle and angular velocity of the steering robot are calibrated through the angle sensor. The structure is simple, the calibration process is easy to operate and implement, and the effective traceability of the angle and angular velocity parameters of the steering robot is realized.

Description

Technical Field

[0001] The invention relates to the technical field of calibration of automobile-specific testing instruments and equipment, and in particular to an angle and angular velocity calibration device and a calibration method for a steering robot. Background Art

[0002] With the rapid development of intelligent connected vehicles, special test equipment for the performance of intelligent connected vehicles is also being updated. Steering robots are widely used in the research and development, testing and handling stability tests of intelligent assisted driving systems. Article 6.3.5 of GBT30677-2014 "Performance Requirements and Test Methods for Electronic Stability Control Systems of Light Vehicles" clearly stipulates that automatic steering devices should be used when performing steering operations specified in 7.5.3, 7.5.4, 7.6.1 and 7.7.3.

[0003] At present, the most widely used automatic steering device in China is the steering robot. The steering robot can replace the driver to operate the steering wheel, apply input to the vehicle steering system, and perform accurate and repeatable dynamic measurements. It is very common to use a steering robot to perform vehicle performance tests, but there is no public calibration method for how to calibrate the angle and angular velocity of the steering robot. Summary of the invention

[0004] The embodiment of the present invention provides a device and method for calibrating the angle and angular velocity of a steering robot to solve the problem of how to calibrate the angle and angular velocity of a steering robot in the related art.

[0005] In the first aspect, a device for calibrating the angle and angular velocity of a steering robot is provided, which includes: a base, on which an angle sensor is installed; an adapter, which is used to connect to the steering robot, the adapter is connected to the angle sensor via a shaft, the adapter, the shaft and the angle sensor are coaxially arranged, and when the steering robot rotates, the steering robot drives the adapter and the shaft to rotate synchronously.

[0006] In some embodiments, the angle and angular velocity calibration device also includes a torque sensor, a connecting plate is fixed on the torque sensor, a crossbeam is installed on the connecting plate, both ends of the crossbeam have connecting blocks, the end faces of the connecting blocks are provided with screw holes, and a force rod is provided on the steering robot, one end of the force rod is connected to the connecting block by bolts, and the other end is used to be fixed to the steering robot.

[0007] In some embodiments, the crossbeam is U-shaped, and the opening of the U-shape faces the connecting disk. The crossbeam is connected to the connecting disk via an axle, and the crossbeam can rotate around the axle.

[0008] In some embodiments, a main body support is installed on the base, and the main body support is T-shaped and includes a first main body and a second main body that are perpendicular to each other. The torque sensor and the adapter are respectively located at opposite ends of the first main body, and the distance between the second main body and the torque sensor is smaller than the distance between the second main body and the adapter.

[0009] In some embodiments, a bearing is installed in the first body, the shaft rod is inserted into the bearing, the shaft rod passes through the first body and is fixed to the adapter, and the adapter and the angle sensor are respectively located at opposite ends of the shaft rod.

[0010] In some embodiments, a base is installed on the first body, the top of the base is connected to the adapter via a locating pin, the bottom of the base is connected to the second gasket via a locating pin, the base is fixed to the second gasket via bolts, and the second gasket is fixed to the shaft.

[0011] In some embodiments, a cross-sectional dimension of a side of the base close to the adapter is larger than a cross-sectional dimension of a side close to the first body.

[0012] In the second aspect, a method for calibrating the angle and angular velocity calibration device of a steering robot is provided, which comprises the following steps: installing the steering robot on the adapter; rotating the steering robot to a set angle; calculating the difference between the angle indication of the steering robot and the angle indication of the angle sensor; adjusting the steering robot, and repeating the above steps until the error between the angle indication of the steering robot and the angle sensor is within a preset range.

[0013] In the third aspect, a method for angular velocity calibration of the angle and angular velocity calibration device of a steering robot is provided, which comprises the following steps: installing the steering robot on the adapter; rotating the steering robot at a constant speed; calculating the difference between the angular velocity indication of the steering robot and the angular velocity of the angle sensor; adjusting the steering robot, and repeating the above steps until the error between the angular velocity indication of the steering robot and the angular velocity indication of the angle sensor is within a preset range.

[0014] The beneficial effects brought about by the technical solution provided by the present invention include:

[0015] The embodiment of the present invention provides an angle and angular velocity calibration device and calibration method for a steering robot. The steering robot is fixed on an adapter, and the adapter is connected to an angle sensor through an axle rod. When the steering robot rotates, the angle and angular velocity of the steering robot are calibrated through the angle sensor. The structure is simple and the calibration process is easy to operate and implement, thereby realizing effective traceability of the angle and angular velocity parameters of the steering robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 A schematic diagram of the overall structure of an angle and angular velocity calibration device for a steering robot provided by an embodiment of the present invention;

[0018] Figure 2 A schematic diagram of the partial structure of an angle and angular velocity calibration device for a steering robot provided by an embodiment of the present invention;

[0019] Figure 3 Another partial structural schematic diagram of an angle and angular velocity calibration device for a steering robot provided in an embodiment of the present invention.

[0020] Numbers in the figure:

[0021] 1. Base; 2. Main body support; 21. First main body; 22. Second main body; 3. First gasket; 4. Torque sensor; 5. Connecting plate; 6. Crossbeam; 61. Connecting block; 7. Second gasket; 8. Base; 9. Adapter; 10. Shaft; 11. Bearing sleeve; 12. Fixer; 13. Angle sensor. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] The embodiment of the present invention provides a device and method for calibrating the angle and angular velocity of a steering robot, which can solve the problem of how to calibrate a steering robot in the related art.

[0024] See also Figure 1As shown, a steering robot angle and angular velocity calibration device provided by an embodiment of the present invention may include: a base 1, which is equipped with an angle sensor 13; an adapter 9, which is used to connect with the steering robot, the adapter 9 is connected to the angle sensor 13 through a shaft 10, the adapter 9, the shaft 10 and the angle sensor 13 are coaxially arranged, and when the steering robot rotates, the steering robot drives the adapter 9 and the shaft 10 to rotate synchronously. In this embodiment, the adapter 9 and the shaft 10 rotate synchronously with the steering robot, and the angle sensor 13 connected to the shaft 10 can measure the angle of rotation of the shaft 10. Since the shaft 10 is coaxially connected to the steering robot, the rotation angle and angular velocity of the steering robot can be measured. According to the angle and angular velocity indications of the angle sensor 13, the angle and angular velocity of the steering robot can be calibrated, and the effective traceability of the angle and angular velocity parameters of the steering robot is realized.

[0025] See also Figure 1 As shown, in some embodiments, the angle and angular velocity calibration device also includes a torque sensor 4, a connecting disk 5 is fixed on the torque sensor 4, a crossbeam 6 is installed on the connecting disk 5, and both ends of the crossbeam 6 have connecting blocks 61, and the end face of the connecting block 61 is provided with screw holes. A force rod is provided on the steering robot, and one end of the force rod is connected to the connecting block 61 by bolts, and the other end is used to be fixed to the steering robot. In this embodiment, the two ends of the steering robot force rod are fixed to the outside of the connecting block 61 and the steering robot, which can provide support force for the steering robot, thereby maintaining the balance of the steering robot and making the measurement result more accurate. In other embodiments, the force rod can also be directly connected to the connecting disk 5, or a protrusion can be set on the connecting disk 5 to connect to the force rod.

[0026] See also Figure 1 and Figure 3 As shown, in some embodiments, the crossbeam 6 can be U-shaped, and the opening of the U-shape faces the connecting disk 5. The crossbeam 6 is connected to the connecting disk 5 through an axle, and the crossbeam 6 can rotate around the axle. In this embodiment, the open side of the crossbeam 6 is located above the connecting disk 5, so that there is a certain rotation space. The crossbeam 6 can adjust its rotation angle according to the specifications of the steering robot and the length of the force rod, which is more flexible to use and has a wider range of applications. Preferably, the crossbeam 6 is in a direction perpendicular to the force rod to avoid shaking during the measurement process.

[0027] See also Figure 1As shown, in some embodiments, a main body support 2 may be installed on the base 1, and the main body support 2 is T-shaped, and includes a first main body 21 and a second main body 22 perpendicular to each other. The torque sensor 4 and the adapter 9 are respectively located at opposite ends of the first main body 21, and the distance between the second main body 22 and the torque sensor 4 is smaller than the distance between the second main body 22 and the adapter 9. In this embodiment, the angle sensor 13 is located below the adapter 9, and the second main body 22 is far away from the adapter 9, which can make room for the angle sensor 13 and the intermediate connector to avoid interference between the two.

[0028] See also Figure 1 As shown, in some embodiments, a bearing is installed in the first body 21, and the shaft 10 is inserted into the bearing. The shaft 10 can pass through the first body 21 and be fixed to the adapter 9. The adapter 9 and the angle sensor 13 are respectively located at opposite ends of the shaft 10. In this embodiment, a bearing is installed in the first body 21, and the shaft 10 is inserted into the bearing, so that the adapter 9 can be driven to rotate, and the angle and angular velocity are measured by the angle sensor 13. The main body support 2 can provide support for the shaft 10, so that the steering robot can be located above the angle sensor 13 for convenient measurement.

[0029] See also Figure 1 As shown, in some embodiments, a base 8 is installed on the first main body 21, the top of the base 8 is connected to the adapter 9 through a positioning pin, the bottom of the base 8 is connected to the second gasket 7 through a positioning pin, the base 8 is fixed to the second gasket 7 through a bolt, and the second gasket 7 is fixed to the shaft 10. In this embodiment, the steering robot is installed on the adapter 9, and a pin hole is provided on the base 8. The adapter 9 is positioned on the base 8 through the positioning pin, thereby positioning the steering robot, so that the steering robot, the adapter 9 and the base 8 can be coaxially connected, which is more convenient and fast when installing the steering robot, and easy to position; the second gasket 7 is laid on the bottom of the base 8, so that the base 8 is more stable, and the second gasket 7 also has good wear resistance. In other embodiments, a pin hole can also be directly set on the first main body 21 to position the adapter 9 on the main body support 2.

[0030] See also Figure 1As shown, in some embodiments, the cross-sectional dimension of the side of the base 8 close to the adapter 9 is larger than the cross-sectional dimension of the side close to the first body 21. In this embodiment, the base 8 is composed of a shorter cylinder and a longer cylinder. The diameter of the short cylinder is the same as that of the adapter 9, which can better fit the installation of the adapter 9. The diameter of the long cylinder is smaller than that of the short cylinder, and the short cylinder is thinner. After the steering robot is installed on the base 8 together with the adapter 9, the thinner long cylinder can make some space for the steering robot to rotate, avoiding friction between the steering robot and the base 8, so that the measured data is more accurate.

[0031] See also Figure 1 , Figure 2 and Figure 3 As shown, during installation, there is a pin hole in the middle of the base 8, the adapter 9 is connected to the base 8 via a pin, the base 8 is connected to the second gasket 7 via a positioning pin, the base 8 is fixed to the second gasket 7 via bolts, the second gasket 7 is fixed to the upper end of the shaft 10, the shaft 10 passes through the other end of the main support 2, the lower end of the shaft 10 is fixedly connected to the upper end of the bearing sleeve 11 via bolts, the lower end of the bearing sleeve 11 is fixedly connected to the rotating shaft of the angle sensor 13 via bolts, the bearing sleeve 11 realizes the coaxial connection between the shaft 10 and the rotating shaft of the angle sensor 13, the angle sensor 13 is fixed to the base via a fixer 12, the main support 2 is fixed to the base 1 via bolts, the first gasket 3 is fixed to one end of the main support 2 via bolts, the torque sensor 4 is fixed to the first gasket 3 with bolts, the connecting plate 5 is fixed to the torque sensor 4 via bolts, and the crossbeam 6 is connected to both ends of the connecting plate 5 via bolts.

[0032] See also Figure 1 As shown, a method for calibrating the angle of a steering robot provided by an embodiment of the present invention may include the following steps: installing the steering robot on the adapter 9; rotating the steering robot to a set angle; calculating the difference between the angle indication of the steering robot and the angle indication of the angle sensor 13; adjusting the steering robot, and repeating the above steps until the error between the angle indication of the steering robot and the angle indication of the angle sensor 13 is within a preset range. By connecting and installing the steering robot with the adapter 9 and rotating the steering robot, the angle of the steering robot can be calibrated by the difference between the angle indication of the steering robot and the angle sensor 13, thereby achieving effective traceability of the angle parameters of the steering robot.

[0033] Before calibrating the steering robot angle, first install the steering robot to be calibrated on the steering robot angle and angular velocity calibration device, connect the required wiring harness, and connect the steering robot to the control software for communication. Specifically, remove the base cover of the steering robot drive motor to be calibrated, install the adapter 9 on the base of the steering robot drive motor to be calibrated via three fixing bolts, and connect the steering robot to be calibrated to the base 8 of the steering robot angle and angular velocity calibration device via the pin hole of the adapter 9; fix the ends of the two parallel force rods of the steering robot to be calibrated away from the force sensor to the force rod connection points on both sides of the steering robot drive motor via bolts, and fix the ends of the parallel force rods near the force sensor to the two ends of the beam 6 via bolts; supply a stable power supply to the high-precision angle sensor 13, turn on the switch of the angle sensor 13 display, connect the wiring harness required for the normal operation of the steering robot, and turn on the control software to achieve communication connection.

[0034] During calibration, when the steering robot to be calibrated is in a stationary state, the angle between the steering robot to be calibrated and the display of the high-precision angle sensor 13 is cleared, the steering robot is rotated to a certain angle, and the angle indications of the steering robot and the angle sensor 13 are recorded at the same time. The angle indication of the steering robot minus the indication of the angle sensor 13 is the indication error, and the angle of the steering robot can be calibrated based on the error.

[0035] See also Figure 1 As shown, a method for calibrating the angular velocity of a steering robot provided by an embodiment of the present invention may include the following steps: installing the steering robot on the adapter 9; controlling the steering robot to rotate at a uniform speed by the control software and recording the process curve, calculating the difference between the angular velocity indication of the steering robot and the angular velocity of the angle sensor 13; adjusting the steering robot, and repeating the above steps until the angular velocity indication error of the steering robot is within a preset range. By connecting and installing the steering robot with the adapter 9, after rotating the steering robot, the angular velocity of the steering robot can be calibrated by the difference between the angular velocities of the steering robot and the angle sensor 13, thereby achieving effective traceability of the angular velocity parameters of the steering robot.

[0036] Specifically, during angular velocity calibration, when the steering robot to be calibrated is in a stationary state, the display of the angle sensor 13 is cleared to zero, the torque and angle of the steering robot to be calibrated are confirmed to be at zero, a uniform rotation operating program is selected and run, and the steering robot is controlled by the control software to rotate at a uniform speed. The angular velocity of the steering robot to be calibrated and the angular velocity of the angle sensor 13 are recorded respectively. The difference between the angular velocity indication of the steering robot to be calibrated and the angular velocity of the angle sensor 13 is the angular velocity indication error, and the speed angle of the steering robot can be calibrated based on the error.

[0037] The principles of the angle and angular velocity calibration device and calibration method of a steering robot provided by an embodiment of the present invention are as follows:

[0038] By connecting and installing the steering robot with the adapter 9, and then installing the adapter 9 on the base 8 coaxially connected to the angle sensor 13, after rotating the steering robot, the base 8, the adapter 9 and the shaft 10 can rotate synchronously, so that the angular velocity of the steering robot can be calibrated by using the difference between the angular velocity indications of the steering robot and the angle sensor 13.

[0039] In the description of the present invention, it should be noted that the terms "upper", "lower", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0040] It should be noted that, in the present invention, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0041] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A device for calibrating the angle and angular velocity of a steering robot, characterized in that: It includes: A base (1) having an angle sensor (13) mounted thereon; An adapter (9) used for connecting to the steering robot, the adapter (9) being connected to the angle sensor (13) via a shaft (10), the adapter (9), the shaft (10) and the angle sensor (13) being coaxially arranged; When the steering robot rotates, the steering robot drives the adapter (9) and the shaft (10) to rotate synchronously; It also comprises a torque sensor (4), a connecting plate (5) being fixed on the torque sensor (4), a crossbeam (6) being mounted on the connecting plate (5), two ends of the crossbeam (6) being provided with connecting blocks (61), end surfaces of the connecting blocks (61) being provided with screw holes, a force rod being provided on the steering robot, one end of the force rod being connected to the connecting block (61) via bolts, and the other end being used for being fixed to the steering robot; A main body support (2) is mounted on the base (1), the main body support (2) is T-shaped and comprises a first main body (21) and a second main body (22) which are perpendicular to each other, the torque sensor (4) and the adapter (9) are respectively located at opposite ends of the first main body (21), and the distance between the second main body (22) and the torque sensor (4) is smaller than the distance between the second main body (22) and the adapter (9); A bearing is installed in the first body (21), the shaft (10) is inserted into the bearing, the shaft (10) passes through the first body (21) and is fixed to the adapter (9), and the adapter (9) and the angle sensor (13) are respectively located at opposite ends of the shaft (10).

2. The angle and angular velocity calibration device for a steering robot according to claim 1, characterized in that: The crossbeam (6) is U-shaped, and the opening of the U-shape faces the connecting disk (5). The crossbeam (6) is connected to the connecting disk (5) via an axle, and the crossbeam (6) can rotate around the axle.

3. The angle and angular velocity calibration device for a steering robot according to claim 1, characterized in that: A base (8) is installed on the first main body (21), the top of the base (8) is connected to the adapter (9) via a positioning pin, the bottom of the base (8) is connected to the second gasket (7) via a positioning pin, the base (8) is fixed to the second gasket (7) via bolts, and the second gasket (7) is fixed to the shaft (10).

4. The angle and angular velocity calibration device for a steering robot as claimed in claim 3, characterized in that: The cross-sectional dimension of a side of the base (8) close to the adapter (9) is larger than the cross-sectional dimension of a side close to the first body (21).

5. An angle calibration method for the angle and angular velocity calibration device of a steering robot as claimed in claim 1, characterized in that: It includes the following steps: Installing the steering robot on the adapter (9); Rotating the steering robot to a set angle; Calculating the difference between the angle indication of the steering robot and the angle indication of the angle sensor (13); The steering robot is adjusted, and the above steps are repeated until the error between the angle indication of the steering robot and the angle indication of the angle sensor (13) is within a preset range.

6. An angular velocity calibration method for the angle and angular velocity calibration device of a steering robot as claimed in claim 1, characterized in that: It includes the following steps: Installing the steering robot on the adapter (9); Rotating the steering robot at a uniform speed; Calculating the difference between the angular velocity indication of the steering robot and the angular velocity of the angle sensor (13); The steering robot is adjusted, and the above steps are repeated until the error between the angular velocity indication of the steering robot and the angular velocity indication of the angle sensor (13) is within a preset range.

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