Robot and method for calibrating drive wheels

Abstract

The application provides a robot and a calibration method of a driving wheel. The robot comprises a body, a driving wheel, a driver, a detector and a controller. The driving wheel is connected with the body. The driver is in driving connection with the driving wheel. One of the detection part and the detector is arranged on the body, and the other is arranged on the driving wheel. The detector is used to generate a detection signal. The controller is used to control the driver to drive the driving wheel to deflect relative to the body, and is used to determine an initial position of the driving wheel when confirming that the received detection signal is a preset signal, so as to calibrate the initial position of the driving wheel. The preset signal is a signal generated by the detector when detecting the detection part.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a calibration method for a robot and its drive wheels. Background Technology

[0002] When a robot moves, the controller calculates the deflection angle of the drive wheels based on their initial positions and sends this angle to the actuator. The actuator then deflects the drive wheels to the corresponding angle, allowing the robot to move along a preset trajectory. However, when the robot experiences prolonged high-load operation or long periods of inactivity, the initial positions of the drive wheels set in the controller may deviate from their actual initial positions. This causes the calculated deflection angle to differ from the actual angle, leading to the robot veering off course. In some cases, the controller may even lose the initial position of the drive wheels, making it unable to calculate the deflection angle and preventing the robot from moving properly. Summary of the Invention

[0003] This application provides a calibration method for a robot and its drive wheels to solve the problem of calibrating the initial position of the robot's drive wheels.

[0004] In a first aspect, this application provides a robot, comprising a body, a drive wheel, a driver, a detector, and a controller. The drive wheel is connected to the body. The driver is drive-driven to the drive wheel. One of the detection unit and the detector is disposed on the body, and the other is disposed on the drive wheel. The detector is used to generate a detection signal. The controller is used to control the driver to drive the drive wheel to deflect relative to the body, and to determine the initial position of the drive wheel when the received detection signal is confirmed to be a preset signal. The preset signal is a signal generated by the detector when it detects the detection unit.

[0005] Secondly, this application provides a calibration method for drive wheels, applied to the robot described above, the calibration method comprising:

[0006] The control driver causes the drive wheels to deflect relative to the machine body;

[0007] Receive the detection signal sent by the detector;

[0008] When it is confirmed that the received detection signal is a preset signal, the initial position of the drive wheel is determined;

[0009] The preset signal is the signal generated by the detector when it detects the detection unit.

[0010] In this application, the controller controls the driver to drive the drive wheel to deflect relative to the machine body. When the controller confirms that the received detection signal is a preset signal, it determines the initial position of the drive wheel, thereby calibrating the initial position of the drive wheel. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a partial structural schematic diagram of the robot provided in the first embodiment of this application;

[0013] Figure 2 This is a system structure diagram of the robot provided in the first embodiment of this application;

[0014] Figure 3 This is a top view of the robot provided in the first embodiment of this application when its drive wheel rotates to a first preset position;

[0015] Figure 4 yes Figure 1 Side view of the robot in the image;

[0016] Figure 5 yes Figure 4 A side view of the robot when its drive wheels rotate to the first preset position;

[0017] Figure 6 yes Figure 4 A schematic diagram of the structure of the robot's fixed support;

[0018] Figure 7 yes Figure 5 A partial cross-sectional view of the robot along line AA;

[0019] Figure 8 yes Figure 7 Enlarged view of point B in the middle;

[0020] Figure 9 yes Figure 8 Partial cross-sectional view of the guide structure in some embodiments;

[0021] Figure 10 yes Figure 8 Partial cross-sectional view of the guide structure in some other embodiments;

[0022] Figure 11 This is a system architecture diagram of the robot provided in some embodiments of this application;

[0023] Figure 12 This is a schematic diagram of the adjustment structure of the robot provided in the second embodiment of this application;

[0024] Figure 13 This is a top view of the robot provided in the third embodiment of this application when its drive wheel rotates to the second preset position;

[0025] Figure 14 This application provides a method for calibrating a drive wheel.

[0026] Explanation of main figure symbols

[0027]

[0028]

[0029] The following detailed description, in conjunction with the accompanying drawings, will further illustrate this application. Detailed Implementation

[0030] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0031] In this document, references to "embodiment" or "implementation" mean that a particular feature, structure, or characteristic described in connection with an embodiment or implementation may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0032] It should be noted that the terminology in the specification, claims, and accompanying drawings of this application is only for describing specific embodiments and is not intended to limit this application. The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. The term "and / or" as used in the specification and appended claims refers to any combination of one or more of the associated listed items, and all possible combinations, including such combinations.

[0033] Please refer to the following: Figure 1 and Figure 2 , Figure 1 This is a partial structural schematic diagram of the robot 1a provided in the first embodiment of this application. Figure 2 The first embodiment of this application provides a system structure diagram of a robot 1a. The robot 1a includes a body 10, a drive wheel 20, a detection unit 31, a driver 40, a detector 50, and a controller 60. The driver 40 is fixedly connected to the body 10. In this embodiment, the detection unit 31 is disposed on the drive wheel 20, and the detector 50 is disposed on the body 10. Specifically, the robot 1a also includes a connector 30. The driver 40 is driveably connected to the connector 30. The connector 30 is connected to the drive wheel 20. The drive wheel 20 is connected to the body 10 via the connector 30 and the driver 40. The driver 40 is used to drive the connector 30 to rotate, thereby causing the drive wheel 20 to deflect, enabling the robot 1a to turn and rotate. The connector 30 is provided with the detection unit 31. The detector 50 is used to generate detection signals. The controller 60 is electrically connected to the detector 50 and the driver 40. The controller 60 and the detector 50 can be connected by wired or wireless means. The controller 60 is used to control the driver 40 to drive the drive wheel 20 to deflect relative to the body 10.

[0034] In some embodiments, the detection unit 31 may be disposed on the body 10, and the detector 50 may be disposed on the drive wheel 20. For example, the detection unit 31 may be disposed on the body 10, and the detector 50 may be connected to the connector 30. In some embodiments, the detector 50 may also be connected to the drive wheel 20, for example, the detector 50 may be connected to the shaft or elastic suspension of the drive wheel 20.

[0035] Please refer to the following: Figure 1 and Figure 3 The controller 60 is further configured to determine the initial position of the drive wheel 20 when it confirms that the received detection signal is a preset signal. The preset signal is generated by the detector 50 when it detects the detection unit 31. After obtaining the correct initial position of the drive wheel 20, the controller 60 calculates a preset deflection angle of the drive wheel 20 relative to the body 10 based on the initial position, which is the same as the actual deflection angle, allowing the robot 1a to move correctly along the preset path. In this embodiment, the robot 1a can calibrate the initial position of the drive wheel 20 while stationary, meaning it can calibrate the initial position of the drive wheel 20 in place, thus enabling the robot 1a to adapt to various working scenarios.

[0036] Specifically, in this embodiment, the controller 60 is used to calibrate the initial position of the drive wheel 20 by setting a first preset position as the initial position of the drive wheel 20 when it confirms that the received detection signal is a preset signal. The first preset position is the position of the drive wheel 20 when the detector 50 detects the detection unit 31.

[0037] When the drive wheel 20 is deflected relative to the fuselage 10 to the first preset position, the central axis of the drive wheel 20 forms a preset angle with the central axis of the fuselage 10. The central axis of the fuselage 10 can be a straight line parallel to the length direction of the fuselage 10. The central axis of the drive wheel 20 can be the axis of the shaft 21 of the drive wheel 20. Figure 3 As shown, the length direction of the fuselage 10 is... Figure 3 In the vertical direction, dotted line C1 represents the central axis of the fuselage 10, and dotted line C2 represents the central axis of the drive wheel 20. The preset angle can be 0°, 5°, 10°, 30°, 90°, etc., and those skilled in the art can set the specific angle according to actual needs, which is not specifically limited in this application. In this embodiment, the preset angle is set to 0°, that is, when the drive wheel 20 rotates to the first preset position, the central axis of the drive wheel 20 is parallel to the central axis of the fuselage 10. In some embodiments, the preset angle can also be 90°, that is, when the drive wheel 20 rotates to the first preset position, the central axis of the drive wheel 20 is perpendicular to the central axis of the fuselage 10.

[0038] In this embodiment, robot 1a is provided with four drive wheels 20, each drive wheel 20 being provided with a connector 30, an actuator 40, and a detector 50. The controller 60 is electrically connected to the actuator 40 and detector 50 corresponding to each drive wheel 20. In some cases, after the robot has undergone prolonged high-load operation or has been idle for a long time, the drive wheels may deflect relative to the robot body. For example, the robot's left front wheel may deflect 5° to the right, and the right front wheel may deflect 5° to the left. The robot can still travel in a straight line, but its travel efficiency will decrease. In this embodiment, the controller 60 can calibrate the initial position of each drive wheel 20, thereby preventing a decrease in the travel efficiency of robot 1a. In some embodiments, robot 1a may include more or fewer drive wheels 20, each drive wheel 20 being provided with a connector 30, an actuator 40, and a detector 50.

[0039] Please refer to the following: Figure 4 and Figure 5 , Figure 4 yes Figure 1 Side view of robot 1a in the image. Figure 5 yes Figure 4 The image shows a side view of robot 1a when its drive wheel 20 rotates to a first preset position. In this embodiment, the detector 50 and the driver 40 are arranged side-by-side along the axial direction of the body 10. The axial direction of the body 10 is parallel to its central axis. The axial direction of the body 10 can be... Figure 4The horizontal direction of the view shown. The two ends of the connector 30 along its length are connected to the shaft 21 of the drive wheel 20 via elastic suspensions 22. The detection unit 31 is arranged along the length of the connector 30. The length of the connector 30 is parallel to the central axis of the drive wheel 20. The elastic suspension 22 acts as a buffer for the drive wheel 20, reducing the impact on the body 10 caused by uneven road surfaces. It can be understood that the main motion of the robot 1a during operation is linear motion along the axial direction of the body 10 and turning motion at an acute angle between the central axis of the drive wheel 20 and the central axis of the body 10. In this embodiment, the detector 50 and the driver 40 are arranged along the axial direction of the body 10, and the detection unit 31 is arranged along the axial direction of the drive wheel 20. This avoids frequent contact between the detector 50 and the detection unit 31 during normal operation of the robot 1a, thereby extending the service life of the detector 50.

[0040] Preferably, the connector 30 is provided with two detection parts 31, which are arranged at opposite ends of the connector 30 along a length direction parallel to the connector 30. In this embodiment, by providing two detection parts 31, the rotation angle of the connector 30 can be reduced when the detector 50 detects the detection parts 31. The connector 30 only needs to rotate a maximum of 180° for the detector 50 to detect the detection parts 31, thus improving the calibration efficiency of the controller 60 when calibrating the initial position of the drive wheel 20.

[0041] Please refer to the following: Figure 4 and Figure 6 The robot 1a also includes a fixing bracket 54 fixedly disposed relative to the driver 40. In this embodiment, the detector 50 is fixedly connected to the body 10 via the fixing bracket 54. The fixing bracket 54 is used to adjust the distance between the detector 50 and the connector 30 so that the detector 50 can adapt to different models of body 10 and connector 30. The distance between the detector 50 and the connector 30 is the distance of the detector 50 along the plane perpendicular to the rotation trajectory of the connector 30, i.e. Figure 4 The vertical direction of the viewing angle shown. In some embodiments, the detector 50 can also be fixedly connected to the driver 40 via a fixing bracket 54. For example, the detector 50 can be fixedly connected to the side of the driver 40 away from the body 10 via the fixing bracket 54. In some embodiments, the detector 50 can also be connected to the drive wheel 20 via the fixing bracket 54. The fixing bracket 54 is fixedly disposed relative to the drive wheel 20. For example, the fixing bracket 54 can be fixedly connected to the connector 30.

[0042] Specifically, the fixed bracket 54 includes a first part 541 and a second part 542 connected to each other. The first part 541 is fixedly connected to the body 10. The first part 541 and the body 10 can be fixedly connected together by snap-fit, adhesive, screw, or other means. Optionally, the first part 541 is fixedly connected to the body 10 by fasteners. The first part 541 has at least one elongated hole 5411, the length direction of which is parallel or approximately parallel to the adjustment direction of the fixed bracket 54. The number of elongated holes 5411 can be set to one or more. Preferably, the number of elongated holes 5411 can be set to two. A technician can adjust the distance between the fixed bracket 54 and the connector 30 by adjusting the fastener at different positions of the elongated hole 5411. For example, fixing the fastener at the end of the elongated hole 5411 away from the connector 30 can reduce the distance between the fixed bracket 54 and the connector 30, while fixing the fastener at the end of the elongated hole 5411 closer to the connector 30 can increase the distance between the fixed bracket 54 and the connector 30.

[0043] The dimensions of the second part 542 decrease monotonically from the end closer to the first part 541 to the end farther away from the first part 541. The end of the second part 542 farther away from the first part 541 is fixedly connected to the detector 50 by fasteners. In some embodiments, the detector 50 and the second part 542 can also be fixedly connected by snap-fit, adhesive, screw, or other methods. Optionally, the second part 542 has a material reduction hole 5421, which can reduce the overall mass of the second part 542 to reduce the inertia of the second part 542. It is understood that due to the unevenness of the road surface, the robot 1a will vibrate when it travels on the road surface. In this embodiment, reducing the inertia of the second part 542 can reduce the inertial impact of the second part 542 on the first part 541, thereby improving the connection stability between the fixed bracket 54 and the body 10.

[0044] In this embodiment, detector 50 is configured as a contact detector. In some embodiments, detector 50 may include at least one of a contact sensor, a photoelectric sensor, and an electromagnetic sensor. Detector 50 may be configured as one sensor or a combination of multiple sensors. For example, detector 50 may be configured as a photoelectric sensor. As another example, detector 50 may be configured as a combination of a contact detector and a photoelectric detector. When performing calibration, controller 60 can determine whether detector 50 has been falsely touched based on the order in which preset signals are received from the photoelectric sensor and the contact sensor. In this way, the accuracy and detection precision of detector 50 can be improved by cooperating with multiple sensors, thereby improving the accuracy and calibration efficiency of controller 60 when calibrating the initial position of drive wheel 20.

[0045] Please see Figure 7The detector 50 includes a fixed portion 51 and a free portion 52. The fixed portion 51 is fixedly disposed relative to the driver 40. In this embodiment, the fixed portion 51 is fixedly connected to the body 10. Specifically, the fixed portion 51 is fixedly connected to the body 10 via a fixing bracket 54. The free portion 52 is provided with a roller 53 for abutting against the detection portion 31. The roller 53 may be disposed at the end of the free portion 52 away from the fixed portion 51. When the roller 53 abuts against the detection portion 31, it can rotate relative to the free portion 52. The roller 53 may be constructed as a cylindrical wheel-like structure. Optionally, the roller 53 is elastic, and when the roller 53 abuts against the detection portion 31, the roller 53 may undergo elastic deformation to reduce the impact force when the roller 53 abuts against the detection portion 31. In some embodiments, the fixed portion 51 may also be fixedly connected to the driver 40. In some embodiments, the roller 53 may also be constructed as a spherical structure. In some embodiments, the fixing part 51 may be fixedly disposed relative to the drive wheel 20. For example, the fixing part 51 may be fixedly connected to the connector 30, or the fixing part 51 may be fixed to the elastic suspension 22.

[0046] Please refer to the following: Figure 7 and Figure 8 The connector 30 is provided with a detection part 31, which abuts against the detector 50 so that the detector 50 can detect the connector 30. In this embodiment, the detection part 31 protrudes from the connector 30. In some embodiments, the detection part 31 may have a groove formed in the connector 30. Preferably, the end of the detection part 31 facing the detector 50 is provided with a guide structure 32 for guiding the roller 53 to roll. When the connector 30 rotates to the point where the roller 53 abuts against the guide structure 32, the roller 53 will pass over the detection part 31 under the guidance of the guide structure 32. The guide structure 32 can also reduce the impact of the detection part 31 on the roller 53 when the roller 53 passes over the detection part 31, thereby extending the service life of the detector 50. The detector 50 generates the preset signal when the roller 53 passes over the detection part 31.

[0047] In this embodiment, the guide structure 32 is ridge-shaped, meaning it is higher in the middle and lower on both sides. Specifically, the guide structure 32 includes a first side 323, a second side 324, and a third side 325. The second side 324 is located between the first side 323 and the third side 325, and the height of the second side 324 from the connector 30 is greater than the heights of the first side 323 and the third side 325 from the connector 30. The height of the guide structure 32 from the connector 30 increases monotonically from the first side 323 to the second side 324, and monotonically increases from the third side 325 to the second side 324. The heights of the first side 323 and the third side 325 from the connector 30 may be the same or different; this application does not specifically limit this.

[0048] The guide structure 32 further includes a first guide surface 321 and a second guide surface 322. The first guide surface 321 is located between the first side 323 and the second side 324, and the second guide surface 322 is located between the third side 325 and the second side 324. In this embodiment, the height of the guide structure 32 from the connector 30 increases monotonically from the first side 323 to the second side 324 with a variable slope, i.e., the first guide surface 321 is constructed as a concave arc surface. The height of the guide structure 32 from the connector 30 increases monotonically from the third side 325 to the second side 324 with a variable slope, i.e., the second guide surface 322 is constructed as a concave arc surface. The second guide surface 322 and the first guide surface 321 can be symmetrically arranged about the second side 324. In some embodiments, the height of the guide structure 32 from the connector 30 increases monotonically from the first side 323 to the second side 324 with a fixed slope, i.e., the first guide surface 321 is constructed as a slope. The height of the guide structure 32 from the connector 30 increases monotonically with a fixed slope from the third side 325 to the second side 324, meaning the second guide surface 322 is constructed as an inclined surface. In some embodiments, the first guide surface 321 and the second guide surface 322 are constructed with different shapes. For example, the first guide surface 321 can be constructed as a concave arc surface, and the second guide surface 322 can be constructed as an inclined surface. Alternatively, the first guide surface 321 and the second guide surface 322 can each be constructed as an inclined surface, but with different degrees of inclination relative to the connector 30.

[0049] The distance from roller 53 to connector 30 is greater than or equal to the distance from the first side 323 or the third side 325 to connector 30, and less than or equal to the distance from the second side 324 to connector 30. When connector 30 rotates to the point where roller 53 abuts against detection part 31, roller 53 first abuts against first guide surface 321. Figure 7 As shown, as the connector 30 continues to rotate, the roller 53 rolls to the position of the second side 324 under the guidance of the first guide surface 321. During this process, the distance between the detector 50 and the connector 30 increases, and the roller 53 presses the free part 52 against the fixed part 51, causing the detector 50 to generate the preset signal. As the connector 30 continues to rotate, the roller 53 rolls to the position of the third side 325 under the guidance of the second guide surface 322, and the roller 53 returns to its initial position.

[0050] In some embodiments, please refer to Figure 9The guide structure 32 may be wedge-shaped. Specifically, the guide structure 32 includes a first side 323 and a second side 324. The height of the guide structure 32 from the connector 30 increases monotonically from the first side 323 to the second side 324. The guide structure 32 includes a first guide surface 321 located between the first side 323 and the second side 324, and the first guide surface 321 is configured as a slope. In some embodiments, the first guide surface 321 may be configured as a concave arc surface.

[0051] In other embodiments, please refer to Figure 10 Multiple guide structures 32 can be configured, arranged at intervals along the deflection direction of the drive wheel 20. Using multiple guide structures 32 allows the output signal of the detector 50 to include a preset characteristic signal, effectively preventing false triggering. Specifically, when the connector 30 rotates, the roller 53 sequentially abuts against the multiple guide structures 32, repeatedly pressing the free portion 52 against the fixed portion 51, thereby generating a preset signal containing the preset characteristic signal. The preset characteristic signal is related to the specific arrangement of each guide structure 32; different arrangements of the guide structures 32 can give the preset characteristic signal a specific waveform. For example, setting different heights of the second side 324 of different guide structures 32 from the connector 30 can result in different amplitudes of different peaks in the preset characteristic signal. Similarly, different intervals between different guide structures 32 can result in different intervals between different peaks in the preset characteristic signal. In some embodiments, the multiple guide structures 32 can be constructed with the same or different structures. For example, the multiple guide structures 32 may have the middle guide structure 32 constructed as a ridge, and the guide structures 32 on both sides constructed as wedges. Alternatively, the outermost guide structure 32 may be constructed as a ridge, and the remaining guide structures 32 constructed as wedges. Of course, the specific arrangement of the multiple guide structures 32 is not limited to these examples; those skilled in the art can make specific arrangements according to actual needs, and this application does not impose specific limitations.

[0052] Please refer to it again. Figure 2In this embodiment, robot 1a further includes a memory 70, which stores initial position data of drive wheels 20, etc. The memory 70 can be used to store computer programs and / or modules. The controller 60 implements various functions of robot 1a by running or executing the computer programs and / or modules stored in the memory 70, and by calling data stored in the memory 70. The memory 70 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, applications required for multiple functions, etc.; the data storage area may store data created according to the operating system, data generated by the applications, etc. Furthermore, the memory 70 may include high-speed random access memory, and may also include non-volatile memory, such as hard disks, RAM, plug-in hard disks, smart media cards (SMC), secure digital (SD) cards, flash cards, multiple disk storage devices, flash memory devices, or other volatile solid-state storage devices.

[0053] The controller 60 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The controller 60 is the control center of robot 1a, connecting all parts of robot 1a through various interfaces and lines.

[0054] The controller 60 is also used to perform all the steps in the calibration method described below. For example, Figure 14 Steps 101 to 103 are described above. Specifically, memory 70 stores program code, and controller 60 calls the program code in memory 70 to execute all steps in the calibration method described above.

[0055] Those skilled in the art should understand that the aforementioned Figure 2 This is merely an example of robot 1a and does not constitute a limitation on robot 1a, and robot 1a may include more than Figure 2 The robot may include more or fewer components, or a combination of certain components, or different components. For example, robot 1a may also include a power module, etc.

[0056] In some embodiments, the controller 60 is further configured to receive a calibration signal and calibrate the initial position of the drive wheel 20 according to the calibration signal. Specifically, as Figure 11 As shown, robot 1a may further include a signal generator 80 electrically connected to controller 60. The signal generator 80 and controller 60 can be wirelessly or wiredly connected. The signal generator 80 is used to send a calibration signal to controller 60 when preset conditions are met. After receiving the calibration signal, controller 60 begins to calibrate the initial position of drive wheel 20. The signal generator 80 may be a module within controller 60, or it may be a device independent of controller 60. In some embodiments, the signal generator 80 may be a remote controller independent of controller 60, used to send user operation commands to controller 60. These operation commands may include driving commands, steering commands, calibration commands, etc. When the user operation command is a calibration command, the remote controller sends a calibration signal to controller 60. In other embodiments, the signal generator 80 may also be a comparison module, a timing module, a recording module, etc. The comparison module can be used to compare the actual motion trajectory of robot 1a with the preset motion trajectory, the timing module can be used to time the previous calibration time of robot 1a, and the recording module can be used to record the load of robot 1a within a preset time period.

[0057] Please see Figure 12 The robot 1b provided in the second embodiment of this application has a similar structure to the robot 1a in the first embodiment, except that the robot 1b further includes an adjustment structure 90, which is used to adjust the relative position of the detector 50 and the connector 30. Specifically, the adjustment structure 90 is used to drive the detector 50 to move relative to the detection unit 31 to a first position or a second position. When the detector 50 is in the first position, it is in a detection state; when it is in the second position, it is in an idle state. When the detector 50 is in the detection state, when the connector 30 rotates to the first preset position, the detector 50 can abut against the detection unit 31 and generate the preset signal; when the detector 50 is in the idle state, when the connector 30 rotates to the first preset position, the detector 50 is spaced apart from the detection unit 31. When the detector 50 is in the idle state, it can be in a sleep mode to reduce its power consumption.

[0058] The adjustment structure 90 includes an adjustment driver 91, a slider 92, and a slide rail 93. The adjustment driver 91 is kinetically connected to the slider 92 and drives the slider 92 to slide along the slide rail 93. The slide rail 93 extends along a plane perpendicular to the rotation trajectory of the connector 30. The detector 50 is fixedly connected to the slider 92. The adjustment structure 90 also includes a first limiting block 94 and a second limiting block 95 located at opposite ends of the slide rail 93. The second limiting block 95 is located at the end of the first limiting block 94 away from the connector 30. When the adjustment driver 91 drives the slider 92 to move along the slide rail 93 to abut against the first limiting block 94, the detector 50 is in a first position; when the adjustment driver 91 drives the slider 92 to move along the slide rail 93 to abut against the second limiting block 95, the detector 50 is in a second position. Exemplarily, in this embodiment, the adjustment structure 90 includes two slide rails 93 arranged side by side, so that the slider 92 does not rotate relative to the slide rails 93 during movement. It should be noted that the number of slide rails 93 is for illustrative purposes only and does not constitute a specific limitation. The number of slide rails 93 needs to be set according to the actual product design. For example, in this embodiment, the slider 92 is configured as a sliding sleeve, and the slide rail 93 is configured as a sliding rod, with the sliding sleeve fitted onto the sliding rod. In some embodiments, the slide rail 93 can also be configured as a sliding groove, with the slider 92 embedded in the groove. It should be noted that the specific configuration of the slider 92 and the slide rail 93 can be set according to the actual product design, and is not specifically limited in this application.

[0059] In this embodiment, the adjustment structure 90 further includes a drive block 912. The adjustment driver 91 includes an output shaft 911 that is pulverically connected to the drive block 912. When the output shaft 911 rotates, the drive block 912 can move axially along the output shaft 911. The drive block 912 is fixedly connected to the slider 92. The drive block 912 has a mounting hole 9121, and the output shaft 911 passes through the mounting hole 9121. The inner wall of the mounting hole 9121 is provided with an internal thread, and the outer wall of the output shaft 911 is provided with an external thread that mates with the internal thread. When the output shaft 911 rotates, under the engagement of the internal and external threads, the drive block 912 moves relative to the output shaft 911 along the axial direction of the output shaft 911, thereby causing the drive block 912 to move the slider 92 along the slide rail 93. In some embodiments, the drive block 912 can be integrally formed with the slider 92.

[0060] In this embodiment, the adjustment driver 91 is electrically connected to the controller 60. After receiving a calibration signal, the controller 60 controls the adjustment driver 91 to drive the slider 92 to abut against the first limit block 94, thereby driving the detector 50 to move to the first position. After the detector 50 is in the first position, the controller 60 begins to calibrate the initial position of the drive wheel 20. After the initial position calibration of the drive wheel 20 is completed, the controller 60 controls the adjustment driver 91 to drive the slider 92 to abut against the second limit block 95, thereby driving the detector 50 to move to the second position. Thus, in this embodiment, the detector 50 can be in a state of separation from the connecting member 30 after the initial position calibration of the drive wheel 20 is completed. That is, when the connecting member 30 rotates to the first preset position, the detector 50 is separated from the detection part 31, thereby avoiding frequent contact between the detector 50 and the detection part 31 during normal operation of the robot 1b, thereby extending the service life of the detector 50 and avoiding the problem of accidental contact of the detector 50 during normal operation of the robot 1b. The controller 60 is also used to acquire the operating current of the regulating driver 91 and determine whether the operating current of the regulating driver 91 is the stall current of the regulating driver 91. When it is confirmed that the operating current is the stall current, the controller 60 determines that the slider 92 is in contact with the first limit block 94 or the second limit block 95. At this time, the controller 60 can control the regulating driver 91 to stop working or control the output shaft 911 to stop rotating relative to the slider 92.

[0061] In some embodiments, the adjustment structure 90 further includes a slide block 921. One side of the slide block 921 is fixedly connected to the slider 92, and the opposite side is fixedly connected to the fixed bracket 54. The detector 50 is fixedly connected to the slide block 921 via the fixed bracket 54. The slider 92 can be configured as four, with two sliders 92 disposed on each slide rail 93. The drive block 912 is fixedly connected to the two sliders 92 near the second limiting block 95. The adjustment driver 91 is disposed near the second limiting block 95.

[0062] In some embodiments, the adjusting driver 91 can also drive the slider 92 to move along the slide rail 93 via other transmission methods or transmission structures. For example, the output shaft 911 can be configured as a worm gear structure, and the driving block 912 is provided with a worm wheel structure that cooperates with the worm gear structure. When the output shaft 911 rotates, the worm gear structure drives the worm wheel structure to move, so that the driving block 912 moves along the axial direction of the output shaft 911. As another example, the output shaft 911 is provided with a gear structure, and the driving block 912 is provided with a rack structure that cooperates with the gear structure. The extending direction of the rack structure is parallel to the extending direction of the slide rail 93, and the axial direction of the output shaft 911 is perpendicular to the extending direction of the rack structure. When the output shaft 911 rotates, the gear structure drives the rack structure to move, so that the driving block 912 moves along the extending direction of the slide rail 93.

[0063] Please refer to the following: Figure 3 and Figure 13 The robot 1c provided in the third embodiment of this application has a similar structure to the robot 1a in the first embodiment, except that the controller 60 is further configured to, upon confirming that the detection signal is a preset signal, control the driver 40 to rotate the connecting member 30 to a second preset position, and use the second preset position as the initial position of the drive wheel 20. The second preset position differs from the first preset position by a predetermined angle. Preferably, the predetermined angle is 90 degrees. Figure 3 As shown, when the drive wheel 20 rotates to the first preset position, the central axis of the drive wheel 20 is parallel to the central axis of the fuselage 10, that is, the drive wheel 20 is perpendicular to the fuselage 10. Figure 13 As shown, when the drive wheel 20 rotates to the second preset position, the central axis of the drive wheel 20 is perpendicular to the central axis of the body 10, that is, the drive wheel 20 is parallel to the body 10. In the third embodiment, by using the second preset position as the initial position of the drive wheel 20, the controller 60 can improve the calculation efficiency of the deflection angle of the drive wheel 20 relative to the body 10 when the robot 1c moves. For example, when the robot 1c is turning and the drive wheel 20 needs to rotate relative to the body 10 to a predetermined position, since the initial position of the drive wheel 20 is parallel to the body 10, the controller 60 does not need to calculate the angle difference between the first preset position and the predetermined position, and then control the driver 40 to drive the drive wheel 20 to rotate relative to the body 10 to the predetermined position based on the angle difference. Instead, it can directly control the driver 40 to drive the drive wheel 20 to rotate relative to the body 10 to the predetermined position, thus reducing the calculation load of the controller 60 and improving the calculation efficiency of the controller 60. In some embodiments, the predetermined angle can be other angles, such as 60°, 45°, 30°, etc., which are not specifically limited in this application.

[0064] Please see Figure 14 , Figure 14 This application provides a method for calibrating drive wheels, which can be applied to the robot in any of the above embodiments to calibrate the robot's drive wheels.

[0065] Step 101: Control the driver to drive the drive wheel to deflect relative to the machine body.

[0066] Prior to step 101, the calibration method may include the following steps:

[0067] Receive calibration signals.

[0068] Upon receiving the calibration signal, the controller 60 controls the driver 40 to rotate the connector 30 to calibrate the initial position of the drive wheel 20. The calibration signal can be a signal sent by the signal generator 80.

[0069] In some embodiments, the signal generator 80 can be configured as a remote controller, which sends user operation commands to the controller 60. These operation commands may include driving commands, steering commands, calibration commands, etc. Specifically, when the user's operation command is a calibration command, the remote controller sends the calibration signal to the controller 60.

[0070] In some embodiments, the signal generator 80 may be configured as a comparator. The comparator may be a comparison module in the controller 60, or it may be a device independent of the controller 60. The comparator is used to acquire the robot's actual motion trajectory and a preset motion trajectory within a preset time period, compare the deviation between the actual motion trajectory and the preset motion trajectory, and send the calibration signal to the controller 60 when the deviation exceeds a preset range.

[0071] In some embodiments, the signal generator 80 may be configured as a recorder. The recorder may be a recording module in the controller 60, or it may be a device independent of the controller 60. The recorder is used to record the cumulative output torque of the driver 40 and / or the cumulative load of the drive wheel 20 within a preset time period, and to send the calibration signal to the controller 60 when the cumulative output torque and / or the cumulative load exceed a preset range.

[0072] In some embodiments, after step 101, the method steps may include the following steps:

[0073] The control and adjustment driver moves the controller to the first position.

[0074] Upon receiving a calibration signal, the controller 60 controls the adjustment driver 91 to move the slider until it abuts against the first limit block 94, thereby placing the detector 50 in the first position. When in the first position, the detector 50 is in a detection state and sends a detection signal to the controller 60.

[0075] Step 102: Receive the detection signal sent by the detector.

[0076] In this embodiment, the detector 50 continuously sends the detection signal to the controller 60 during operation. In some embodiments, the detector 50 may send the detection signal to the controller 60 when the detection unit 31 is detected, and not send the detection signal to the controller 60 when the detection unit 31 is not detected.

[0077] Step 103: When it is confirmed that the received detection signal is a preset signal, determine the initial position of the drive wheel.

[0078] In this embodiment, the preset signal is different from the detection signal. The preset signal is the signal generated by the detector 50 when it detects the detection unit 31.

[0079] In some embodiments, step 103, "confirming that the received detection signal is a preset signal," may include the following steps:

[0080] Determine whether the detection signal contains a preset feature signal; if the detection signal contains the preset feature signal, determine that the detection signal is the preset signal.

[0081] The preset characteristic signal can be set as a signal whose amplitude exceeds a preset range. In some embodiments, the preset characteristic signal can also be set as a signal with multiple continuous waveforms. For example, if the guide structure 32 is configured with multiple components, when the detection unit 31 rotates to abut against the detector 50, the signal generated by the detector 50 will have multiple continuous waveforms within a preset time period. The controller 60 determines whether the detection signal is the preset signal by judging whether the detection signal contains the preset characteristic signal, which can effectively avoid the problem of false contact of the detector 50, so that the controller 60 can accurately calibrate the initial position of the drive wheel 20. In some embodiments, the detector 50 can send the detection signal to the controller 60 when it detects the detection unit 31, and the detection signal is the preset signal.

[0082] In some embodiments, step 103, "determining the initial position of the drive wheel," may include the following steps:

[0083] The first preset position is used as the initial position of the drive wheel.

[0084] The first preset position is the position of the drive wheel 20 when the detector 50 detects the detection unit 31.

[0085] In some embodiments, step 103, "determining the initial position of the drive wheel," may include the following steps:

[0086] The control driver drives the drive wheel to deflect relative to the machine body to a second preset position, and the second preset position is used as the initial position of the drive wheel.

[0087] The second preset position and the first preset position differ by a predetermined angle. Optionally, the predetermined angle is 90°. When the drive wheel 20 rotates to the first preset position, the central axis of the drive wheel 20 is parallel to the central axis of the body 10, that is, the drive wheel 20 is perpendicular to the body 10; when the drive wheel 20 rotates to the second preset position, the central axis of the drive wheel 20 is perpendicular to the central axis of the body 10, that is, the drive wheel 20 is parallel to the body 10.

[0088] In some embodiments, after step 103, the method steps may include the following steps:

[0089] The control and adjustment driver moves the controller to the second position.

[0090] After calibrating the initial position of the drive wheel 20, the controller 60 controls the adjustment driver 91 to move the slider to abut against the second limit block 95, thereby placing the detector 50 in the second position. When in the second position, the detector 50 is idle, thus reducing its power consumption and preventing frequent contact between the detector 50 and the detection unit 31 during normal robot operation, thereby extending the lifespan of the detector 50.

[0091] This application embodiment also provides a computer storage medium, wherein the computer storage medium may store a program, and the program, when executed, includes some or all of the steps of any of the drive wheel calibration methods described in the above method embodiments.

[0092] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0093] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0094] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. When the above calibration method is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions to cause a computer device (which can be a personal computer, server, or network device, specifically a processor in the computer device) to execute all or part of the steps of the calibration method described in the various embodiments of this application. The aforementioned storage medium may include: USB flash drive, mobile hard drive, magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), and other media capable of storing program code.

[0095] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A robot, characterized in that, include: body; Drive wheels are connected to the fuselage; A driver, which is connected to the drive wheel via a transmission; Testing Department; A detector, wherein one of the detection unit and the detector is disposed on the machine body, and the other is disposed on the drive wheel; the detector is used to generate a detection signal, the detector includes a fixed part and a free part connected to the fixed part, the fixed part is fixedly disposed relative to the machine body or the drive wheel, the free part is provided with a roller for abutting against the detection unit, and the end of the detection unit facing the detector is provided with a guide structure for guiding the roller to roll, the guide structure is provided in multiple ways, and the multiple guide structures are arranged at intervals along the deflection direction of the drive wheel; as well as The controller is used to control the driver to drive the drive wheel to deflect relative to the body, and to determine the initial position of the drive wheel when the received detection signal is a preset signal; The preset signal is the signal generated by the detector when it detects the detection unit.

2. The robot according to claim 1, characterized in that, The controller is also configured to, when confirming that the received detection signal is a preset signal, set the first preset position as the initial position of the drive wheel, or control the driver to drive the drive wheel to deflect relative to the body to a second preset position, and set the second preset position as the initial position of the drive wheel; Wherein, the first preset position is the position of the drive wheel when the detector detects the detection unit.

3. The robot according to claim 2, characterized in that, When the drive wheel deflects to the first preset position, the central axis of the drive wheel forms a preset angle with the central axis of the fuselage.

4. The robot according to claim 1, characterized in that, The detector includes at least one of a contact detector, a photoelectric detector, and an electromagnetic detector.

5. The robot according to claim 1, characterized in that, The guide structure is ridge-shaped or wedge-shaped.

6. The robot according to claim 1, characterized in that, It also includes a fixed bracket that is fixedly disposed relative to the body or the drive wheel, the detector is connected to the fixed bracket, and the fixed bracket is used to adjust the distance between the detector and the detection unit.

7. The robot according to claim 1, characterized in that, It also includes an adjustment structure for driving the detector to move relative to the detection unit to a first position or a second position. When the detector is in the first position, the detector is in a detection state, and when the detector is in the second position, the detector is in an idle state.

8. A method for calibrating drive wheels, applied to a robot as described in any one of claims 1-7, characterized in that, include: The control driver causes the drive wheels to deflect relative to the machine body; Receive the detection signal sent by the detector; When it is confirmed that the received detection signal is a preset signal, the initial position of the drive wheel is determined; The preset signal is the signal generated by the detector when it detects the detection unit.

9. The calibration method according to claim 8, characterized in that, Determining the initial position of the drive wheel includes: using a first preset position as the initial position of the drive wheel; or, controlling the driver to rotate the drive wheel relative to the body to a second preset position, and using the second preset position as the initial position of the drive wheel. Wherein, the first preset position is the position of the drive wheel when the detector detects the detection unit.

10. The calibration method according to claim 8, characterized in that, Before the control driver drives the drive wheel to deflect relative to the fuselage, the calibration method further includes: receiving a calibration signal and controlling the driver to deflect the drive wheel relative to the fuselage according to the calibration signal.

11. The calibration method according to claim 8, characterized in that, The robot also includes a signal generator, and the calibration method further includes: the signal generator sending a calibration signal to the controller when preset conditions are met.

12. The calibration method according to claim 8, characterized in that, The step of confirming that the received detection signal is a preset signal includes: determining whether the detection signal contains a preset feature signal, and if the detection signal contains the preset feature signal, determining that the detection signal is the preset signal.

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