Method and device for calibrating included angle between roller axis and hub axis and electronic equipment

Abstract

The invention relates to a method and device for calibrating the included angle between the axis of a roller and the axis of a hub and electronic equipment, and belongs to the technical field of intelligent robos.The method comprises the steps that an intelligent robot is controlled to transversely move at the preset speed, and the actual transverse displacement distance of the intelligent robot within the preset duration is obtained; obtaining a transverse actual speed according to the preset duration and the transverse actual displacement distance, and obtaining a target included angle value of the roller axis and the hub axis according to a transverse theoretical speed, a theoretical included angle value of the roller axis and the hub axis and the transverse actual speed; the included angle between the roller axis and the hub axis is calibrated based on the actual movement track of the intelligent robot, and the control precision of the movement direction of the intelligent robot can be effectively improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent robots, and particularly relates to a method, device and electronic equipment for calibrating the included angle between the roller axis and the hub axis. Background Art

[0002] The included angle α between the roller axis and the hub axis of a Mecanum wheel is an important parameter for theoretical analysis, design and machining. In theoretical research, α = 45° is often adopted. Due to machining and assembly errors, there is also a certain deviation between the true effective value of α and the theoretical value of 45°. This deviation will have a certain impact on the speed and motion trajectory of the robot, and it is easy to cause the problem of the deviation of the moving direction of the robot equipped with this Mecanum wheel. Therefore, there is an urgent need for a calibration method for the included angle between the roller axis and the hub axis. Summary of the Invention

[0003] For this reason, the present invention provides a method, device and electronic equipment for calibrating the included angle between the roller axis and the hub axis to solve the problem that the robot's moving direction is offset due to the theoretical included angle of 45° between the roller axis and the hub axis in the prior art, which is easily caused by machining and assembly errors.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] In a first aspect, the present invention provides a method for calibrating the included angle between the roller axis and the hub axis. The included angle calibration method is applied to the Mecanum wheel of an intelligent robot, and the method includes:

[0006] Controlling the intelligent robot to move horizontally at a preset speed;

[0007] Obtaining the actual horizontal displacement distance of the intelligent robot within a preset time period;

[0008] Obtaining the actual horizontal speed based on the preset time period and the actual horizontal displacement distance;

[0009] Obtaining the target included angle value between the roller axis and the hub axis based on the horizontal theoretical speed, the theoretical included angle value between the roller axis and the hub axis, and the actual horizontal speed; the horizontal theoretical speed is the ratio of the horizontal translation distance of the intelligent robot within the preset time period to the preset time period.

[0010] Further, the obtaining the target included angle value between the roller axis and the hub axis based on the horizontal theoretical speed, the theoretical included angle value between the roller axis and the hub axis, and the actual horizontal speed includes:

[0011] Obtaining the target included angle value between the roller axis and the hub axis through the included angle calibration formula between the roller axis and the hub axis. The included angle calibration formula is:

[0012]

[0013] Among them, α r is the target included angle value; α d is the theoretical included angle value, generally set to 45°; v xr is the actual lateral speed; v xd is the theoretical lateral speed.

[0014] Furthermore, the method further includes: during the process of controlling the intelligent robot to move laterally at a preset speed, real-time monitoring whether the wheel ends of the intelligent robot slip;

[0015] If it is detected that the wheel ends of the intelligent robot slip, stop the lateral movement of the intelligent robot, and after the intelligent robot stops stably, restart the execution of the included angle calibration method.

[0016] Furthermore, the method further includes:

[0017] Repeating the included angle calibration; the process of repeating the included angle calibration is: adjusting the included angle between the roller axis and the hub axis of the Mecanum wheel from the theoretical included angle value to the target included angle value obtained in the previous calibration, and then performing the included angle calibration until the difference between the actual lateral speed and the theoretical lateral speed is less than a preset difference, stop repeating the included angle calibration, and use the target included angle value obtained in the last included angle calibration as the optimal target included angle value.

[0018] Furthermore, the method further includes:

[0019] Determining the preset speed and the preset duration according to the model of the intelligent robot.

[0020] Furthermore, the method further includes:

[0021] The road surface where the intelligent robot is located is a road surface paved with epoxy resin, and the slope of the road surface is less than or equal to 2%.

[0022] Furthermore, the method further includes:

[0023] The environment where the intelligent robot is located is: the environmental temperature is between 5°C and 45°C, the relative humidity is ≤90% when the temperature is less than or equal to 20°C, the relative humidity is ≤50% when the temperature is greater than 20°C and less than or equal to 45°C, and the atmospheric pressure is 86 kPa to 106 kPa.

[0024] In a second aspect, the present invention provides an included angle calibration device between a roller axis and a hub axis, including:

[0025] A control module, configured to control the intelligent robot to move laterally at a preset speed;

[0026] An acquisition module, configured to acquire the actual lateral displacement distance of the intelligent robot within a preset duration;

[0027] An actual speed module, configured to obtain a lateral actual speed according to the preset duration and the lateral actual displacement distance;

[0028] A calibration module, configured to obtain a target included angle value between the roller axis and the hub axis according to the lateral theoretical speed, the theoretical included angle value between the roller axis and the hub axis, and the lateral actual speed; the lateral theoretical speed is the ratio of the lateral translation distance of the intelligent robot within the preset duration to the preset duration.

[0029] In a third aspect, the present invention provides an electronic device, including:

[0030] At least one processor; and

[0031] A memory communicatively connected to the at least one processor; wherein,

[0032] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for calibrating the included angle between the roller axis and the hub axis described in any one of the above.

[0033] The present invention adopts the above technical solutions and at least has the following beneficial effects:

[0034] Provided is a method, device and electronic device for calibrating the included angle between the roller axis and the hub axis. By controlling the intelligent robot to move laterally at a preset speed, obtaining the lateral actual displacement distance of the intelligent robot within the preset duration, obtaining the lateral actual speed according to the preset duration and the lateral actual displacement distance, and obtaining the target included angle value between the roller axis and the hub axis according to the lateral theoretical speed, the theoretical included angle value between the roller axis and the hub axis, and the lateral actual speed; the present invention calibrates the included angle between the roller axis and the hub axis based on the actual movement trajectory of the intelligent robot, and can effectively improve the control accuracy of the moving direction of the intelligent robot.

[0035] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to these drawings without creative efforts.

[0037] Figure 1It is a flowchart of a method for calibrating the angle between the roller axis and the hub axis shown in an exemplary embodiment of the present invention;

[0038] Figure 2 It is a schematic block diagram of a device for calibrating the angle between the roller axis and the hub axis shown in an exemplary embodiment of the present invention;

[0039] Figure 3 It is a schematic diagram of an electronic device shown in an exemplary embodiment of the present invention;

[0040] Figure 4 It is a schematic diagram of the lateral movement of a smart robot shown in an exemplary embodiment of the present invention.

[0041] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. Specific Embodiments

[0042] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without any creative work fall within the scope of protection of the present invention.

[0043] The angle between the roller axis and the hub axis of the Mecanum wheel is an important parameter for theoretical analysis and design and processing. In theoretical research, 45° is often used. In fact, this angle needs to be obtained through the calculation of geometric parameter equations according to the sizes of the motor and the load. Due to machining and assembly errors, there is also a certain deviation between the actual value and the theoretical value, and this deviation will have a certain impact on the speed and motion trajectory of the robot. Through multiple simulated robot motion experiments, it can be seen that the deviation mainly causes the lateral motion error of the robot.

[0044] The embodiments of the present invention provide a method, a device and an electronic device for calibrating the angle between the roller axis and the hub axis. By correcting the error between the actual value and the theoretical value of the angle α between the roller axis and the hub axis of the Mecanum wheel, the motion accuracy of the smart robot is improved.

[0045] The methods and devices in the present invention will be described below through specific embodiments.

[0046] Please refer to Figure 1 , Figure 1 It is a flowchart of a method for calibrating the angle between the roller axis and the hub axis shown in an exemplary embodiment of the present invention. Refer to Figure 1 , the method includes:

[0047] Step S11: Control the intelligent robot to move horizontally at a preset speed;

[0048] Step S12: Obtain the actual horizontal displacement distance of the intelligent robot within a preset time period;

[0049] Step S13: Obtain the actual horizontal speed based on the preset time period and the actual horizontal displacement distance;

[0050] Step S14: Obtain the target angle value between the roller axis and the hub axis based on the theoretical horizontal speed, the theoretical angle value between the roller axis and the hub axis, and the actual horizontal speed; the theoretical horizontal speed is the ratio of the horizontal translation distance of the intelligent robot within a preset time period to the preset time period.

[0051] It should be noted that the technical solution provided in this embodiment can be loaded in the existing robot control system or application in the form of a small program or a plug-in in specific practice, or in the form of a separate application or system, and the angle calibration is realized through an external interface. Applicable scenarios include but are not limited to: calibrating the angle between the roller axis and the hub axis of the Mecanum wheel in an intelligent robot.

[0052] Specifically, the preset speed and the preset time period are determined according to the model of the intelligent robot.

[0053] It can be understood that the method provided in this embodiment controls the intelligent robot to move horizontally at a preset speed, obtains the actual horizontal displacement distance of the intelligent robot within a preset time period, obtains the actual horizontal speed based on the preset time period and the actual horizontal displacement distance, and obtains the target angle value between the roller axis and the hub axis based on the theoretical horizontal speed, the theoretical angle value between the roller axis and the hub axis, and the actual horizontal speed; the present invention calibrates the angle between the roller axis and the hub axis based on the actual movement trajectory of the intelligent robot, which can effectively improve the control accuracy of the moving direction of the intelligent robot.

[0054] In specific practice, in step S11 "Control the intelligent robot to move horizontally at a preset speed", the preset speed is determined according to the model of the intelligent robot, and is generally default set at 0.3 - 0.6 m / s.

[0055] In specific practice, in step S12 "Obtain the actual horizontal displacement distance of the intelligent robot within a preset time period", the preset time period is determined according to the model of the intelligent robot, and is generally default set to 10 s.

[0056] In specific practice, in step S13 "Obtain the actual horizontal speed based on the preset time period and the actual horizontal displacement distance", it includes: dividing the actual horizontal displacement distance by the preset time period to obtain the actual speed, see Figure 4 , Figure 4It is a schematic diagram of the lateral movement of an intelligent robot shown in an exemplary embodiment of the present invention, where the x-axis is the lateral direction, the y-axis is the longitudinal direction, S is the actual displacement distance, and L is the translation distance.

[0057] In specific practice, in step S14, "obtaining the target included angle value between the roller axis and the hub axis based on the lateral theoretical speed, the theoretical included angle value between the roller axis and the hub axis, and the lateral actual speed" includes: obtaining the target included angle value between the roller axis and the hub axis through the included angle calibration formula for the roller axis and the hub axis, and the included angle calibration formula is: where α r is the target included angle value; α d is the theoretical included angle value, generally set to 45°; v xr is the lateral actual speed; v xd is the lateral theoretical speed.

[0058] It should be noted that the lateral theoretical speed is the ratio of the lateral translation distance of the intelligent robot within a preset time period to the preset time period. Refer to Figure 4 , where L is the translation distance.

[0059] It can be understood that the technical solution provided in this embodiment calibrates the included angle between the roller axis and the hub axis based on the actual movement trajectory of the intelligent robot, which can effectively improve the control accuracy of the moving direction of the intelligent robot.

[0060] In specific practice, the method further includes: during the process of controlling the intelligent robot to move laterally at a preset speed, real-time monitoring whether the wheel ends of the intelligent robot slip; if it is detected that the wheel ends of the intelligent robot slip, stop the lateral movement of the intelligent robot, and after the intelligent robot stops stably, restart the included angle calibration method.

[0061] It should be noted that monitoring whether the wheel ends of the intelligent robot slip is achieved through the prior art. If slipping is detected, restart the included angle calibration method.

[0062] In specific practice, the method further includes: repeating the included angle calibration; the process of repeating the included angle calibration is: adjusting the included angle between the roller axis and the hub axis of the Mecanum wheel from the theoretical included angle value to the target included angle value obtained in the previous calibration, and then performing the included angle calibration until the difference between the lateral actual speed and the lateral theoretical speed is less than the preset difference, and stop repeating the included angle calibration. Take the target included angle value obtained in the last included angle calibration as the optimal target included angle value.

[0063] It should be noted that the number of repetitions of the included angle calibration can also be set. After the number of repeated calibrations reaches the number of repetitions, stop the calibration, and take the target included angle value obtained in the last included angle calibration as the optimal target included angle value.

[0064] It is understandable that the technical solution provided in this embodiment can obtain the most ideal included angle value through repeated calibration.

[0065] In specific practice, the method further includes: the road surface where the intelligent robot is located is a road surface paved with epoxy resin, and the slope of the road surface is less than or equal to 2%.

[0066] It should be noted that in order to reduce the influence of the environment on calibration, the slope of the road surface of the calibration site is less than or equal to 2%.

[0067] In specific practice, the method further includes: the environment where the intelligent robot is located is: the environmental temperature is between 5°C and 45°C, the relative humidity is ≤ 90% when the temperature is less than or equal to 20°C, the relative humidity is ≤ 50% when the temperature is greater than 20°C and less than or equal to 45°C, and the atmospheric pressure is 86 kPa to 106 kPa.

[0068] It should be noted that in order to reduce the influence of the environment on calibration, the environmental temperature of the calibration site is between 5°C and 45°C, the relative humidity is ≤ 90% when the temperature is less than or equal to 20°C, the relative humidity is ≤ 50% when the temperature is greater than 20°C and less than or equal to 45°C, and the atmospheric pressure is 86 kPa to 106 kPa.

[0069] Please refer to Figure 2 , Figure 2 which is a schematic block diagram of an included angle calibration device between the roller axis and the hub axis shown in an exemplary embodiment of the present invention. Refer to Figure 2 , the included angle calibration device 100 between the roller axis and the hub axis includes:

[0070] A control module 101, configured to control the intelligent robot to move horizontally at a preset speed;

[0071] An acquisition module 102, configured to acquire the actual horizontal displacement distance of the intelligent robot within a preset duration;

[0072] An actual speed module 103, configured to obtain the actual horizontal speed based on the preset duration and the actual horizontal displacement distance;

[0073] A calibration module 104, configured to obtain the target included angle value between the roller axis and the hub axis based on the theoretical horizontal speed, the theoretical included angle value between the roller axis and the hub axis, and the actual horizontal speed; the theoretical horizontal speed is the ratio of the horizontal translation distance of the intelligent robot within a preset duration to the preset duration.

[0074] It should be noted that the device provided in this embodiment is applicable to scenarios including but not limited to: calibrating the included angle between the roller axis and the hub axis of the Mecanum wheels in an intelligent robot.

[0075] Specifically, the preset speed and the preset duration are determined according to the model of the intelligent robot.

[0076] It can be understood that for the device provided in this embodiment, by controlling the intelligent robot to move horizontally at a preset speed, obtaining the actual horizontal displacement distance of the intelligent robot within a preset duration, obtaining the actual horizontal speed based on the preset duration and the actual horizontal displacement distance, and obtaining the target included angle value between the roller axis and the hub axis based on the theoretical horizontal speed, the theoretical included angle value between the roller axis and the hub axis, and the actual horizontal speed; the present invention calibrates the included angle between the roller axis and the hub axis based on the actual movement trajectory of the intelligent robot, which can effectively improve the control accuracy of the moving direction of the intelligent robot.

[0077] Please refer to Figure 3 , Figure 3 which is a schematic diagram of an electronic device shown in an exemplary embodiment of the present invention. Refer to Figure 3 , the electronic device 200 includes: at least one processor 202; and

[0078] a memory 201 communicatively connected to the at least one processor 202; wherein,

[0079] the memory 201 stores instructions executable by the at least one processor 202, and the instructions are executed by the at least one processor 202 to enable the at least one processor 202 to execute the method for calibrating the included angle between the roller axis and the hub axis in any one of the above.

[0080] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided in the present application can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0081] It should be noted that, in this article, 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 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 comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

[0082] It should also be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for display, data for analysis, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0083] Each embodiment in this specification is described in a related manner. For the same or similar parts between each embodiment, reference can be made to each other. The key point of each embodiment is to illustrate the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0084] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0085] The above-described embodiments only represent several implementation manners of this application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of this application, several deformations and improvements can still be made, and these all belong to the protection scope of this application. Therefore, the protection scope of the patent of this application should be subject to the appended claims.

Claims

1. A method for calibrating the angle between the roller axis and the hub axis, characterized in that: The angle calibration method is applied to the Mecanum wheel of an intelligent robot, and the method comprises: Control the intelligent robot to move laterally at a preset speed; Obtain the actual lateral displacement distance of the intelligent robot within a preset time period; Obtaining an actual lateral speed according to the preset time length and the actual lateral displacement distance; The target angle value between the roller axis and the hub axis is obtained based on the lateral theoretical speed, the theoretical angle value between the roller axis and the hub axis and the lateral actual speed; the lateral theoretical speed is the ratio of the lateral translation distance of the intelligent robot within the preset time length to the preset time length.

2. The angle calibration method according to claim 1, characterized in that: The step of obtaining the target angle value between the roller axis and the hub axis according to the lateral theoretical speed, the theoretical angle value between the roller axis and the hub axis, and the lateral actual speed comprises: The target angle value between the roller axis and the hub axis is obtained by the angle calibration formula between the roller axis and the hub axis. The angle calibration formula is: Among them, α r is the target angle value; α d is the theoretical angle value, generally set to 45°; v xr is the actual lateral velocity; v xd is the theoretical lateral velocity.

3. The angle calibration method according to claim 1, characterized in that: The method further comprises: While controlling the intelligent robot to move laterally at a preset speed, real-time monitoring is performed to determine whether the wheel ends of the intelligent robot are slipping; If the wheel end of the intelligent robot is slipping, the lateral movement of the intelligent robot is stopped, and the angle calibration method is restarted after the intelligent robot stops steadily.

4. The angle calibration method according to claim 1, characterized in that: The method further comprises: Repeat the angle calibration; the repeated angle calibration process is: adjust the angle between the roller axis and the hub axis of the Mecanum wheel from the theoretical angle value to the target angle value obtained in the last calibration, and then perform the angle calibration until the difference between the actual lateral speed and the theoretical lateral speed is less than the preset difference, stop repeating the angle calibration, and use the target angle value obtained in the last angle calibration as the optimal target angle value.

5. The angle calibration method according to claim 1, characterized in that: The method further comprises: The preset speed and the preset duration are determined according to the model of the intelligent robot.

6. The angle calibration method according to claim 1, characterized in that: The method further comprises: The road surface where the intelligent robot is located is an epoxy resin paved road surface, and the slope of the road surface is less than or equal to 2%.

7. The angle calibration method according to claim 1, characterized in that: The method further comprises: The environment where the intelligent robot is located is: the ambient temperature is between 5°C and 45°C, the relative humidity is ≤90% when the temperature is less than or equal to 20°C, the relative humidity is ≤50% when the temperature is greater than 20°C and less than or equal to 45°C, and the atmospheric pressure is 86kPa to 106kPa.

8. A device for calibrating the angle between the roller axis and the hub axis, A control module, used to control the intelligent robot to move laterally at a preset speed; An acquisition module is used to acquire the actual lateral displacement distance of the intelligent robot within a preset time period; An actual speed module, used to obtain an actual lateral speed according to the preset time length and the actual lateral displacement distance; A calibration module is used to obtain a target angle value between the roller axis and the hub axis based on a lateral theoretical speed, a theoretical angle value between the roller axis and the hub axis, and the lateral actual speed; the lateral theoretical speed is the ratio of the lateral translation distance of the intelligent robot within the preset time length to the preset time length.

9. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for calibrating the angle between the roller axis and the hub axis as described in any one of claims 1-7.

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