CN107168317A - The error adjusting process and device of a kind of wheeled robot - Google Patents
The error adjusting process and device of a kind of wheeled robot Download PDFInfo
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- CN107168317A CN107168317A CN201710374343.8A CN201710374343A CN107168317A CN 107168317 A CN107168317 A CN 107168317A CN 201710374343 A CN201710374343 A CN 201710374343A CN 107168317 A CN107168317 A CN 107168317A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
A kind of error adjusting process of wheeled robot includes：By way of leapfrog test, obtain the first angle of the round actual range of wheeled robot, shuttle route when flex point is turned round clockwise, and the shuttle route when flex point is turned round counterclockwise the second angle；According to the theoretical distance value for stating round actual range and wheeled robot, the adjustment parameter of preferable average deviation between wheel footpath and actual wheel footpath is obtained；According to first angle of deviation, and first angle of deviation and the second angle of deviation sum, it is determined that theoretical wheelspan and actual wheel away from adjustment parameter, according to the 3rd angle of deviation, the round actual range and actual axle distance, determine that left and right wheel diameter does not wait adjustment parameter.This method is by way of leapfrog test, and engaged test place is small, and each adjustment parameter that can be simply and easily to wheeled robot is accurately calculated, and is conducive to improving the precision of adjustment parameter.
Description
Technical field
The invention belongs to the error adjusting process and device in wheeled robot field, more particularly to a kind of wheeled robot.
Background technology
Mobile robot be it is a kind of worked under complex environment have self planning, self-organizing, the machine of adaptive ability
People.Wherein, the location and navigation technology of mobile robot is the key technology for realizing real intelligent and entirely autonomous movement.At present
Most localization for Mobile Robot technologies can be divided into absolute fix technology and relative positioning technology, using relative positioning method energy
Simplify localization for Mobile Robot problem, robot location and direction are estimated without external sensor, method is simple, system
Installation cost is low, but this localization method easily produces error accumulation, influences positioning precision.
For the wheeled robot in mobile robot, due to its parts design mismachining tolerance, rigging error etc.
Factor is influenceed so that the driving wheel diameter of wheeled robot is not waited, theoretical wheelspan and actual wheel occur deviation away between and cause wheel
The uncertainty of formula robot model, so as to influence the relative positioning and control accuracy of mobile robot.By directly improving shifting
Mobile robot parts machining precision and assembly precision can improve positioning precision, but substantially increase and be designed and manufactured into
This.
It can be used for entering the adjustment parameter of the systematic error of differential driving mobile robot by UMBmark adjustment algorithms
Row error adjustment.But the adjusting process error testing path is 4 × 4 meters of square path, test site takes larger, adjustment
Testing time is more, and adjustment is more bothered；And adjust effect algorithm to there is approximate simplify, it is impossible to meet high-precision adjustment requirement.
The content of the invention
In view of this, it is existing to solve the embodiments of the invention provide the error adjusting process and device of wheeled robot
In error adjusting process in technology, adjustment place occupancy is larger, and adjustment testing time is more, and adjustment is more bothered；And adjust
Imitate algorithm and there is approximate simplify, it is impossible to the problem of meeting high-precision adjustment requirement.
The first aspect of the embodiment of the present invention provides a kind of error adjusting process of wheeled robot, it is characterised in that
Methods described includes：
By way of leapfrog test, the round actual range L of wheeled robot is obtainedact, when flex point is turned round clockwise
Shuttle route the first angle αcw, and the shuttle route when flex point is turned round counterclockwise the second angle αccw；
Second angle of deviation α and the first angle of deviation θ sum θ+α are determined according to first angle and second angle, with
And by left and right wheel diameter not etc. caused by the 3rd angle of deviation β, wherein, the second angle of deviation α by theoretical wheelspan and actual wheel away from it is inclined
Produced by poor, the first angle of deviation θ is as produced by the deviation of preferable average wheel footpath and actual wheel footpath；
According to stating round actual range LactWith the theoretical distance value of wheeled robot, obtain preferable average wheel footpath with
The adjustment parameter Es of deviation between actual wheel footpath, is determined by the average wheel footpath of ideal and actual wheel footpath according to the adjustment parameter Es
Deviation produced by the first angle of deviation θ；
According to first angle of deviation θ, and first angle of deviation and the second angle of deviation sum θ+α, it is determined that theoretical wheelspan with
Actual wheel away from adjustment parameter Eb, according to the 3rd angle of deviation, the round actual range LactAnd actual axle distance,
Determine that left and right wheel diameter does not wait adjustment parameter Ed.
With reference in a first aspect, second of first aspect may in implementation, it is described according to first angle and
Second angle determines the second angle of deviation α and the first angle of deviation θ sum θ+α, and by left and right wheel diameter not etc. caused by the
The step of three angle of deviation β is specially：
The second angle of deviation α and the first angle of deviation θ sum θ+α is determined according to formula θ+α=(α _ cw- α _ ccw)/2；
The 3rd angle of deviation β according to caused by formula β=determination of (α _ cw+ α _ ccw)/2 is not waited by left and right wheel diameter.
With reference in a first aspect, in second of possible implementation of first aspect, the basis states round reality
Apart from LactWith the theoretical distance value of wheeled robot, the adjustment ginseng of preferable average deviation between wheel footpath and actual wheel footpath is obtained
Number Es, is determined as the first angle of deviation θ produced by the deviation of preferable average wheel footpath and actual wheel footpath according to the adjustment parameter Es
The step of be specially：
Judge whether the 3rd angle of deviation β is zero；
If the 3rd angle of deviation β is zero, preferable average deviation between wheel footpath and actual wheel footpath is calculated according to formula
Adjustment parameter Es=Lact/Lnom, wherein, LnomFor theoretic one way air line distance, LactFor actual range；
If the 3rd angle of deviation β is not zero, according to formulaCalculating obtains ideal
The adjustment parameter of average deviation between wheel footpath and actual wheel footpath；
Determined according to formula θ=π (1-Es) as the first deviation produced by the deviation of preferable average wheel footpath and actual wheel footpath
Angle θ.
It is described according to first angle of deviation with reference in a first aspect, in the third possible implementation of first aspect
θ, and first angle of deviation and the second angle of deviation sum θ+α, it is determined that theoretical wheelspan and actual wheel away from adjustment parameter Eb the step of
Including：
According to formula Eb=(π-θ)/(π-(θ+α)) determine the theoretical wheelspan and actual wheel away from adjustment parameter Eb.
With reference in a first aspect, in the 4th kind of possible implementation of first aspect, it is described according to the 3rd angle of deviation,
The round actual range LactAnd actual axle distance, determine that left and right wheel diameter is not waited includes the step of adjustment parameter Ed：
Judge not wait whether caused 3rd angle of deviation β is more than zero by left and right wheel diameter；
If the 3rd angle of deviation β is more than zero, the wheel diameter does not wait adjustment parameterSuch as
Really described 3rd angle of deviation β is more than zero, then the wheel diameter does not wait adjustment parameterWherein bactFor machine
People's actual wheel away from.
The second aspect of the embodiment of the present invention provides a kind of error calibration apparatus of wheeled robot, it is characterised in that
Described device includes：Number acquiring unit, for by way of leapfrog test, obtaining the round actual range of wheeled robot
Lact, shuttle route when flex point is turned round clockwise the first angle αcw, and the shuttle route when flex point is turned round counterclockwise
The second angle αccw；
Angle of deviation acquiring unit, for according to first angle and second angle determination, by theoretical wheelspan and reality
The second angle of deviation α and the first angle of deviation θ sum θ+α produced by the deviation of border wheel difference, and do not caused not etc. by left and right wheel diameter
The 3rd angle of deviation β；
First adjustment parameter acquiring unit, round actual range L is stated for basisactWith the theory of wheeled robot
Distance value, obtains the adjustment parameter Es of preferable average deviation between wheel footpath and actual wheel footpath, true according to the adjustment parameter Es
Fixed the first angle of deviation θ as produced by the deviation of preferable average wheel footpath and actual wheel footpath；
Second adjustment parameter acquiring unit, for according to first angle of deviation θ, and first angle of deviation and the second deviation
Angle sum θ+α, it is determined that theoretical wheelspan and actual wheel away from adjustment parameter Eb, according to the 3rd angle of deviation, the round reality
Border is apart from LactAnd actual axle distance, determine that left and right wheel diameter does not wait adjustment parameter Ed.
With reference to second aspect, in the first possible implementation of second aspect, the angle of deviation acquiring unit includes：
First angle computation subunit, for determining the second angle of deviation α and the according to formula θ+α=(α _ cw- α _ ccw)/2
One angle of deviation θ sum θ+α；
Second angle computation subunit, for being determined according to formula β=(α _ cw+ α _ ccw)/2 by left and right wheel diameter
Caused 3rd angle of deviation β.
With reference to second aspect, in second of possible implementation of second aspect, the first adjustment parameter acquiring list
Member includes：
First judging unit, for judging whether the 3rd angle of deviation β is zero；
First wheel diameter deviation adjustment parameter computation unit, if being zero for the 3rd angle of deviation β, is calculated according to formula
The adjustment parameter Es=L of the average deviation between wheel footpath and actual wheel footpath of idealact/Lnom, wherein, LnomFor theoretic one way
Air line distance, LactFor actual range；
Second wheel diameter deviation adjustment parameter computation unit, if be not zero for the 3rd angle of deviation β, according to public affairs
FormulaCalculate the adjustment parameter for obtaining preferable average deviation between wheel footpath and actual wheel footpath；
First angle of deviation computation subunit, for being determined according to formula θ=π (1-Es) by the average wheel footpath of ideal and actual wheel
The first angle of deviation θ produced by the deviation in footpath.
With reference to second aspect, in the third possible implementation of second aspect, the second adjustment parameter acquiring list
Member specifically for：
According to formula Eb=(π-θ)/(π-(θ+α)) determine the theoretical wheelspan and actual wheel away from adjustment parameter Eb.
With reference to second aspect, in the 4th kind of possible implementation of second aspect, the second adjustment parameter acquiring list
Member includes：
Second judgment sub-unit, for judging not wait whether caused 3rd angle of deviation β is more than zero by left and right wheel diameter；
Wheel smuggling does not wait adjustment parameter computation unit, if being more than zero for the 3rd angle of deviation β, the wheel is straight
Do not wait adjustment parameter in footpathIf the 3rd angle of deviation β is more than zero, the wheel diameter does not wait adjustment
ParameterWherein bactFor robot actual wheel away from.
The embodiment of the present invention is by obtaining the actual range of leapfrog test, and turns round and turned counterclockwise clockwise in flex point
The first angle and the second angle when curved, are determined by theoretical wheelspan and actual wheel difference according to first angle and the second angle
Second angle of deviation produced by deviation with theoretical wheelspan with actual wheel away from the first produced angle of deviation sum, and by left and right wheels
Diameter does not wait caused 3rd angle of deviation, determines ideal averagely between wheel footpath and actual wheel footpath according to actual range and theoretical value
The adjustment parameter Es of deviation, determines first angle of deviation, according to first angle of deviation, and first according to the adjustment parameter Es
The angle of deviation and second angle of deviation and determine theoretical wheelspan and actual wheel away from adjustment parameter Eb, according to the 3rd angle of deviation and reality
Border distance determines that left and right wheel diameter does not wait adjustment parameter Ed.This method is by way of leapfrog test, and engaged test place is small, can
Accurately calculated with each adjustment parameter simply and easily to wheeled robot, be conducive to improving the essence of adjustment parameter
Degree.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
In required for the accompanying drawing that uses be briefly described, it should be apparent that, drawings in the following description are only some of the present invention
Embodiment, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these
Accompanying drawing obtains other accompanying drawings.
Fig. 1 is the implementation process figure of the error adjusting process of wheeled robot provided in an embodiment of the present invention；
Fig. 2 is test route schematic diagram provided in an embodiment of the present invention；
Fig. 3 is the structured flowchart of the error calibration apparatus of wheeled robot provided in an embodiment of the present invention.
Embodiment
In describing below, in order to illustrate rather than in order to limit, it is proposed that such as tool of particular system structure, technology etc
Body details, thoroughly to understand the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention can also be realized in the other embodiments of details.In other situations, omit to well-known system, device, electricity
Road and the detailed description of method, in case unnecessary details hinders description of the invention.
In order to illustrate technical solutions according to the invention, illustrated below by specific embodiment.
As shown in figure 1, the error adjusting process of wheeled robot described in the embodiment of the present invention, including：
In step S101, by way of leapfrog test, the round actual range L of wheeled robot is obtainedact, turning
First angle α of shuttle route when point turns round clockwisecw, and shuttle route when flex point is turned round counterclockwise the second folder
Angle αccw。
Specifically, the leapfrog test, as shown in Fig. 2 referring to wheeled robot being arranged on start position, is then controlled
Wheeled robot is moved to target location according to specified direction, then rotates behind 180 degree angle, is back to side where start position
Final position.Wherein, the wheeled robot can include dextrorotation turnback and rotation counterclockwise when rotating 180 degree
Turnback, in order to distinguish the angle between the shuttle route caused by different direction of rotation, in this embodiment by wheeled machine
Device people is defined as the first angle α in flex point according to the angle of the shuttle route produced by dextrorotation turnbackcw, in flex point position
Put shuttle route angle produced when being turned round according to counter clockwise direction and be defined as the second angle αccw。
Wherein, in the case that the wheeled robot includes preferable wheel footpath, preferable wheelspan, and preferable wheel footpath, wheeled machine
Multiple wheel diameters of device people are equal.But, due to manufacture craft and the defect of precision, the actual wheel footpath of wheeled robot,
Difference also occurs between difference, also, multiple wheel diameters of wheeled robot away from being had with ideal value in actual wheel.Therefore, exist
Corresponding adjustment parameter is needed to use to carry out adjustment to above-mentioned error in test process.
The round actual range L of the robotactAcquisition, can use various ways, such as can pass through video camera
The image of shooting records the position of wheeled robot, can also by other localization methods, positioning robot is actual walk away from
From.In embodiments of the present invention, the actual range of robot trip path, passes through start of record position, final position, flex point position
The route put and come and gone, can obtain the round actual distance value of robot.
First angle α of the shuttle route when flex point is turned round clockwisecw, and when flex point is turned round counterclockwise
Second angle α of shuttle routeccw, the route determination that can be come and gone according to wheeled robot.It is, of course, also possible to be arrived according to starting point
Length, the length of flex point to terminal of flex point, and origin-to-destination length, determine described first according to three sides of triangle
Angle and the second angle.
The setting of the flex point, can accordingly be adjusted according to the size of the scene of test.Such as, can be at 1 meter * 4
On the test platform of rice, the position for setting the flex point can be at the position of 4 meters of start position.With it is existing
4 meters * 4 meters of the test scene that UMBmark adjustment algorithm needs is compared, and can greatly be saved the area shared by test, be carried
The convenience of height test.
In step s 102, the second angle of deviation α and the first deviation are determined according to first angle and second angle
Angle θ sum θ+α, and by left and right wheel diameter not etc. caused by the 3rd angle of deviation β, wherein, the second angle of deviation α by theoretical wheelspan with
Actual wheel away from deviation produced by, the first angle of deviation θ is as produced by the deviation of preferable average wheel footpath and actual wheel footpath.
In order to obtain each adjustment parameter, it is necessary first to which the first angle and the second angle are changed, obtain with wheel footpath,
The related angle of deviation of wheelspan, including caused 3rd angle of deviation β, and the second angle of deviation α and first are not waited by left and right wheel diameter
Angle of deviation θ sum θ+α.
Specifically, described determine the second angle of deviation α and the first angle of deviation θ according to first angle and second angle
Sum θ+α, and by left and right wheel diameter not etc. caused by the 3rd angle of deviation β the step of, can be specially：
The second angle of deviation α and the first angle of deviation θ sum θ+α is determined according to formula θ+α=(α _ cw- α _ ccw)/2；
The 3rd angle of deviation β according to caused by formula β=determination of (α _ cw+ α _ ccw)/2 is not waited by left and right wheel diameter.
Wherein, the 3rd angle of deviation β caused by not waited by left and right wheel diameter is likely larger than zero, it is also possible to less than zero.When wheel is straight
When footpath is equal, the value of the 3rd angle of deviation β is then zero.
In step s 103, according to stating round actual range LactWith the theoretical distance value of wheeled robot, managed
Think the adjustment parameter Es of the deviation between average wheel footpath and actual wheel footpath, determined according to the adjustment parameter Es by preferable average wheel
The first angle of deviation θ produced by the deviation of footpath and actual wheel footpath.
Specifically, the theoretical distance value of the wheeled robot, can pass through the rolling of wheeled robot in the process of walking
The preferable wheel footpath of wheel turning collar number and wheeled robot is calculated and obtained.Calculated and taken turns according to the preferable wheel footpath of wheeled robot
The girth of the roller of formula robot, calculates girth and rotates the product of the number of turns, you can obtain the theory that wheeled robot is walked
Distance value.Such as theoretical wheel footpath is a (diameter), and the number of turns of rotation is n, then, it can calculate and obtain theoretical distance value for 3.14*
a*n。
In a kind of specific calculation, can the 3rd angle of deviation β with reference to caused by wheel diameter, with reference to the round reality
Border is apart from LactWith the theoretical distance value of wheeled robot, the adjustment of preferable average deviation between wheel footpath and actual wheel footpath is obtained
Parameter Es, is determined as the first deviation produced by the deviation of preferable average wheel footpath and actual wheel footpath further according to the adjustment parameter Es
Angle θ, the step is specifically as follows：
A1, judges whether the 3rd angle of deviation β is zero.
A2, if the 3rd angle of deviation β is zero, preferable average deviation between wheel footpath and actual wheel footpath is calculated according to formula
Adjustment parameter Es=Lact/Lnom, wherein, LnomFor theoretic one way air line distance, LactFor actual range；
A3, if the 3rd angle of deviation β is not zero, according to formulaCalculating is managed
Think the adjustment parameter of the deviation between average wheel footpath and actual wheel footpath；
A4, is determined inclined as first produced by the deviation of preferable average wheel footpath and actual wheel footpath according to formula θ=π (1-Es)
Declinate θ.
Calculated in step A2 and A3 after the adjustment parameter for obtaining preferable average deviation between wheel footpath and actual wheel footpath, you can
The deviation produced by actual wheel footpath is adjusted according to the adjustment parameter.Determining by the average wheel footpath of ideal and actual wheel footpath
Between deviation adjustment parameter after, the deviation by preferable average wheel footpath and actual wheel footpath can be further determined that according to step A4
The first produced angle of deviation θ.
In step S104, according to first angle of deviation θ, and first angle of deviation and the second angle of deviation sum θ+α, really
Theorem opinion wheelspan and actual wheel away from adjustment parameter Eb, according to the 3rd angle of deviation β, the round actual range LactWith
And actual axle distance, determine that left and right wheel diameter does not wait adjustment parameter Ed.
The wheelspan, refers to the distance between two rollers, it can be understood as between two rollers on same bearing
Distance.The wheel footpath, then it represents that diameter or radius of roller etc..
, can basis after determining as the first angle of deviation θ produced by the deviation of preferable average wheel footpath and actual wheel footpath
First angle of deviation θ, and first angle of deviation and the second angle of deviation sum θ+α, it is determined that theoretical wheelspan and actual wheel away from tune
School parameter Eb, is specifically as follows：
According to formula Eb=(π-θ)/(π-(θ+α)) determine the theoretical wheelspan and actual wheel away from adjustment parameter Eb.Root
According to determination theoretical wheelspan and actual wheel away from adjustment parameter adjustment is carried out to wheeled robot.
In addition, described according to the 3rd angle of deviation, the round actual range LactAnd actual axle distance, it is determined that
Left and right wheel diameter is not waited and may also include the step of adjustment parameter Ed：
Judge not wait whether caused 3rd angle of deviation β is more than zero by left and right wheel diameter；
If the 3rd angle of deviation β is more than zero, the wheel diameter does not wait adjustment parameterSuch as
Really described 3rd angle of deviation β is more than zero, then the wheel diameter does not wait adjustment parameterWherein bactFor machine
People's actual wheel away from.
It should be understood that the size of the sequence number of each step is not meant to the priority of execution sequence, each process in above-described embodiment
Execution sequence should determine that the implementation process without tackling the embodiment of the present invention constitutes any limit with its function and internal logic
It is fixed.
Corresponding to the error adjusting process of the wheeled robot described in foregoing embodiments, Fig. 3 shows the embodiment of the present invention
The structured flowchart of the error calibration apparatus of the wheeled robot of offer, for convenience of description, illustrate only and the embodiment of the present invention
Related part.
Reference picture 3, the error calibration apparatus of the wheeled robot includes：
Parameter acquiring unit 301, for by way of leapfrog test, obtaining the round actual range of wheeled robot
Lact, shuttle route when flex point is turned round clockwise the first angle αcw, and the shuttle route when flex point is turned round counterclockwise
The second angle αccw；
Angle of deviation acquiring unit 302, for according to first angle and second angle determine the second angle of deviation α with
First angle of deviation θ sum θ+α, and by left and right wheel diameter not etc. caused by the 3rd angle of deviation β, wherein, the second angle of deviation α is by managing
By wheelspan and actual wheel away from deviation produced by, the first angle of deviation θ is as produced by the deviation of preferable average wheel footpath and actual wheel footpath；
First adjustment parameter acquiring unit 303, round actual range L is stated for basisactWith the reason of wheeled robot
By distance value, the adjustment parameter Es of preferable average deviation between wheel footpath and actual wheel footpath is obtained, according to the adjustment parameter Es
It is determined that as the first angle of deviation θ produced by the deviation of preferable average wheel footpath and actual wheel footpath；
Second adjustment parameter acquiring unit 304, for according to first angle of deviation θ, and first angle of deviation and second
Angle of deviation sum θ+α, it is determined that theoretical wheelspan and actual wheel away from adjustment parameter Eb, according to the 3rd angle of deviation, described come and go
Actual range LactAnd actual axle distance, determine that left and right wheel diameter does not wait adjustment parameter Ed.
It is preferred that, the angle of deviation acquiring unit includes：
First angle computation subunit, for determining the second angle of deviation α and the according to formula θ+α=(α _ cw- α _ ccw)/2
One angle of deviation θ sum θ+α；
Second angle computation subunit, for being determined according to formula β=(α _ cw+ α _ ccw)/2 by left and right wheel diameter
Caused 3rd angle of deviation β.
It is preferred that, the first adjustment parameter acquiring unit includes：
First judging unit, for judging whether the 3rd angle of deviation β is zero；
First wheel diameter deviation adjustment parameter computation unit, if being zero for the 3rd angle of deviation β, is calculated according to formula
The adjustment parameter Es=L of the average deviation between wheel footpath and actual wheel footpath of idealact/Lnom, wherein, LnomFor theoretic one way
Air line distance, LactFor actual range；
Second wheel diameter deviation adjustment parameter computation unit, if be not zero for the 3rd angle of deviation β, according to public affairs
FormulaCalculate the adjustment parameter for obtaining preferable average deviation between wheel footpath and actual wheel footpath；
First angle of deviation computation subunit, for being determined according to formula θ=π (1-Es) by the average wheel footpath of ideal and actual wheel
The first angle of deviation θ produced by the deviation in footpath.
It is preferred that, the second adjustment parameter acquiring unit specifically for：
According to formula Eb=(π-θ)/(π-(θ+α)) determine the theoretical wheelspan and actual wheel away from adjustment parameter Eb.
It is preferred that, the second adjustment parameter acquiring unit includes：
Second judgment sub-unit, for judging not wait whether caused 3rd angle of deviation β is more than zero by left and right wheel diameter；
Wheel smuggling does not wait adjustment parameter computation unit, if being more than zero for the 3rd angle of deviation β, the wheel is straight
Do not wait adjustment parameter in footpathIf the 3rd angle of deviation β is more than zero, the wheel diameter does not wait adjustment
ParameterWherein bactIt is robot actual wheel away from and bact=Eb*bnom, bnomFor the theory wheel of robot
Away from.
The error calibration apparatus of wheeled robot described in the embodiment of the present invention, the error adjustment side with above-mentioned wheeled robot
Method correspondence, is not repeated repeats herein.
It is apparent to those skilled in the art that, for convenience of description and succinctly, only with above-mentioned each work(
Energy unit, the division progress of module are for example, in practical application, as needed can distribute above-mentioned functions by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completion
The all or part of function of description.Each functional unit, module in embodiment can be integrated in a processing unit, also may be used
To be that unit is individually physically present, can also two or more units it is integrated in a unit, it is above-mentioned integrated
Unit can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.In addition, each function list
Member, the specific name of module are also only to facilitate mutually differentiation, is not limited to the protection domain of the application.Said system
The specific work process of middle unit, module, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
Those of ordinary skill in the art are it is to be appreciated that the list of each example described with reference to the embodiments described herein
Member and algorithm steps, can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
Performed with hardware or software mode, depending on the application-specific and design constraint of technical scheme.Professional and technical personnel
Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed apparatus and method, others can be passed through
Mode is realized.For example, system embodiment described above is only schematical, for example, the division of the module or unit,
It is only a kind of division of logic function, there can be other dividing mode when actually realizing, such as multiple units or component can be with
With reference to or be desirably integrated into another system, or some features can be ignored, or not perform.It is another, it is shown or discussed
Coupling each other or direct-coupling or communication connection can be by some interfaces, the INDIRECT COUPLING of device or unit or
Communication connection, can be electrical, machinery or other forms.
The unit illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is realized using in the form of SFU software functional unit and as independent production marketing or used
When, it can be stored in a computer read/write memory medium.Understood based on such, the technical scheme of the embodiment of the present invention
The part substantially contributed in other words to prior art or all or part of the technical scheme can be with software products
Form embody, the computer software product is stored in a storage medium, including some instructions are to cause one
Computer equipment (can be personal computer, server, or network equipment etc.) or processor (processor) perform this hair
The all or part of step of each embodiment methods described of bright embodiment.And foregoing storage medium includes：USB flash disk, mobile hard disk,
Read-only storage (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic
Dish or CD etc. are various can be with the medium of store program codes.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although with reference to foregoing reality
Example is applied the present invention is described in detail, it will be understood by those within the art that：It still can be to foregoing each
Technical scheme described in embodiment is modified, or carries out equivalent substitution to which part technical characteristic；And these are changed
Or replace, the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme, all should
Within protection scope of the present invention.
Claims (10)
1. the error adjusting process of a kind of wheeled robot, it is characterised in that methods described includes：
By way of leapfrog test, the round actual range L of wheeled robot is obtainedact, it is past when flex point is turned round clockwise
Return the first angle α of routecw, and the shuttle route when flex point is turned round counterclockwise the second angle αccw；
Second angle of deviation α and the first angle of deviation θ sum θ+α, Yi Jiyou are determined according to first angle and second angle
Left and right wheel diameter do not wait caused by the 3rd angle of deviation β, wherein, the second angle of deviation α by theoretical wheelspan and actual wheel away from deviation institute
Produce, the first angle of deviation θ is as produced by the deviation of preferable average wheel footpath and actual wheel footpath；
According to stating round actual range LactWith the theoretical distance value of wheeled robot, preferable average wheel footpath and reality are obtained
The adjustment parameter Es of deviation between wheel footpath, is determined by the average wheel footpath of preferable wheel and actual wheel footpath according to the adjustment parameter Es
The first angle of deviation θ produced by deviation；
According to first angle of deviation θ, and first angle of deviation and the second angle of deviation sum θ+α, it is determined that theoretical wheelspan and reality
The adjustment parameter Eb of wheelspan, according to the 3rd angle of deviation β, the round actual range LactAnd actual axle distance, it is determined that
Left and right wheel diameter does not wait adjustment parameter Ed.
2. the error adjusting process of wheeled robot as claimed in claim 1, it is characterised in that described according to the described first folder
Angle and second angle determine the second angle of deviation α and the first angle of deviation θ sum θ+α, and are not caused not etc. by left and right wheel diameter
The 3rd angle of deviation β the step of be specially：
The second angle of deviation α and the first angle of deviation θ sum θ+α is determined according to formula θ+α=(α _ cw- α _ ccw)/2；
The 3rd angle of deviation β according to caused by formula β=determination of (α _ cw+ α _ ccw)/2 is not waited by left and right wheel diameter.
3. the error adjusting process of wheeled robot as claimed in claim 1, it is characterised in that the basis is stated round
Actual range LactWith the theoretical distance value of wheeled robot, the tune of preferable average deviation between wheel footpath and actual wheel footpath is obtained
School parameter Es, is determined as the first deviation produced by the deviation of preferable average wheel footpath and actual wheel footpath according to the adjustment parameter Es
The step of angle θ is specially：
Judge whether the 3rd angle of deviation β is zero；
If the 3rd angle of deviation β is zero, the adjustment of preferable average deviation between wheel footpath and actual wheel footpath is calculated according to formula
Parameter Es=Lact/Lnom, wherein, LnomFor theoretic one way air line distance, LactFor actual range；
If the 3rd angle of deviation β is not zero, according to formulaCalculating obtains preferable average
The adjustment parameter of deviation between wheel footpath and actual wheel footpath；
Determined according to formula θ=π (1-Es) as the first angle of deviation θ produced by the deviation of preferable average wheel footpath and actual wheel footpath.
4. the error adjusting process of wheeled robot according to claim 1, it is characterised in that described according to described first
Angle of deviation θ, and first angle of deviation and the second angle of deviation sum θ+α, it is determined that theoretical wheelspan and actual wheel away from adjustment parameter Eb
The step of include：
According to formula Eb=(π-θ)/(π-(θ+α)) determine the theoretical wheelspan and actual wheel away from adjustment parameter Eb.
5. the error adjusting process of wheeled robot according to claim 1, it is characterised in that described according to the described 3rd
The angle of deviation, the round actual range LactAnd actual axle distance, determine the step of left and right wheel diameter does not wait adjustment parameter Ed
Including：
Judge not wait whether caused 3rd angle of deviation β is more than zero by left and right wheel diameter；
If the 3rd angle of deviation β is more than zero, the wheel diameter does not wait adjustment parameterIf institute
The 3rd angle of deviation β is stated more than zero, then the wheel diameter does not wait adjustment parameterWherein bactIt is real for robot
Border wheelspan.
6. the error calibration apparatus of a kind of wheeled robot, it is characterised in that described device includes：
Parameter acquiring unit, for by way of leapfrog test, obtaining the round actual range L of wheeled robotact, turning
First angle α of shuttle route when point turns round clockwisecw, and shuttle route when flex point is turned round counterclockwise the second folder
Angle αccw；
Angle of deviation acquiring unit, for determining that the second angle of deviation α and first is inclined according to first angle and second angle
Declinate θ sum θ+α, and by left and right wheel diameter not etc. caused by the 3rd angle of deviation β, wherein, the second angle of deviation α is by theoretical wheelspan
And actual wheel away from deviation produced by, the first angle of deviation θ is as produced by the deviation of preferable average wheel footpath and actual wheel footpath；
First adjustment parameter acquiring unit, round actual range L is stated for basisactWith the theoretical distance of wheeled robot
Value, obtains the adjustment parameter Es of preferable average deviation between wheel footpath and actual wheel footpath, according to adjustment parameter Es determinations by
The first angle of deviation θ produced by the deviation of the average wheel footpath of ideal and actual wheel footpath；
Second adjustment parameter acquiring unit, for according to first angle of deviation θ, and first angle of deviation and second angle of deviation it
With θ+α, it is determined that theoretical wheelspan and actual wheel away from adjustment parameter Eb, according to the 3rd angle of deviation, it is described it is round it is actual away from
From LactAnd actual axle distance, determine that left and right wheel diameter does not wait adjustment parameter Ed.
7. the error calibration apparatus of wheeled robot as claimed in claim 6, it is characterised in that the angle of deviation acquiring unit
Including：
First angle computation subunit, for determining that the second angle of deviation α and first is inclined according to formula θ+α=(α _ cw- α _ ccw)/2
Declinate θ sum θ+α；
Second angle computation subunit, for being determined not caused not etc. by left and right wheel diameter according to formula β=(α _ cw+ α _ ccw)/2
The 3rd angle of deviation β.
8. the error calibration apparatus of wheeled robot as claimed in claim 6, it is characterised in that the first adjustment parameter is obtained
Unit is taken to include：
First judging unit, for judging whether the 3rd angle of deviation β is zero；
First wheel diameter deviation adjustment parameter computation unit, if being zero for the 3rd angle of deviation β, calculates preferable according to formula
The adjustment parameter Es=L of average deviation between wheel footpath and actual wheel footpathact/Lnom, wherein, LnomFor theoretic one way straight line
Distance, LactFor actual range；
Second wheel diameter deviation adjustment parameter computation unit, if be not zero for the 3rd angle of deviation β, according to formulaCalculate the adjustment parameter for obtaining preferable average deviation between wheel footpath and actual wheel footpath；
First angle of deviation computation subunit, for being determined according to formula θ=π (1-Es) by preferable average wheel footpath and actual wheel footpath
The first angle of deviation θ produced by deviation.
9. the error adjusting process of wheeled robot according to claim 1, it is characterised in that the second adjustment parameter
Acquiring unit specifically for：
According to formula Eb=(π-θ)/(π-(θ+α)) determine the theoretical wheelspan and actual wheel away from adjustment parameter Eb.
10. the error calibration apparatus of wheeled robot according to claim 6, it is characterised in that the second adjustment ginseng
Number acquiring unit includes：
Second judgment sub-unit, for judging not wait whether caused 3rd angle of deviation β is more than zero by left and right wheel diameter；
Wheel smuggling does not wait adjustment parameter computation unit, if being more than zero for the 3rd angle of deviation β, the wheel diameter is not
Deng adjustment parameterIf the 3rd angle of deviation β is more than zero, the wheel diameter does not wait adjustment parameterWherein bactFor robot actual wheel away from.
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| CN201710374343.8A CN107168317A (en) | 2017-05-24 | 2017-05-24 | The error adjusting process and device of a kind of wheeled robot |
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| CN201710374343.8A CN107168317A (en) | 2017-05-24 | 2017-05-24 | The error adjusting process and device of a kind of wheeled robot |
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| CN108334075A (en) * | 2018-01-08 | 2018-07-27 | 浙江立石机器人技术有限公司 | Robot tire absolute error scaling method, apparatus and system |
| CN109213158A (en) * | 2018-08-30 | 2019-01-15 | 四川超影科技有限公司 | Wheel footpath antidote based on intelligent inspection robot |
| CN109552417A (en) * | 2018-12-27 | 2019-04-02 | 华晟（青岛）智能装备科技有限公司 | A kind of calibration method and system of driving wheel angle zero bias |
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