CN110802590A - Angle calibration method, steering engine, building block robot and storage medium - Google Patents
Angle calibration method, steering engine, building block robot and storage medium Download PDFInfo
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- CN110802590A CN110802590A CN201911016559.2A CN201911016559A CN110802590A CN 110802590 A CN110802590 A CN 110802590A CN 201911016559 A CN201911016559 A CN 201911016559A CN 110802590 A CN110802590 A CN 110802590A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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Abstract
The invention is suitable for the technical field of steering engines, and provides an angle calibration method, a steering engine, a building block robot and a storage medium. The embodiment of the invention provides an angle calibration method applied to a steering engine, so that the steering engine comprises a steering wheel and a steering wheel connecting piece, and the steering wheel is in a regular polygon shape; the angle calibration instruction is obtained by obtaining the information of the ideal rotation angle of the steering engine, the calibration angle is determined according to the actual rotation angle of the steering engine, the maximum rotation angle, the number of the sides of a regular polygon and the ideal rotation angle, then the steering engine is controlled to rotate to the calibration angle through the actual rotation angle, the calibration of the rotation angle of the steering engine is completed, the steering engine is enabled to automatically rotate to the correct angle, the steering engine can be freely assembled at any angle between two steering engines and other components with a steering wheel or a steering wheel connecting piece, the assembling process is simplified, and the assembling efficiency of the steering engine is improved.
Description
Technical Field
The invention belongs to the technical field of steering engines, and particularly relates to an angle calibration method, a steering engine, a building block robot and a storage medium.
Background
The steering engine is an angle servo driver and is widely applied to equipment such as robots, ships, aircrafts and the like with constantly changing and maintained angles. In recent years, with the development of robotics, various types of robots are in endless, and start to walk into thousands of households, becoming a part of daily production and life of people. The building block robot is assembled through the steering engine, can change the structure of assembling according to actual need, can cultivate user's hands-on ability and logical thinking ability, and is popular.
However, the steering engine of the existing building block robot needs to be assembled according to a specific assembling angle, assembling errors can cause the problem that the building block robot is locked or even damaged by joints in the operation process, and the problem is often found when the whole building block robot is installed and operated.
Disclosure of Invention
In view of this, embodiments of the present invention provide an angle calibration method, a steering engine, a building block robot, and a storage medium, so as to solve the problem that joints of a building block robot are locked or even damaged in an operation process due to an assembly error because the steering engine of an existing building block robot needs to be assembled according to a specific assembly angle.
The first aspect of the embodiment of the invention provides an angle calibration method, which is applied to a steering engine, wherein the steering engine comprises a steering wheel and a steering wheel connecting piece, and the steering wheel is in a regular polygon shape;
the angle calibration method comprises the following steps:
acquiring an angle calibration instruction, wherein the angle calibration instruction carries information of an ideal rotation angle of the steering engine;
determining a calibration angle according to the actual rotation angle of the steering engine, the number of the sides of the regular polygon and the ideal rotation angle of the steering engine;
and controlling the steering engine to rotate to the calibration angle from the actual rotation angle to finish the calibration of the rotation angle of the steering engine.
A second aspect of the embodiments of the present invention provides a steering engine, including a rudder disk, a rudder disk connector, a memory, a controller, and a computer program stored in the memory and operable on the controller, wherein the rudder disk is a regular polygon;
the controller, when executing the computer program, implements the steps of the angle calibration method of the first aspect of the embodiments of the present invention.
A third aspect of the embodiments of the present invention provides a building block robot, including at least one steering engine according to the second aspect of the embodiments of the present invention;
when the two steering engines are connected with each other, the steering wheel of one steering engine is connected with the steering wheel connecting piece of the other steering engine;
when the steering engine is connected with the rudder disc or other parts of the rudder disc connecting piece, the rudder disc of the steering engine is connected with the rudder disc connecting piece of the other parts, or the rudder disc connecting piece of the steering engine is connected with the rudder disc of the other parts.
A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a controller, implements the steps of the angle calibration method of the first aspect of the embodiments of the present invention.
The embodiment of the invention provides an angle calibration method applied to a steering engine, so that the steering engine comprises a steering wheel and a steering wheel connecting piece, and the steering wheel is in a regular polygon shape; the angle calibration instruction is obtained by obtaining the information of the ideal rotation angle of the steering engine, the calibration angle is determined according to the actual rotation angle of the steering engine, the maximum rotation angle, the number of the sides of a regular polygon and the ideal rotation angle, then the steering engine is controlled to rotate to the calibration angle through the actual rotation angle, the calibration of the rotation angle of the steering engine is completed, the steering engine is enabled to automatically rotate to the correct angle, the steering engine can be freely assembled at any angle between two steering engines and other components with a steering wheel or a steering wheel connecting piece, the assembling process is simplified, and the assembling efficiency of the steering engine is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a perspective view of a steering engine according to a first embodiment of the present invention;
FIG. 2 is a side view of a steering engine provided in accordance with an embodiment of the present invention;
fig. 3 is a schematic view of an assembled state of a steering engine according to a first embodiment of the present invention;
FIG. 4 is a flowchart illustrating an angle calibration method according to an embodiment of the present invention;
FIG. 5 is a flowchart illustrating an angle calibration method according to a second embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a steering engine provided in the third embodiment of the present invention;
fig. 7 is a schematic diagram of a computer program provided in the third embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the technical solutions in the embodiments of the present invention will be clearly described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "comprises" and "comprising," and any variations thereof, in the description and claims of this invention and the above-described drawings are intended to cover non-exclusive inclusions. For example, a process, method, or system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus. Furthermore, the terms "first," "second," and "third," etc. are used to distinguish between different objects and are not used to describe a particular order.
Example one
As shown in fig. 1, the present embodiment provides a steering engine 1, which includes a rudder plate 11 and a rudder plate connector 12, wherein the rudder plate 11 is in a regular polygon shape.
In a specific application, the shape of the rudder wheel can be set to be any regular polygon according to actual needs, such as a regular triangle, a regular quadrangle, a regular pentagon, and the like. The regular polygon may be a rounded regular polygon.
The rudder disk 11 is shown in fig. 1 as an example as a rounded square.
In specific application, when two steering engines are connected and assembled together, a steering wheel of one steering engine is connected with a steering wheel connecting piece of the other steering engine;
when the steering engine is connected with other components with a rudder disk or rudder disk connecting pieces and assembled together, the rudder disk of the steering engine is connected with the rudder disk connecting pieces of the other components, or the rudder disk connecting pieces of the steering engine are connected with the rudder disks of the other components.
In concrete application, the rudder disk and the rudder disk connecting piece of the steering engine can be arranged at any position of the steering engine according to actual needs, the rudder disk and the rudder disk connecting piece can be set to be of any structure, and the rudder disk connecting piece can be connected with each other and spliced together as long as the rudder disk and rudder disk connecting piece are ensured, for example, the rudder disk and rudder disk connecting piece can be of a clamping connection structure, a splicing structure, a coupling connection structure and the like. The steering engine can also be applied to equipment with the steering engine, such as robots, aircrafts, ships and the like. When the steering engine is applied to a robot, the other components may be the processor, receiver, memory, limbs, etc. of the robot. The robot can be any type of robot such as a building block robot, a tracking robot, a sweeping robot, an educational robot and the like. The aircraft may be a drone.
Fig. 1 exemplarily shows that a rudder plate 11 is a rounded regular quadrilateral structure which is convexly arranged on a body of a steering engine 1, and a rudder plate connecting piece 12 is an H-shaped structure which is convexly arranged on the body of the steering engine 1; the rudder disk connecting piece 12 comprises two U-shaped structures which are symmetrically arranged, the center of each U-shaped structure is a U-shaped groove with one open end, the area of the bottom surface of each U-shaped groove is larger than that of the top of each groove, the symmetrical lines of the bottoms of the grooves coincide with the symmetrical lines of the tops of the grooves, each U-shaped structure can be connected with one rudder disk, and one rudder disk connecting piece can be connected with two rudder disks.
In a specific application, when two steering engines shown in fig. 1 are connected with each other, a rudder plate of one steering engine is connected with a rudder plate connecting piece of the other steering engine in a clamping manner.
In specific application, the number of the rudder disks and the rudder disk connectors included in each steering engine can be set according to actual needs, and one rudder disk or one rudder disk connector can be arranged on each surface of each steering engine.
Fig. 1 shows an exemplary steering engine 1 including a rudder disk 11 and two rudder disk connectors 12, where one rudder disk 11 and one rudder disk connector 12 are respectively disposed on two adjacent surfaces of a body of the steering engine 1, and the two rudder disk connectors 12 are respectively disposed on two opposite surfaces of the body of the steering engine 1.
As shown in fig. 1 or 2, in this embodiment, a first angle mark 101 is marked on a body of the steering engine 1, a second angle mark 111 is marked on the rudder plate 11, and when the rudder plate 11 of the steering engine 1 and rudder plate connectors of other steering engines are connected with each other and correctly assembled together, the first angle mark 101 faces the second angle mark 111.
In specific application, the angle mark can be calibrated into any shape according to actual needs, can be a concave or convex structure integrally arranged with the body or the rudder plate of the steering engine, can also be a structure arranged on the body or the rudder plate of the steering engine through glue or a fastening piece, and can also be a pattern printed on the body or the rudder plate of the steering engine.
Fig. 1 and 2 show an example where the first angle mark 101 is an L-shaped slot and the second angle mark 111 is a funnel-shaped groove, and when the first angle mark 101 faces the second angle mark 111, one end of the L-shaped slot faces the end of the funnel-shaped groove.
In this embodiment, the rotation angle range of the steering engine is [0, θ ], and the rotation angle range of the rudder disk relative to the steering engine body is also [0, θ ];
wherein theta is more than 0 and less than or equal to 2 pi.
In one embodiment, θ is 2 π.
As shown in fig. 3, the assembly state of four steering engines is exemplarily shown; when the rudder disk 11 and the rudder disk connecting piece 12 are connected with each other in the first two steering engines, the rudder disk 11 and the rudder disk connecting piece 12 can be correctly assembled together, and when the rudder disk 11 and the rudder disk connecting piece 12 are connected with each other in the other three steering engines, the rudder disk 11 and the rudder disk connecting piece 12 can not be correctly assembled together.
In this embodiment, when the first angle mark is opposite to the second angle mark, the rotation angle of the steering engine is a constant;
wherein 0 is equal to or less than the constant value theta.
In specific application, when the first angle mark is opposite to the second angle mark, the rotation angle of the steering engine is a fixed and unchangeable specific angle (namely constant), and correspondingly, the rotation angle of the steering wheel relative to the steering engine body is also a constant.
As shown in fig. 4, the embodiment further provides an angle calibration method implemented based on the steering engine 1, which can be specifically executed by a controller of the steering engine when running a computer program.
In a Specific Application, the controller may be a Central Processing Unit (CPU), other general purpose controller, a Digital Signal controller (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, and the like. The general controller may be a microcontroller or the controller may be any conventional controller or the like.
As shown in fig. 4, the angle calibration method provided in this embodiment includes:
and S401, acquiring an angle calibration instruction, wherein the angle calibration instruction carries information of an ideal rotation angle of the steering engine.
In specific application, after a rudder disc of the steering engine is mutually connected and electrified with rudder disc connecting pieces of other steering engines or other components according to a standard angle calibration model, an angle calibration instruction is obtained; when the steering engine is applied to the building block robot, the steering engine acquires an angle calibration instruction after a user assembles at least two steering engines into the building block robot according to a standard angle calibration model; or the steering engine acquires an angle calibration instruction after a user assembles at least one steering engine and other components into the building block robot according to the standard angle calibration model.
In this embodiment, the standard angle calibration model means that when the rudder disk of the steering engine is connected with rudder disk connectors of other steering engines or other components, any edge of the rudder disk of the steering engine is perpendicular to the first angle mark.
In a specific application, the steering engine or the building block robot can comprise a key, and an angle calibration command is input by a user through pressing the key and is sent to the controller. The keys may be physical mechanical keys or touch-sensitive virtual keys. The steering engine or the building block robot further comprises a receiver, an angle calibration instruction is sent to the receiver by a user through a user terminal, and the receiver sends the angle calibration instruction to the controller after receiving the angle calibration instruction. The receiver can be a Bluetooth module, a WiFi module, a ZigBee module, an infrared communication module and other wireless communication modules. The user terminal may be a host computer (e.g., a personal computer), a mobile phone, a tablet computer, a notebook computer, a cloud server, a smart band, a personal digital assistant, and the like.
In this embodiment, the ideal rotation angle is: in an ideal state, when the rudder disk and rudder disks of other steering engines are correctly assembled together according to the standard angle calibration model connecting piece, the rotation angle of the steering engines is adjusted.
And S402, determining a calibration angle according to the actual rotation angle of the steering engine, the number of the regular polygon sides and the ideal rotation angle of the steering engine.
In this embodiment, the actual rotation angle is the rotation angle when the steering engine receives the angle calibration instruction, and the actual rotation angle can be read by the controller when receiving the angle calibration instruction. The calibration angle is: in an actual state, when the rudder disk and rudder disks of other steering engines are correctly assembled together according to the standard angle calibration model connecting piece, the rotation angle of the steering engines is adjusted.
And S403, controlling the steering engine to rotate to the calibration angle from the actual rotation angle, and completing calibration of the rotation angle of the steering engine.
In specific application, after the calibration angle is determined, the steering engines are controlled to rotate to the calibration angle, so that the calibration of the rotation angles of the multiple steering engines can be completed, and the second marks of the steering engines are opposite to the first angle marks of other steering engines connected with the second marks.
The embodiment provides an angle calibration method applied to a steering engine, so that the steering engine comprises a steering wheel and a steering wheel connecting piece, and the steering wheel is in a regular polygon shape; the angle calibration instruction is obtained by obtaining the information of the ideal rotation angle of the steering engine, the calibration angle is determined according to the actual rotation angle of the steering engine, the maximum rotation angle, the number of the sides of a regular polygon and the ideal rotation angle, then the steering engine is controlled to rotate to the calibration angle through the actual rotation angle, the calibration of the rotation angle of the steering engine is completed, the steering engine is enabled to automatically rotate to the correct angle, the steering engine can be freely assembled at any angle between two steering engines and other components with a steering wheel or a steering wheel connecting piece, the assembling process is simplified, and the assembling efficiency of the steering engine is improved.
Example two
As shown in fig. 5, in one embodiment of the present invention, step S402 includes:
and S501, acquiring an ideal difference value between the actual rotation angle of the steering engine and the ideal rotation angle of the steering engine according to the maximum rotation angle of the steering engine and the number of the sides of the regular polygon.
In this embodiment, the ideal difference is an angle difference between an actual rotation angle and an ideal rotation angle of the steering engine when the rudder disk and rudder disks of other steering engines are freely spliced together according to a standard angle calibration model connecting piece in an ideal state.
And S502, acquiring an actual difference value between the actual rotating angle of the steering engine and the ideal rotating angle of the steering engine according to the actual rotating angle of the steering engine and the ideal rotating angle of the steering engine.
In this embodiment, the actual difference is an angle difference between an actual rotation angle and an ideal rotation angle of the steering engine when the rudder disk and rudder disks of other steering engines are freely spliced together according to the standard angle calibration model connecting piece in an actual state.
In specific application, because the rudder disk and rudder disks of other steering engines are difficult to freely assemble together according to the standard angle calibration model connecting piece, the rudder disk and rudder disks of other steering engines are completely consistent with a standard angle calibration model, and usually have a certain deviation from an ideal state, and the deviation is the deviation between an actual difference value and an ideal difference value. If directly rotate the steering wheel to ideal turned angle by actual turned angle, can't eliminate actual deviation, the rudder disk that makes after the calibration can't correctly piece together with the rudder disk of other steering wheels according to standard angle calibration model connecting piece.
Step S503, obtaining the deviation between the actual difference value and the ideal difference value according to the actual difference value and the ideal difference value;
and S504, when the absolute value of the deviation is minimum, determining a calibration angle according to the actual rotation angle of the steering engine and the ideal difference value.
In this embodiment, the calculation formula of the ideal difference value is: e ═ i × (2 pi/N);
the calculation formula of the actual difference value is as follows: e ═ i × (2 pi/N) + E ═ a-B;
the calculation formula of the deviation is as follows: e-a-i x (2 pi/N) -B;
the calculation formula of the absolute value of the deviation is as follows: e ═ a-i × (2 pi/N) -B |;
the calculation formula of the calibration angle is as follows: a' ═ a-i × (2 pi/N);
wherein E represents most ideal difference values, E 'represents the actual difference value, E represents the deviation, E' represents the absolute value of the deviation, A 'represents the calibration angle, A represents the actual rotation angle of the steering engine, N represents the number of sides of the regular polygon, B represents the ideal rotation angle, i belongs to [ - (N-1), N-1 ] and the value condition of i is that E' is minimum, N is larger than or equal to 3 and N is an integer.
In specific application, i enabling the absolute value of the deviation to be minimum is determined, a calibration angle is calculated according to the determined i, the steering engine is rotated to the calibration angle from the actual rotation angle, the rotation angle of the steering engine is calibrated, and the deviation is eliminated.
This embodiment is through the actual turned angle according to the steering wheel, regular polygon's limit number and ideal turned angle, confirm calibration angle, rotate the steering wheel to calibration angle by actual turned angle, accomplish the calibration to the turned angle of steering wheel, eliminated and be difficult to make the steering wheel of steering wheel and other steering wheels freely piece together according to standard angle calibration model connecting piece, the uniformity deviation of introducing, whole calibration process can accomplish automatically, calibration efficiency and precision are high, when the steering wheel is applied to building blocks robot, the efficiency of assembling and the uniformity that has effectively improved building blocks robot are good.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
EXAMPLE III
As shown in fig. 6, based on the first embodiment, the present embodiment provides a steering engine 1, which includes a rudder disk 11 (not shown), a rudder disk connector 12 (not shown), a memory 13, a controller 14, and a computer program 131, such as an angle calibration program, stored in the memory 13 and operable on the controller 14. The controller 14 implements the steps of the angle calibration method in the first embodiment or the second embodiment, such as steps S401 to S403 shown in fig. 4, when executing the computer program 131.
Illustratively, the computer program 131 may be partitioned into one or more modules, which are stored in the memory 13 and executed by the controller 14 to accomplish the present invention. One or more of the modules may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 131 in the steering engine 1.
As shown in fig. 7, in one embodiment, the computer program 131 may be divided into an acquisition module 1311, a determination module 1312, and a control module 1313, each of which functions as follows:
an obtaining module 1311, configured to obtain an angle calibration instruction, where the angle calibration instruction carries information of an ideal rotation angle of the steering engine;
a determining module 1312, configured to determine a calibration angle according to the actual rotation angle of the steering engine, the number of sides of the regular polygon, and the ideal rotation angle of the steering engine;
and the control module 1313 is configured to control the steering engine to rotate to the calibration angle from the actual rotation angle, so as to complete calibration of the rotation angle of the steering engine.
In one embodiment, the determining module 1312 may be divided into a first obtaining unit, a second obtaining unit, a third obtaining unit and a determining unit, and each unit has the following specific functions:
the first obtaining unit is used for obtaining an ideal difference value between the actual rotation angle of the steering engine and the ideal rotation angle of the steering engine according to the number of the sides of the regular polygon;
the second acquisition unit is used for acquiring an actual difference value between the actual rotating angle of the steering engine and the ideal rotating angle of the steering engine according to the actual rotating angle of the steering engine and the ideal rotating angle of the steering engine;
a third obtaining unit, configured to obtain a deviation between the actual difference value and the ideal difference value according to the actual difference value and the ideal difference value;
and the determining unit is used for determining a calibration angle according to the actual rotation angle of the steering engine and the ideal difference value when the absolute value of the deviation is minimum.
A plurality of steering wheel can be assembled and constitute building blocks robot. The steering engine can comprise, but is not limited to, a steering wheel connector, a memory, a controller, a motor, an adjustable potentiometer, a speed change gear set and the like. Those skilled in the art will appreciate that fig. 6 is merely an example of a steering engine and is not intended to be limiting and may include more or fewer components than those shown, or some combination of components, or different components, for example, a steering engine may also include input and output devices, network access devices, buses, etc.
In particular applications, the controller may be a central processing unit, but may also be other general purpose controllers, digital signal controllers, application specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. The general controller may be a microcontroller or the controller may be any conventional controller or the like.
The memory may be an internal storage unit of the steering engine, such as a hard disk or a memory of the steering engine. The memory may also be an external storage device of the steering engine, such as a plug-in hard disk provided on the steering engine, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory may also include both an internal memory unit of the steering engine and an external memory device. The memory is used for storing computer programs and other programs and data required by the steering engine. The memory may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided herein, it should be understood that the disclosed device/steering engine and method may be implemented in other ways. For example, the above-described device/steering engine embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated module, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a controller, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, etc. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. The angle calibration method is characterized by being applied to a steering engine, wherein the steering engine comprises a steering wheel and a steering wheel connecting piece, and the steering wheel is in a regular polygon shape;
the angle calibration method comprises the following steps:
acquiring an angle calibration instruction, wherein the angle calibration instruction carries information of an ideal rotation angle of the steering engine;
determining a calibration angle according to the actual rotation angle of the steering engine, the number of the sides of the regular polygon and the ideal rotation angle of the steering engine;
and controlling the steering engine to rotate to the calibration angle from the actual rotation angle to finish the calibration of the rotation angle of the steering engine.
2. The angle calibration method of claim 1, wherein determining the calibration angle according to the actual rotation angle of the steering engine, the number of sides of the regular polygon, and the ideal rotation angle of the steering engine comprises:
acquiring an ideal difference value between the actual rotation angle of the steering engine and the ideal rotation angle of the steering engine according to the number of the sides of the regular polygon;
acquiring an actual difference value between the actual rotation angle of the steering engine and the ideal rotation angle of the steering engine according to the actual rotation angle of the steering engine and the ideal rotation angle of the steering engine;
acquiring a deviation between the actual difference value and the ideal difference value according to the actual difference value and the ideal difference value;
and when the absolute value of the deviation is minimum, determining a calibration angle according to the actual rotation angle of the steering engine and the ideal difference value.
3. The angle calibration method according to claim 2, wherein the ideal difference value is calculated by the formula: e ═ i × (2 pi/N);
the calculation formula of the actual difference value is as follows: e ═ i × (2 pi/N) + E ═ a-B;
the calculation formula of the deviation is as follows: e-a-i x (2 pi/N) -B;
the calculation formula of the absolute value of the deviation is as follows: e ═ a-i × (2 pi/N) -B |;
the calculation formula of the calibration angle is as follows: a' ═ a-i × (2 pi/N);
wherein E represents most ideal difference values, E 'represents the actual difference value, E represents the deviation, E' represents the absolute value of the deviation, A 'represents the calibration angle, A represents the actual rotation angle of the steering engine, N represents the number of sides of the regular polygon, B represents the ideal rotation angle, i belongs to [ - (N-1), N-1 ] and the value condition of i is that E' is minimum, N is larger than or equal to 3 and N is an integer.
4. The angle calibration method according to any one of claims 1 to 3, wherein a body of the steering engine is calibrated with a first angle mark, and the rudder disc is calibrated with a second angle mark;
and when the calibration of the rotation angle of the steering engine is finished, the first angle mark is over against the second angle mark.
5. The angle calibration method of claim 4, wherein when the first angle mark is opposite to the second angle mark, the rotation angle of the steering engine is a constant;
wherein the constant is more than or equal to 0 and less than or equal to 2 pi.
6. The angle calibration method according to any one of claims 1 to 3, wherein the regular polygon comprises a rounded regular polygon.
7. A steering engine is characterized by comprising a steering wheel, a steering wheel connecting piece, a memory, a controller and a computer program which is stored in the memory and can be run on the controller, wherein the steering wheel is in a regular polygon shape;
the controller, when executing the computer program, realizes the steps of the angle calibration method according to any one of claims 1 to 6.
8. A building block robot comprising at least one steering engine according to claim 7;
when the two steering engines are connected with each other, the steering wheel of one steering engine is connected with the steering wheel connecting piece of the other steering engine;
when the steering engine is connected with the rudder disc or other parts of the rudder disc connecting piece, the rudder disc of the steering engine is connected with the rudder disc connecting piece of the other parts, or the rudder disc connecting piece of the steering engine is connected with the rudder disc of the other parts.
9. The building block robot of claim 8, wherein the steering engine comprises a receiver or the building block robot further comprises a receiver in communicative connection with the steering engine;
the receiver is used for being in communication connection with a user terminal so as to receive the angle calibration instruction sent by the user terminal.
10. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a controller, carries out the steps of the angle calibration method according to any one of claims 1 to 6.
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