CN111122047A - Self-calibration method for wheel diameter of wheeled robot - Google Patents
Self-calibration method for wheel diameter of wheeled robot Download PDFInfo
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- CN111122047A CN111122047A CN201911364270.XA CN201911364270A CN111122047A CN 111122047 A CN111122047 A CN 111122047A CN 201911364270 A CN201911364270 A CN 201911364270A CN 111122047 A CN111122047 A CN 111122047A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L17/00—Devices or apparatus for measuring tyre pressure or the pressure in other inflated bodies
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/10—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring diameters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
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Abstract
The invention discloses a self-calibration method for the wheel diameter of a wheeled robot, which specifically comprises the following steps: step 1: equipment operation preparation work, step 2: monitoring wheel diameter change, and step 3: wheel diameter change alarm, step 4: self-correcting the wheel diameter, and step 5: guide recommendation evaluation, step 6: the invention relates to the field of robotics, and more particularly to printing of relevant reports. According to the self-calibration method for the wheel diameter of the wheeled robot, tires in the running process of the robot are monitored in a balanced mode, once the inner pressure and the outer pressure of the tires of the robot are found to be different, the tires in related quantity are adjusted in an inflation and deflation mode through the tire inflation and deflation regulation and control module, the abrasion state of the tires can be intelligently judged to be severe or mild, corresponding timely and effective measures can be taken according to the judgment result, the wheel diameter can be timely triggered to alarm a horn once the wheel diameter is greatly changed through the wheel diameter change alarm module, and the alarm module can timely store an alarm log.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a wheel diameter self-calibration method for a wheeled robot.
Background
A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work. Robots are the product of advanced integrated control theory, mechatronics, computers, materials, and bionics. Has important application in the fields of industry, medicine, agriculture, construction industry and even military affairs. Robots are divided into two broad categories, namely industrial robots and special robots. Industrial robots are multi-joint robots or multi-degree-of-freedom robots for industrial applications. And the special robot is various advanced robots for non-manufacturing industry and serving human beings, in addition to the industrial robot, including: service robots, underwater robots, entertainment robots, military robots, agricultural robots, robotized machines, and the like.
At present, a wheel type inspection robot of a transformer substation mostly adopts a four-wheel differential driving mode, tire abrasion is serious, in addition, tire pressure of an inflation tire can also influence wheel diameter, change of the diameter of the tire can cause inaccuracy of odometer data, and normal use of the robot is seriously influenced, so that a wheel diameter self-calibration method of the wheel type robot is urgently needed.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a self-calibration method for the wheel diameter of a wheeled robot, which solves the problems that the conventional wheeled inspection robot of a transformer substation mostly adopts a four-wheel differential driving mode, the abrasion of tires is serious, in addition, the wheel diameter can be influenced by the tire pressure of an inflatable tire, the change of the diameter of the tire can cause the inaccuracy of odometer data, and the normal use of the robot is seriously influenced.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: wheel type machine
Man-wheel
The self-calibration method of the diameter specifically comprises the following steps:
step 1: equipment operation preparation work: various working modules in the system are powered by a power supply module to complete module self-checking, and then enter a standby preparation state;
step 2: monitoring wheel diameter change: the robot stable operation monitoring module in the system monitors the operation condition of the robot at any time, monitors the tire wear state through the tire wear laser monitoring module, monitors the tire internal pressure change through the tire pressure change monitoring module, compares the monitoring value through the wheel diameter initial value comparison module once the change is found in the monitoring, generates a log of error related data and stores the log through the difference value related log storage module;
and step 3: wheel diameter change alarm: the online monitoring module for wheel diameter change in the system receives the current standard data in the network and the wheel diameter related database, and then analyzes whether the received data is wrong data through the alarm signal error comparison module, once the wheel diameter change is determined not to be mistaken, the alarm horn is started through the wheel diameter alarm starting module, and the alarm process is stored through the wheel diameter alarm log storage module;
and 4, step 4: self-correction of wheel diameter: the system carries out balance monitoring on tires in the running process of the robot through a tire balance monitoring module, once the inner pressure and the outer pressure of the tires of the robot are different, the tires of related quantity are inflated and deflated through a tire inflation and deflation regulation and control module, the regulated and controlled tire states are sent to a wheel diameter comparison monitoring module for front-back comparison of tire data, a tire wear analysis module analyzes whether the tire wear states are heavy or light, if the tire wear states are heavy, an alarm horn is started through a tire replacement alarm module, and if the tire wear states are light, inflation compensation can be carried out on the tires which are light in wear through the tire inflation and deflation regulation and control module;
and 5: guiding and recommending evaluation: the system analyzes the monitored wheel diameter change time rule through a wheel diameter change time analysis module, analyzes the monitored wheel diameter change place rule through a wheel diameter change place analysis module, and analyzes the working state (including loading and loading) of the robot when the wheel diameter changes through a wheel diameter change working state analysis module;
step 6: printing a related report: and printing the suggestion generated by the wheel diameter self-calibration suggestion module through a report printing module.
The method comprises a self-calibration system of wheel diameter of a wheeled robot, comprising a correction control management module, wherein the output end of the correction control management module is electrically connected with the input ends of a display unit, a report printing module and an alarm horn, the input end of the correction control management module is electrically connected with the output end of a power supply module, the correction control management module is bidirectionally connected with a wheel diameter change monitoring module, a wheel diameter change alarm module, a wheel diameter self-calibration module and a guidance suggestion module, the correction control management module is bidirectionally connected with a wheel diameter related database, the wheel diameter change monitoring module comprises a robot smooth running monitoring module, a tire wear laser monitoring module, a tire pressure change monitoring module, a wheel diameter initial value comparison module and a difference value related log storage module, the output end of the robot smooth running monitoring module is electrically connected with the input end of the tire wear laser monitoring module, the output end of the tire wear laser monitoring module is electrically connected with the input end of the tire pressure change monitoring module, the output end of the tire pressure change monitoring module is electrically connected with the input end of the wheel diameter initial value comparison module, the output end of the wheel diameter initial value comparison module is electrically connected with the input end of the difference value related log storage module, and the wheel diameter initial value comparison module is in bidirectional connection with the wheel diameter related database
Preferably, the wheel diameter change alarm module comprises a wheel diameter change networking monitoring module, an alarm signal error comparison module, a wheel diameter alarm starting module and a wheel diameter alarm log storage module.
Preferably, the output of wheel footpath change networking monitoring module and the input electric connection of alarm signal error contrast module, the output of alarm signal error contrast module and the input electric connection of wheel footpath warning start module, the output of wheel footpath warning start module and the input electric connection of wheel footpath warning log save module, wheel footpath change networking monitoring module realizes both way junction with the relevant database in wheel footpath, the output of wheel footpath warning start module and the input electric connection of warning loudspeaker.
Preferably, the wheel diameter self-correction module comprises a tire balance monitoring module, a tire inflation and deflation regulation and control module, a wheel diameter comparison monitoring module, a tire wear analysis module, a tire change alarm module and a tire adjustment log storage module.
Preferably, the output end of the tire balance monitoring module is electrically connected with the input end of the tire inflation and deflation control module, and the output end of the tire inflation and deflation control module is electrically connected with the input end of the wheel diameter comparison monitoring module.
Preferably, the output of the tire wear analysis module is electrically connected with the input of the tire balance monitoring module, the output of the tire balance monitoring module is electrically connected with the input of the tire adjustment log storage module, and the output of the tire wear analysis module is electrically connected with the input of the tire changing alarm module.
Preferably, the guidance suggestion module comprises a wheel diameter change time analysis module, a wheel diameter change place analysis module, a wheel diameter change working state analysis module and a wheel diameter self-calibration suggestion module, and an output end of the wheel diameter change time analysis module is electrically connected with an input end of the wheel diameter change place analysis module.
Preferably, the output end of the wheel diameter change place analysis module is electrically connected with the input end of the wheel diameter change working state analysis module, the output end of the wheel diameter change working state analysis module is electrically connected with the input end of the wheel diameter self-calibration suggestion module, and the output end of the wheel diameter self-calibration suggestion module is electrically connected with the input end of the report printing module.
(III) advantageous effects
The invention provides a self-calibration method for the wheel diameter of a wheeled robot. Compared with the prior art, the method has the following beneficial effects:
(1) the wheel diameter self-calibration method of the wheeled robot comprises the steps that the output end of a tire balance monitoring module is electrically connected with the input end of a tire inflation and deflation regulating and controlling module, the output end of the tire inflation and deflation regulating and controlling module is electrically connected with the input end of a wheel diameter comparison monitoring module, the output end of a tire wear analyzing module is electrically connected with the input end of the tire balance monitoring module, the output end of the tire balance monitoring module is electrically connected with the input end of a tire adjustment log storage module, the output end of the tire wear analyzing module is electrically connected with the input end of a tire changing alarm module, tires in the running process of the robot are subjected to balance monitoring, once the internal pressure and the external pressure of the tires of the robot are different, the tire inflation and deflation regulating and controlling module is used for carrying out inflation and deflation regulation on the related number of tires, and, corresponding timely and effective measures are taken according to the judgment result, and the wheel diameter can be timely triggered to alarm the loudspeaker once the wheel diameter is greatly changed through the wheel diameter change alarm module, and the alarm module can timely store the alarm log.
(2) The wheel diameter self-calibration method of the wheeled robot comprises the steps that the output end of a robot stable operation monitoring module is electrically connected with the input end of a tire wear laser monitoring module, the output end of the tire wear laser monitoring module is electrically connected with the input end of a tire pressure change monitoring module, the output end of the tire pressure change monitoring module is electrically connected with the input end of a wheel diameter initial value comparison module, the output end of the wheel diameter initial value comparison module is electrically connected with the input end of a difference value related log storage module, the wheel diameter initial value comparison module is in bidirectional connection with a wheel diameter related database, and the running condition of the robot is monitored in the system at any time, and through monitoring the tire wear state and monitoring the change of the tire internal pressure, once the change is found in the monitoring, monitoring values are compared, and then data related to errors are generated into a log and stored.
(3) The output end of the diameter change networking monitoring module is electrically connected with the input end of an alarm signal error comparison module, the output end of the alarm signal error comparison module is electrically connected with the input end of a wheel diameter alarm starting module, the output end of the wheel diameter alarm starting module is electrically connected with the input end of a wheel diameter alarm log storage module, the wheel diameter change networking monitoring module is bidirectionally connected with a wheel diameter related database, the output end of the wheel diameter alarm starting module is electrically connected with the input end of an alarm horn, a system receives the current standard data in the network and the database, the system usually has small adjustment because of the standard data, then analyzes whether the received data is wrong data, and once the wheel diameter change is determined not to be mistaken alarm, the alarm horn is immediately started, and the alarm process is simultaneously stored, and the whole equipment is simpler and easy to operate.
Drawings
FIG. 1 is a schematic block diagram of the system of the present invention;
FIG. 2 is a schematic block diagram of a system of a wheel diameter change monitoring module according to the present invention;
FIG. 3 is a schematic block diagram of a system for a wheel diameter change warning module according to the present invention;
FIG. 4 is a schematic block diagram of a system for a wheel diameter self-calibration module according to the present invention;
FIG. 5 is a system schematic block diagram of a guidance and suggestion module of the present invention.
In the figure, 1, a correction control management module; 2. a display unit; 3. a report printing module; 4. an alarm horn; 5. a power supply module; 6. a wheel diameter change monitoring module; 61. a robot stable operation monitoring module; 62. a tire wear laser monitoring module; 63. a tire pressure change monitoring module; 64. a wheel diameter initial value comparison module; 65. a difference value related log storage module; 7. a wheel diameter change alarm module; 71. a wheel diameter change networking monitoring module; 72. an alarm signal error comparison module; 73. a wheel diameter alarm starting module; 74. a wheel diameter alarm log storage module; 8. a wheel diameter self-correction module; 81. a tire balance monitoring module; 82. a tire inflation and deflation regulation module; 83. a wheel diameter comparison monitoring module; 84. a tire wear analysis module; 85. a tyre replacement alarm module; 86. a tire adjustment log storage module; 9. a guidance suggestion module; 91. a wheel diameter change time analysis module; 92. a wheel diameter change place analysis module; 93. the wheel diameter change working state analysis module; 94. a wheel diameter self-calibration suggestion module; 10. and a wheel diameter correlation database.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
Referring to fig. 1-5, an embodiment of the present invention provides a technical solution: wheel diameter of wheel type robot is from
The calibration method specifically comprises the following steps:
step 1: equipment operation preparation work: various working modules in the system are powered by a power supply module to complete module self-checking, and then enter a standby preparation state;
step 2: monitoring wheel diameter change: the robot stable operation monitoring module in the system monitors the operation condition of the robot at any time, monitors the tire wear state through the tire wear laser monitoring module, monitors the tire internal pressure change through the tire pressure change monitoring module, compares the monitoring value through the wheel diameter initial value comparison module once the change is found in the monitoring, generates a log of error related data and stores the log through the difference value related log storage module;
and step 3: wheel diameter change alarm: the online monitoring module for wheel diameter change in the system receives the current standard data in the network and the wheel diameter related database, and then analyzes whether the received data is wrong data through the alarm signal error comparison module, once the wheel diameter change is determined not to be mistaken, the alarm horn is started through the wheel diameter alarm starting module, and the alarm process is stored through the wheel diameter alarm log storage module;
and 4, step 4: self-correction of wheel diameter: the system carries out balance monitoring on tires in the running process of the robot through a tire balance monitoring module, once the inner pressure and the outer pressure of the tires of the robot are different, the tires of related quantity are inflated and deflated through a tire inflation and deflation regulation and control module, the regulated and controlled tire states are sent to a wheel diameter comparison monitoring module for front-back comparison of tire data, a tire wear analysis module analyzes whether the tire wear states are heavy or light, if the tire wear states are heavy, an alarm horn is started through a tire replacement alarm module, and if the tire wear states are light, inflation compensation can be carried out on the tires which are light in wear through the tire inflation and deflation regulation and control module;
and 5: guiding and recommending evaluation: the system analyzes the monitored wheel diameter change time rule through a wheel diameter change time analysis module, analyzes the monitored wheel diameter change place rule through a wheel diameter change place analysis module, and analyzes the working state (including loading and loading) of the robot when the wheel diameter changes through a wheel diameter change working state analysis module;
step 6: printing a related report: and printing the suggestion generated by the wheel diameter self-calibration suggestion module through a report printing module.
The method comprises a self-calibration system of wheel diameter of a wheeled robot, comprising a correction control management module 1, wherein the output end of the correction control management module 1 is electrically connected with the input ends of a display unit 2, a report printing module 3 and an alarm loudspeaker 4, the input end of the correction control management module 1 is electrically connected with the output end of a power supply module 5, the correction control management module 1 is bidirectionally connected with a wheel diameter change monitoring module 6, a wheel diameter change alarm module 7, a wheel diameter self-correction module 8 and a guidance suggestion module 9, the correction control management module 1 is bidirectionally connected with a wheel diameter related database 10, the wheel diameter change monitoring module 6 comprises a robot smooth running monitoring module 61, a tire wear laser monitoring module 62, a tire pressure change monitoring module 63, a wheel diameter initial value comparison module 64 and a difference value related log storage module 65, the output end of the robot smooth running monitoring module 61 is electrically connected with the input end of the tire wear laser monitoring module 62, the output end of the tire wear laser monitoring module 62 is electrically connected with the input end of the tire pressure change monitoring module 63, the output end of the tire pressure change monitoring module 63 is electrically connected with the input end of the wheel diameter initial value comparison module 64, the output end of the wheel diameter initial value comparison module 64 is electrically connected with the input end of the difference value related log storage module 65, the wheel diameter initial value comparison module 64 is in bidirectional connection with the wheel diameter related database 10, the wheel diameter change alarm module 7 comprises a wheel diameter change networking monitoring module 71, an alarm signal error comparison module 72, a wheel diameter alarm starting module 73 and a wheel diameter alarm log storage module 74, the output end of the wheel diameter change networking monitoring module 71 is electrically connected with the input end of the alarm signal error comparison module 72, and the output end of the alarm signal error comparison module 72 is electrically connected with the input end of the wheel diameter alarm starting module 73, the output end of the wheel diameter alarm starting module 73 is electrically connected with the input end of the wheel diameter alarm log storage module 74, the wheel diameter change networking monitoring module 71 is in bidirectional connection with the wheel diameter related database 10, the output end of the wheel diameter alarm starting module 73 is electrically connected with the input end of the alarm horn 4, the wheel diameter self-correction module 8 comprises a tire balance monitoring module 81, a tire inflation and deflation regulating and controlling module 82, a wheel diameter comparison monitoring module 83, a tire wear analysis module 84, a tire change alarm module 85 and a tire adjustment log storage module 86, the output end of the tire balance monitoring module 81 is electrically connected with the input end of the tire inflation and deflation regulating and controlling module 82, the output end of the tire inflation and deflation regulating and controlling module 82 is electrically connected with the input end of the wheel diameter comparison monitoring module 83, and the output end of the tire wear analysis module 84 is electrically connected with the input end of the tire balance, the output end of the tire balance monitoring module 81 is electrically connected with the input end of the tire adjustment log storage module 86, the output end of the tire wear analysis module 84 is electrically connected with the input end of the tire changing alarm module 85, the guidance and suggestion module 9 comprises a wheel diameter change time analysis module 91 and a wheel diameter change place analysis module 92, the wheel diameter change working state analysis module 93 and the wheel diameter self-calibration suggestion module 94 are arranged, wherein the output end of the wheel diameter change time analysis module 91 is electrically connected with the input end of the wheel diameter change place analysis module 92, the output end of the wheel diameter change place analysis module 92 is electrically connected with the input end of the wheel diameter change working state analysis module 93, the output end of the wheel diameter change working state analysis module 93 is electrically connected with the input end of the wheel diameter self-calibration suggestion module 94, and the output end of the wheel diameter self-calibration suggestion module 94 is electrically connected with the input end of the report printing module 3.
By carrying out balance monitoring on tires in the running process of the robot, carrying out inflation and deflation adjustment on related quantity of tires through a tire inflation and deflation regulation module 82 once the internal and external pressures of the tires of the robot are different, intelligently judging whether the tire wear state is severe or mild, taking corresponding timely and effective measures according to the judgment result, monitoring the running condition of the robot constantly in the system, monitoring the tire wear state and monitoring the tire internal pressure change, comparing the monitoring values once the change is found in the monitoring, generating a log of error related data and storing the log, receiving the current standard data in a network and a database by the system, frequently carrying out micro-adjustment on the standard data, analyzing whether the received data is error data, immediately starting an alarm horn 4 once the wheel diameter change is determined not to be mistaken report, meanwhile, the alarm process is stored, and the whole equipment is simple and easy to operate.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. A self-calibration method for the wheel diameter of a wheeled robot is characterized by comprising the following steps: the method specifically comprises the following steps:
step 1: equipment operation preparation work: various working modules in the system are powered by a power supply module to complete module self-checking, and then enter a standby preparation state;
step 2: monitoring wheel diameter change: the robot stable operation monitoring module in the system monitors the operation condition of the robot at any time, monitors the tire wear state through the tire wear laser monitoring module, monitors the tire internal pressure change through the tire pressure change monitoring module, compares the monitoring value through the wheel diameter initial value comparison module once the change is found in the monitoring, generates a log of error related data and stores the log through the difference value related log storage module;
and step 3: wheel diameter change alarm: the online monitoring module for wheel diameter change in the system receives the current standard data in the network and the wheel diameter related database, and then analyzes whether the received data is wrong data through the alarm signal error comparison module, once the wheel diameter change is determined not to be mistaken, the alarm horn is started through the wheel diameter alarm starting module, and the alarm process is stored through the wheel diameter alarm log storage module;
and 4, step 4: self-correction of wheel diameter: the system carries out balance monitoring on tires in the running process of the robot through a tire balance monitoring module, once the inner pressure and the outer pressure of the tires of the robot are different, the tires of related quantity are inflated and deflated through a tire inflation and deflation regulation and control module, the regulated and controlled tire states are sent to a wheel diameter comparison monitoring module for front-back comparison of tire data, a tire wear analysis module analyzes whether the tire wear states are heavy or light, if the tire wear states are heavy, an alarm horn is started through a tire replacement alarm module, and if the tire wear states are light, inflation compensation can be carried out on the tires which are light in wear through the tire inflation and deflation regulation and control module;
and 5: guiding and recommending evaluation: the system analyzes the monitored wheel diameter change time rule through a wheel diameter change time analysis module, analyzes the monitored wheel diameter change place rule through a wheel diameter change place analysis module, and analyzes the working state (including loading and loading) of the robot when the wheel diameter changes through a wheel diameter change working state analysis module;
step 6: printing a related report: and printing the suggestion generated by the wheel diameter self-calibration suggestion module through a report printing module.
2. A self-calibration system for wheel diameter of wheeled robot comprises a correction control management module (1), and is characterized in that: the output end of the correction control management module (1) is electrically connected with the input ends of the display unit (2), the report printing module (3) and the alarm loudspeaker (4), the input end of the correction control management module (1) is electrically connected with the output end of the power supply module (5), the correction control management module (1) is bidirectionally connected with the wheel diameter change monitoring module (6), the wheel diameter change alarm module (7), the wheel diameter self-correction module (8) and the guidance suggestion module (9), the correction control management module (1) is bidirectionally connected with the wheel diameter related database (10), the wheel diameter change monitoring module (6) comprises a robot smooth operation monitoring module (61), a tire wear laser monitoring module (62), a tire pressure change monitoring module (63), a wheel diameter initial value comparison module (64) and a difference value related log storage module (65), the robot smooth operation monitoring module's (61) output and the input electric connection of tire wear laser monitoring module (62), the output of tire wear laser monitoring module (62) and the input electric connection of tire pressure change monitoring module (63), the output of tire pressure change monitoring module (63) and the input electric connection of wheel footpath initial value comparison module (64), the output of wheel footpath initial value comparison module (64) and the input electric connection of the relevant log save module of difference (65), wheel footpath initial value comparison module (64) and the relevant database of wheel footpath (10) realize both way junction.
3. A wheeled robot wheel diameter self calibration system according to claim 2, wherein: the wheel diameter change alarm module (7) comprises a wheel diameter change networking monitoring module (71), an alarm signal error comparison module (72), a wheel diameter alarm starting module (73) and a wheel diameter alarm log storage module (74).
4. A wheeled robot wheel diameter self calibration system according to claim 3, wherein: the output of wheel footpath change networking monitoring module (71) and the input electric connection of alarm signal error contrast module (72), the output of alarm signal error contrast module (72) and the input electric connection of wheel footpath warning start module (73), the output of wheel footpath warning start module (73) and the input electric connection of wheel footpath warning log save module (74), wheel footpath change networking monitoring module (71) and wheel footpath relevant database (10) realize both way junction, the output of wheel footpath warning start module (73) and the input electric connection of warning loudspeaker (4).
5. A wheeled robot wheel diameter self calibration system according to claim 2, wherein: the wheel diameter self-correction module (8) comprises a tire balance monitoring module (81), a tire inflation and deflation regulation and control module (82), a wheel diameter comparison monitoring module (83), a tire wear analysis module (84), a tire changing alarm module (85) and a tire adjustment log storage module (86).
6. A wheeled robot wheel diameter self calibration system according to claim 5, wherein: the output end of the tire balance monitoring module (81) is electrically connected with the input end of the tire inflation and deflation regulation and control module (82), and the output end of the tire inflation and deflation regulation and control module (82) is electrically connected with the input end of the wheel diameter comparison monitoring module (83).
7. A wheeled robot wheel diameter self calibration system according to claim 5, wherein: the output end of the tire wear analysis module (84) is electrically connected with the input end of the tire balance monitoring module (81), the output end of the tire balance monitoring module (81) is electrically connected with the input end of the tire adjustment log storage module (86), and the output end of the tire wear analysis module (84) is electrically connected with the input end of the tire changing alarm module (85).
8. A wheeled robot wheel diameter self calibration system according to claim 2, wherein: the guidance suggestion module (9) comprises a wheel diameter change time analysis module (91), a wheel diameter change place analysis module (92), a wheel diameter change working state analysis module (93) and a wheel diameter self-calibration suggestion module (94), and the output end of the wheel diameter change time analysis module (91) is electrically connected with the input end of the wheel diameter change place analysis module (92).
9. The wheeled robot wheel diameter self-calibration system according to claim 8, wherein: the output end of the wheel diameter change place analysis module (92) is electrically connected with the input end of the wheel diameter change working state analysis module (93), the output end of the wheel diameter change working state analysis module (93) is electrically connected with the input end of the wheel diameter self-calibration suggestion module (94), and the output end of the wheel diameter self-calibration suggestion module (94) is electrically connected with the input end of the report printing module (3).
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| CN201911364270.XA CN111122047B (en) | 2019-12-25 | 2019-12-25 | Self-calibration method for wheel diameter of wheeled robot |
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| CN201911364270.XA CN111122047B (en) | 2019-12-25 | 2019-12-25 | Self-calibration method for wheel diameter of wheeled robot |
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| CN111122047A true CN111122047A (en) | 2020-05-08 |
| CN111122047B CN111122047B (en) | 2022-05-24 |
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| CN201911364270.XA Active CN111122047B (en) | 2019-12-25 | 2019-12-25 | Self-calibration method for wheel diameter of wheeled robot |
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Denomination of invention: A self calibration method for wheel path of wheeled robots Granted publication date: 20220524 Pledgee: Nanjing Bank Co.,Ltd. Nanjing North Branch Pledgor: NANJING YOUKUO ELECTRICAL TECHNOLOGY CO.,LTD. Registration number: Y2024980002302 |