CN113970310B - Robot chassis wheelbase calibration method and system - Google Patents
Robot chassis wheelbase calibration method and system Download PDFInfo
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- CN113970310B CN113970310B CN202111408586.1A CN202111408586A CN113970310B CN 113970310 B CN113970310 B CN 113970310B CN 202111408586 A CN202111408586 A CN 202111408586A CN 113970310 B CN113970310 B CN 113970310B
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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
- G01B21/16—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 distance of clearance between spaced objects
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a method and a system for calibrating the wheelbase of a robot chassis, wherein the calibrating method comprises the following steps: driving the left wheel or the right wheel to rotate so as to drive the robot to rotate; acquiring the moving distance of the left wheel or the right wheel, and acquiring the rotating angle of the robot; and calculating the axle distance of the calibration chassis according to the moving distance of the left wheel or the right wheel and the rotating angle of the robot. According to the technical scheme, the robot can obtain the calibrated chassis wheelbase of the robot according to the moving distance of the left wheel and the right wheel and the rotating angle of the robot, and the inaccurate wheelbase is replaced by the robot, so that the accurate wheelbase is obtained in real time, and the advancing stability of the elevator robot is improved. Moreover, the speed of the base plate wheelbase calibration obtained by the technical scheme is far faster than that of the manual wheelbase calibration, so that the trouble of manual wheelbase calibration can be effectively solved, and the labor productivity is liberated.
Description
Technical Field
The invention relates to the technical field of wheelbase calibration, in particular to a method and a system for calibrating the wheelbase of a robot chassis.
Background
Errors generated by the robot production process can correspondingly cause errors in the chassis wheelbase of the robot, the errors in the wheelbase can cause errors in the angular speed (rotation angle) fed back by the wheels of the robot, and the errors in the wheelbase can influence the position of the center of gravity of the robot, so that the advancing stability of the robot is influenced; so that the robot traveling ability is affected.
The calibration of the wheelbase of the existing robot chassis is detected by means of a standard measuring instrument (such as a vernier caliper), and then the calibrated wheelbase value is input to the robot, so that the calibration mode is inefficient.
Disclosure of Invention
Therefore, a method for calibrating the wheelbase of the robot chassis is needed to be provided, and the problem that the efficiency of calibrating the wheelbase of the robot chassis is too low is solved.
In order to achieve the above purpose, the present application provides a method for calibrating a wheelbase of a chassis of a robot, including the following steps:
driving the left wheel or the right wheel to rotate so as to drive the robot to rotate;
acquiring the moving distance of the left wheel or the right wheel, and acquiring the rotating angle of the robot;
and calculating the axle distance of the calibration chassis according to the moving distance of the left wheel or the right wheel and the rotating angle of the robot.
Further, the moving distance of the left wheel is calculated according to the rotating angle of the left wheel and the radius of the left wheel, and the moving distance of the right wheel is calculated according to the rotating angle of the right wheel and the radius of the right wheel.
Further, the rotation angle of the left wheel is calculated according to the rotation angle of a left wheel motor connected with the left wheel, and the rotation angle of the right wheel is calculated according to the rotation angle of a motor connected with the right wheel.
Further, the rotation angle of the left wheel motor connected to the left wheel is obtained by:
and rotating the left wheel motor, judging whether the rotation angle of the left wheel motor reaches a preset rotation angle, stopping rotating the left wheel motor and acquiring the accumulated rotation angle of the left wheel motor if the rotation angle of the left wheel motor reaches the preset rotation angle, and continuing rotating the left wheel motor if the rotation angle of the left wheel motor does not reach the preset rotation angle.
Further, the rotation angle of the right wheel motor connected to the right wheel is obtained by:
and rotating the right wheel motor, judging whether the rotation angle of the right wheel motor reaches a preset rotation angle, stopping rotating the right wheel motor and acquiring the accumulated rotation angle of the right wheel motor if the rotation angle of the right wheel motor reaches the preset rotation angle, and continuing rotating the right wheel motor if the rotation angle of the right wheel motor does not reach the preset rotation angle.
Further, the method also comprises the following steps:
repeating the steps to obtain a plurality of calibration chassis wheelbases of the robot, calculating the average value of the plurality of calibration chassis wheelbases of the robot, and taking the average value as the calibration chassis wheelbases.
Further, the method also comprises the following steps:
and storing the calibrated chassis wheelbase to a memory in the robot.
Further, the method also comprises the following steps:
and acquiring the original wheelbase parameter, judging whether the calibrated chassis wheelbase and the original chassis wheelbase exceed a preset error value, if not, updating the calibrated chassis wheelbase, and if so, not updating the calibrated chassis wheelbase.
In order to achieve the above purpose, the application provides a robot chassis wheelbase calibration system, which comprises a robot, wherein a motor, an inertial measurement sensor and a main control unit are arranged on the robot;
the motor is used for driving a left wheel or a right wheel of the robot to walk and rotate;
the inertial measurement sensor is used for detecting the rotation angle of the robot;
the motor and the inertial measurement sensor are respectively connected with the main control unit, and the main control unit is used for executing the robot chassis wheelbase calibration method according to any one of the embodiments.
Further, the robot is a sweeping robot, a greeting robot or a nurse robot.
In the technical scheme, the robot can obtain the calibrated chassis wheelbase of the robot according to the moving distance of the left wheel and the right wheel and the rotating angle of the robot, and replace the inaccurate wheelbase of the robot, so that the accurate wheelbase is obtained in real time, and the advancing stability of the elevator robot is improved. Moreover, the speed of the base plate wheelbase calibration obtained by the technical scheme is far faster than that of the manual wheelbase calibration, so that the trouble of manual wheelbase calibration can be effectively solved, and the labor productivity is liberated.
Drawings
FIG. 1 is one of the flowcharts of the method for calibrating the wheelbase of the robot chassis according to the present embodiment;
FIG. 2 is a second flowchart of a method for calibrating the wheelbase of the robot chassis according to the present embodiment;
fig. 3 is a schematic structural view of the robot in the present embodiment;
FIG. 4 is one of the structural schematic diagrams of the robot chassis wheelbase calibration system in this embodiment;
FIG. 5 is a second schematic diagram of the system for calibrating the wheelbase of the robot chassis according to the present embodiment.
Description of the reference numerals
1. A left wheel;
2. a left wheel motor;
3. a right wheel;
4. a right wheel motor;
5. an auxiliary wheel;
6. an inertial measurement sensor;
7. a main control unit;
8. a memory.
Detailed Description
In order to describe the technical content, constructional features, achieved objects and effects of the technical solution in detail, the following description is made in connection with the specific embodiments in conjunction with the accompanying drawings.
Referring to fig. 3, a left wheel 1 of the robot is located at the left side of the robot chassis, a right wheel 3 of the robot is located at the right side of the robot chassis, and the left wheel and the right wheel can drive the robot to rotate leftwards or rightwards on the bearing surface. The rotation axis of the robot is perpendicular to the bearing surface, which may be the ground. At least one auxiliary wheel 5 (which may be a universal wheel) is also arranged on the robot chassis for assisting the running of the robot. The wheel base of the robot refers to the distance between the left wheel 1 and the right wheel 3, and the error of the wheel base can cause the error of the angular speed (rotation angle) fed back by the wheels of the robot, which is bad for affecting the travel of the robot. The calibration of the wheelbase of the existing robot chassis is detected by means of a standard measuring instrument (such as a vernier caliper), and then the calibrated wheelbase value is input to the robot, so that the calibration mode is inefficient.
Referring to fig. 1 to 5, the present embodiment provides a method for calibrating a wheelbase of a robot chassis, which includes the following steps:
step S101, driving the left wheel or the right wheel to rotate thereby driving the robot to rotate, as shown in fig. 1. The left and right wheels of the robot are located on a bearing surface, which may be the ground. The left wheel and the right wheel of the robot are parallel and the wheel centers of the left wheel and the right wheel are opposite. The left wheel and the right wheel can drive the robot to rotate leftwards or rightwards on the bearing surface, and the rotating shaft of the robot is perpendicular to the bearing surface.
Step S102, obtaining a movement distance of the left wheel or the right wheel, and obtaining a rotation angle of the robot, as shown in fig. 1. The rotation angle of the robot refers to the accumulated rotation angle of the robot rotating leftwards or rightwards on the bearing surface. The moving distance of the left wheel refers to the moving distance of the left wheel on the bearing surface, and the moving distance of the right wheel refers to the moving distance of the right wheel on the bearing surface.
Step S103, calculating a calibrated chassis wheelbase according to the moving distance of the left wheel or the right wheel and the rotation angle of the robot, as shown in fig. 1.
According to the technical scheme, the robot can obtain the calibrated chassis wheelbase of the robot according to the moving distance of the left wheel and the right wheel and the rotating angle of the robot, and the accurate wheelbase can be replaced by the calibrated chassis wheelbase, so that the advancing stability of the elevator robot can be obtained. Moreover, the speed of the base plate wheelbase calibration obtained by the technical scheme is far faster than that of the manual wheelbase calibration, so that the trouble of manual wheelbase calibration can be effectively solved, and the labor productivity is liberated.
In this embodiment, the movement distance of the left wheel is calculated according to the rotation angle of the left wheel and the radius of the left wheel, and the outer circumference of the left wheel may be calculated by the radius of the left wheel. When the rotation angle of the left wheel is 360 degrees, the moving distance of the left wheel is the outer circumference of the left wheel; when the rotation angle of the left wheel is 720 °, the moving distance of the left wheel is twice the outer circumference of the left wheel.
In this embodiment, the rotation angle of the left wheel is calculated from the rotation angle of the left wheel motor connected to the left wheel. The rotation angle of the left wheel motor refers to the rotation angle of the output shaft of the left wheel motor, the left wheel motor is provided with an encoder, and the main control unit can calculate the rotation angle of the left wheel motor by acquiring the encoding value of the encoder.
In this embodiment, the radius of the left wheel may be obtained by manual measurement or from the manufacturer of the left wheel.
In this embodiment, the movement distance of the right wheel is calculated according to the rotation angle of the right wheel and the radius of the right wheel. The outer circumference of the right wheel can be obtained through calculation of the radius of the right wheel, and when the rotation angle of the right wheel is 360 degrees, the moving distance of the right wheel is the outer circumference of the right wheel; when the rotation angle of the right wheel is 720 °, the moving distance of the right wheel is twice the outer circumference of the right wheel.
In this embodiment, the rotation angle of the right wheel is calculated from the rotation angle of the right wheel motor connected to the right wheel. The rotation angle of the right wheel motor refers to the rotation angle of the output shaft of the right wheel motor, the right wheel motor is provided with an encoder, and the main control unit can calculate the rotation angle of the right wheel motor by acquiring the encoding value of the encoder.
In this embodiment, the radius of the right wheel may be obtained by manual measurement or from the manufacturer of the right wheel.
In this embodiment, the rotation mode of the robot (which may be referred to as the first rotation mode of the robot) is that the robot rotates leftwards on the bearing surface, the left wheel does not rotate as a circle center, the right wheel rotates to drive the robot to rotate with the left wheel as a circle center, and the moving route of the right wheel is an arc; the robot rotates rightwards on the bearing surface, the right wheel does not rotate to serve as a circle center, the left wheel rotates to drive the robot to rotate by taking the right wheel as the circle center, the moving route of the left wheel is an arc, and the robot does circumferential rotation.
In a first rotation mode of the robot, referring to step S2051 of fig. 2, the robot performs a circular rotation motion, and the center point is a stationary left wheel (the right wheel drives the robot to rotate), or the center point is a stationary right wheel (the left wheel drives the robot to rotate), and the chassis wheelbase of the robot is the radius of the circle. The driving motor enables the robot to walk a circumferential distance, and the chassis wheelbase of the robot can be obtained through the following formula I:
equation one
In formula one, L n Is the chassis wheelbase of the robot, L n Also the radius of the circle, C the circumference of the circle, pi the circumference ratio.
In a further embodiment, the circumference of the circle indicated by C of equation one may be calculated from the moving distance of the left wheel (or the right wheel) and the rotation angle of the robot detected by a sensor (i.e., an inertial measurement sensor described below). For example, when the rotation angle of the robot detected by the sensor is 720 °, the moving distance of the left wheel performing the circular motion is 234 meters, and then when the rotation angle of the robot is 360 degrees, the value of C is 117.
In this embodiment, the rotation mode of the robot (which may be referred to as a second rotation mode of the robot) is that the left wheel and the right wheel of the robot rotate together and face the left direction of the robot, and then the left wheel and the right wheel synchronously rotate to drive the robot to rotate leftwards on the bearing surface, the moving routes of the left wheel and the right wheel are arc-shaped, and the center of the rotation circle of the robot is located on the center of the whole vehicle shaft of the robot; or: the left wheel and the right wheel of the robot rotate together and face the right side direction of the robot, and then the left wheel and the right wheel synchronously rotate to drive the robot to rotate rightwards on the bearing surface, and the moving routes of the left wheel and the right wheel are arc lines. Preferably, the rotation speed of the left wheel and the right wheel is uniform, and the robot rotates at a uniform circumference.
In this embodiment, the left wheel 1 and the right wheel 3 are respectively connected with a motor, the left wheel 1 is connected with the left wheel motor 2, the left wheel 1 rotates under the driving of the left wheel motor 2, the right wheel 3 is connected with the right wheel motor 4, and the right wheel 3 rotates under the driving of the right wheel motor 4, and the structure is shown in fig. 3. The left wheel motor is used for driving the left wheel to rotate or stop, and the rotation angle of the left wheel is calculated according to the rotation angle of the left wheel motor; the right wheel motor is used for driving the right wheel to rotate or stop, and the rotation angle of the right wheel is calculated according to the rotation angle of the right wheel motor. In short, as shown in step S203 of fig. 2, the robot is controlled to rotate to obtain the rotation angle of the motor at the current wheelbase, and the rotation angle of the motor can be obtained by converting the feedback code value of the motor to a certain value. It is worth mentioning that the rotation angle of the motor can be calculated to obtain the rotation angle of the robot, which is used for indicating how much the robot rotates.
Referring to step S2051 of fig. 2, in a second rotation mode of the robot, the calibrated chassis wheelbase of the robot is obtained according to the following formula two:
formula II
In formula II, L n To calibrate the chassis wheelbase, L 0 For the initial chassis wheelbase, ao is the rotation angle of the robot calculated by a motor (a right wheel motor or a left wheel motor) according to a related formula, A n Is the rotation angle of the robot.
The values of the wheel base after calibration are shown in the following table:
| initial chassis wheelbase (mm) | Rotation angle (°) of motor | Rotation angle (°) of robot | Calibrated wheelbase value (mm) |
| 370 | 1825.411499 | 1749.675903 | 386.0156349 |
| 370 | 1825.287964 | 1747.093263 | 386.5601001 |
| 375 | 1823.948439 | 1768.103271 | 386.8442957 |
| 375 | 1823.85083 | 1770.973022 | 386.1967702 |
| 390 | 1828.440063 | 1843.656128 | 386.7812515 |
| 390 | 1825.712408 | 1840.733887 | 386.817369 |
| 395 | 1825.666382 | 1865.633179 | 386.5380553 |
| 395 | 1824.955811 | 1864.161499 | 386.6926475 |
The results show that the errors of the calibrated wheelbase values are all within 1 millimeter.
In this embodiment, the rotation angle of the motor is obtained according to the formula three, the formula four, the formula five and the formula six (from top to bottom):
formula III
Equation four
Formula five
Formula six ao=Σθ
In the formula III, V is the linear velocity of the robot, vr is the linear velocity of the right wheel of the robot, and Vl is the linear velocity of the left wheel of the robot; in the formula IV, ω is the angular velocity of the robot rotation, vr is the rotational speed of the right wheel of the robot, vl is the rotational speed of the left wheel of the robot, L o Is the initial chassis wheelbase; in the formula five, θ is the rotation angle of the robot obtained by conversion of a motor (linear speed of a left wheel motor and a right wheel motor), ω is the angular speed of the rotation of the robot, T is the rotation time of the robot, and pi is the circumference ratio; in the formula six, ao is a θ integrated value, and can be used for integrating the rotation angle of the robot and the rotation angle of the output shaft of the motor.
In this embodiment, in the second rotation mode of the robot, the rotation angle of the robot calculated by the motor is related to the linear speed of the left wheel and the linear speed of the right wheel, so that the rotation angle of the robot is calculated by the linear speed of the left wheel and the linear speed of the right wheel, and then the accumulated rotation angle of the robot is obtained by accumulating the angles, specifically, the rotation angle of the robot can be calculated by the main control unit according to the formula four, the formula five and the formula six.
The motor integrated rotation angle is related to the linear velocity of the wheel, and the motor integrated angle=linear velocity time/(2×pi×radius) may be expressed as formula seven.
It should be noted that, the seventh formula links the first rotation mode of the robot with the second rotation mode of the robot, and thus the first rotation mode of the robot can also calculate the calibration chassis wheelbase by using the related formula of the second formula.
In this embodiment, as shown in fig. 2, the rotation angle of the left wheel motor is obtained by: and 203, rotating the left wheel motor, so as to drive the left wheel to rotate. Step 204, judging whether the rotation angle of the left wheel motor reaches a preset rotation angle; if yes, entering a step 205, stopping rotation and acquiring the accumulated rotation angle of the left wheel motor, and then entering a step 2051, and calculating to obtain a calibrated chassis wheelbase; if not, returning to the step S203, continuing to rotate the left wheel motor until the rotation angle of the left wheel motor reaches a preset angle.
Assuming that the preset rotation angle is set to 5000 degrees, when the rotation angle of the left wheel motor reaches 5000 degrees or more than 5000 degrees, stopping the left wheel motor to rotate so that the robot tends to be stable, and then acquiring the rotation angle of the left wheel motor, so that the influence on the accuracy of the numerical value caused by the continuous rotation of the left wheel motor due to inertia is avoided. The robot is in a stop and static state, the motor does not rotate, the accumulated rotation angle of the left wheel motor is accurate at the moment, and the accumulated rotation angle of the left wheel motor is acquired at the moment, so that the calibration chassis wheelbase with a higher accurate value can be obtained.
Preferably, in step 204, after the robot rotates 20 ° on the bearing surface, the robot is controlled to stop rotating and the accumulated rotation angle of the left wheel motor is obtained.
In this embodiment, as shown in fig. 2, the rotation angle of the right wheel motor is obtained by: and 203, rotating the motor of the right wheel, thereby driving the right wheel to rotate. Step 204, judging whether the rotation angle of the right wheel motor reaches a preset rotation angle, if yes, entering step 205, stopping rotation and obtaining the accumulated rotation angle of the right wheel motor, if not, returning to step 203, and continuing to rotate the right wheel motor until the rotation angle of the right wheel motor reaches the preset angle.
Assuming that the preset rotation angle is set to 5000 degrees, when the rotation angle of the right wheel motor reaches 5000 degrees or more than 5000 degrees, the rotation of the right wheel motor is stopped, so that the robot tends to be stable, and then the rotation angle of the right wheel motor is obtained, and the influence on the accuracy of the numerical value caused by the fact that the right wheel motor continues to rotate due to inertia is avoided. The robot is in a stop and static state, the motor does not rotate, the accumulated rotation angle of the motor of the right wheel is accurate at the moment, and the accumulated rotation angle of the motor of the right wheel is acquired at the moment, so that the calibration chassis wheelbase with a higher accurate value can be obtained.
Preferably, in step 204, after the robot rotates 20 ° on the bearing surface, the robot is controlled to stop rotating and the accumulated rotation angle of the right wheel motor is obtained. In the second rotation mode of the robot, the left wheel and the right wheel are stopped together, so that the obtained data are accurate, the error is small, and the interference to the angle obtained by the inertial measurement sensor is avoided.
In this embodiment, as shown in fig. 2, some errors may occur in the single wheelbase calibration, and in order to reduce the mechanical errors, the method for calibrating the wheelbase of the robot chassis further includes the following steps: step 206, judging whether the number of times of wheelbase acquisition reaches a preset number of times, wherein the preset number of times can be 2 times, 3 times, 4 times, 5 times or even more, if yes, obtaining a plurality of calibration chassis wheelbases of the robot (i.e. step S207), calculating an average value of the plurality of calibration chassis wheelbases of the robot, and taking the average value of the calibration chassis wheelbases as the calibration chassis wheelbases (i.e. step S209). If not, repeating the steps continuously to reach the preset times. In short, the steps are repeated to obtain a plurality of calibration chassis wheelbases of the robot, an average value of the plurality of calibration chassis wheelbases of the robot is calculated, and the average value is used as the calibration chassis wheelbases. The method can avoid excessive deviation of the change caused by the influence of some uncontrollable factors in mechanical transmission, measurement or calculation, and ensure that the average value of the last plurality of calibration chassis wheelbases approaches to the true value.
In this embodiment, after obtaining the calibrated chassis wheelbase, in order to update the chassis wheelbase of the robot, the chassis wheelbase calibration method further includes the following steps: the nominal chassis wheelbase is stored to a memory 8 in the robot. The memory 8 is an electronic component having a data storage function, and may be a Random Access Memory (RAM), a Read Only Memory (ROM), an optical disc, a flash memory, a U-disc, a removable hard disk, a memory card, a magnetic disk, a magnetic tape, or the like. The memory 8 is connected with the main control unit 7 of the robot, and the structure is shown in fig. 5. The main control unit is an electronic element with a data processing function, and can be a Central Processing Unit (CPU), a Graphic Processing Unit (GPU), a Digital Signal Processor (DSP) and the like.
In this embodiment, as shown in fig. 2, the chassis wheelbase calibration method further includes the following steps: step S201, starting the robot, and starting the wheelbase calibration method.
And step S208, judging whether the axle base of the calibration chassis and the original chassis exceeds a preset error value, if not, updating the axle base of the calibration chassis, and if so, not updating the axle base of the calibration chassis. It should be noted that if a plurality of calibration chassis wheelbases are obtained before, at this time, whether the average value of the calibration chassis wheelbases exceeds a preset error value is judged; if only one calibration chassis wheelbase is obtained before, judging whether the calibration chassis wheelbase and the original chassis wheelbase exceed a preset error value or not. It should be noted that the preset error value may be set to 0.5 mm, 1 mm, 1.5 mm, 2 mm, etc., depending on the actual situation. And, in step S208, the original wheelbase parameters may be obtained together; alternatively, the step S208 is preceded by the step S202 of acquiring the original wheelbase parameter, as shown in fig. 2, between the step S203 and the step S201.
Referring to fig. 1 to 5, the present embodiment further provides a system for calibrating a wheelbase of a robot chassis, including a robot. The robot may be a sweeping robot, a greeting robot, a nurse robot, or the like. Preferably, the robot is preferably a sweeping robot, and the floor cleaning work can be automatically completed in a room by means of certain artificial intelligence. Generally, the brushing and vacuum modes are adopted, and the ground sundries are firstly absorbed into the garbage storage box of the ground, so that the function of cleaning the ground is completed. The robot is provided with a motor, an inertial measurement sensor 6 (Inertial Measurement Unit, IMU) and a main control unit 7, and the structure is shown in figure 4.
The inertial measurement sensor 6 may detect acceleration, inclination, impact, vibration, rotation and multi-degree of freedom movement of the robot, and the inertial measurement sensor 6 is configured to detect a rotation angle of the robot rotation and transmit the detected rotation angle of the robot to the main control unit 7. The main control unit 7 controls the inertial measurement sensor to acquire the rotation angle of the robot and obtain the calibrated chassis wheelbase.
Referring to fig. 4, the motor and the inertial measurement sensor 6 are respectively connected to the main control unit 7. The main control unit 7 controls the motor to drive the left wheel or the right wheel to rotate, so that the robot is driven to walk and rotate.
Specifically, referring to fig. 3, a left wheel 1 of the robot is located at the left side of the robot chassis, a right wheel 3 of the robot is located at the right side of the robot chassis, and the left wheel and the right wheel can drive the robot to rotate leftwards or rightwards on the bearing surface. The rotation axis of the robot is perpendicular to the bearing surface, which may be the ground. At least one auxiliary wheel 5 (which may be a universal wheel) is also arranged on the robot chassis for assisting the running of the robot. The wheel base of the robot refers to the distance between the left wheel 1 and the right wheel 3, and the error of the wheel base can cause the error of the angular speed (rotation angle) fed back by the wheels of the robot, which is bad for affecting the travel of the robot.
Specifically, referring to fig. 3, the motor includes a left wheel motor 2 and a right wheel motor 4, the left wheel 1 is connected to the left wheel motor 2, the left wheel 1 rotates under the driving of the left wheel motor 2, the right wheel 3 is connected to the right wheel motor 4, and the right wheel 3 rotates under the driving of the right wheel motor 4.
The main control unit 7 is an electronic component with a data processing function, and may be a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a Digital Signal Processor (DSP), etc. The main control unit is used for executing the robot chassis wheelbase calibration method according to any one of the embodiments.
Referring to fig. 1 to 2, the method for calibrating the wheelbase of the robot chassis includes the following steps:
in step S101, the main control unit 7 drives the left wheel 1 or the right wheel 3 to rotate, so as to drive the robot to rotate, as shown in fig. 1. The left and right wheels of the robot are located on a bearing surface, which may be the ground. The left wheel and the right wheel of the robot are parallel and the wheel centers of the left wheel and the right wheel are opposite. The left wheel and the right wheel can drive the robot to rotate leftwards or rightwards on the bearing surface, and the rotating shaft of the robot is perpendicular to the bearing surface.
In step S102, the master control unit 7 obtains the moving distance of the left wheel 1 or the right wheel 3, and obtains the rotation angle of the robot, as shown in fig. 1. The rotation angle of the robot refers to the accumulated rotation angle of the robot rotating leftwards or rightwards on the bearing surface. The moving distance of the left wheel refers to the moving distance of the left wheel on the bearing surface, and the moving distance of the right wheel refers to the moving distance of the right wheel on the bearing surface.
In step S103, the master control unit 7 calculates a calibrated chassis wheelbase according to the moving distance of the left wheel or the right wheel and the rotation angle of the robot, as shown in fig. 1.
According to the technical scheme, the robot can obtain the calibrated chassis wheelbase of the robot according to the moving distance of the left wheel and the right wheel and the rotating angle of the robot, and the accurate wheelbase can be replaced by the calibrated chassis wheelbase, so that the traveling stability of the elevator robot can be obtained in real time. Moreover, the speed of the base plate wheelbase calibration obtained by the technical scheme is far faster than that of the manual wheelbase calibration, so that the trouble of manual wheelbase calibration can be effectively solved, and the labor productivity is liberated.
In this embodiment, the movement distance of the left wheel is calculated according to the rotation angle of the left wheel and the radius of the left wheel, and the outer circumference of the left wheel may be calculated by the radius of the left wheel. When the rotation angle of the left wheel is 360 degrees, the moving distance of the left wheel is the outer circumference of the left wheel; when the rotation angle of the left wheel is 720 °, the moving distance of the left wheel is twice the outer circumference of the left wheel.
In this embodiment, the rotation angle of the left wheel is calculated from the rotation angle of the left wheel motor connected to the left wheel. The rotation angle of the left wheel motor refers to the rotation angle of the output shaft of the left wheel motor, the left wheel motor is provided with an encoder, and the main control unit can calculate the rotation angle of the left wheel motor by acquiring the encoding value of the encoder.
In this embodiment, the radius of the left wheel may be obtained by manual measurement or from the manufacturer of the left wheel.
In this embodiment, the movement distance of the right wheel is calculated according to the rotation angle of the right wheel and the radius of the right wheel. The outer circumference of the right wheel can be obtained through calculation of the radius of the right wheel, and when the rotation angle of the right wheel is 360 degrees, the moving distance of the right wheel is the outer circumference of the right wheel; when the rotation angle of the right wheel is 720 °, the moving distance of the right wheel is twice the outer circumference of the right wheel.
In this embodiment, the rotation angle of the right wheel is calculated from the rotation angle of the right wheel motor connected to the right wheel. The rotation angle of the right wheel motor refers to the rotation angle of the output shaft of the right wheel motor, the right wheel motor is provided with an encoder, and the main control unit can calculate the rotation angle of the right wheel motor by acquiring the encoding value of the encoder.
In this embodiment, the radius of the right wheel may be obtained by manual measurement or from the manufacturer of the right wheel.
In this embodiment, the rotation mode of the robot (which may be referred to as the first rotation mode of the robot) is that the robot rotates leftwards on the bearing surface, the left wheel does not rotate as a circle center, the right wheel rotates to drive the robot to rotate with the left wheel as a circle center, and the moving route of the right wheel is an arc; the robot rotates rightwards on the bearing surface, the right wheel does not rotate to serve as a circle center, the left wheel rotates to drive the robot to rotate by taking the right wheel as the circle center, the moving route of the left wheel is an arc, and the robot does circumferential rotation.
In a first rotation mode of the robot, referring to step S2051 of fig. 2, the robot performs a circular rotation motion, and the center point is a stationary left wheel (the right wheel drives the robot to rotate), or the center point is a stationary right wheel (the left wheel drives the robot to rotate), and the chassis wheelbase of the robot is the radius of the circle. The driving motor enables the robot to walk a circumferential distance, and the chassis wheelbase of the robot can be obtained through the following formula I:
equation one
In formula one, L n Is the chassis wheelbase of the robot, L n Also the radius of the circle, C the circumference of the circle, pi the circumference ratio.
In a further embodiment, the circumference of the circle indicated by C of equation one may be calculated from the moving distance of the left wheel (or the right wheel) and the rotation angle of the robot detected by a sensor (i.e., an inertial measurement sensor described below). For example, when the rotation angle of the robot detected by the sensor is 720 °, the moving distance of the left wheel performing the circular motion is 234 meters, and then when the rotation angle of the robot is 360 degrees, the value of C is 117.
In this embodiment, the rotation mode of the robot (which may be referred to as a second rotation mode of the robot) is that the left wheel and the right wheel of the robot rotate together and face the left direction of the robot, and then the left wheel and the right wheel synchronously rotate to drive the robot to rotate leftwards on the bearing surface, the moving routes of the left wheel and the right wheel are arc-shaped, and the center of the rotation circle of the robot is located on the center of the whole vehicle shaft of the robot; or: the left wheel and the right wheel of the robot rotate together and face the right side direction of the robot, and then the left wheel and the right wheel synchronously rotate to drive the robot to rotate rightwards on the bearing surface, and the moving routes of the left wheel and the right wheel are arc lines. Preferably, the rotation speed of the left wheel and the right wheel is uniform, and the robot rotates at a uniform circumference.
In this embodiment, the left wheel 1 and the right wheel 3 are respectively connected with a motor, the left wheel 1 is connected with the left wheel motor 2, the left wheel 1 rotates under the driving of the left wheel motor 2, the right wheel 3 is connected with the right wheel motor 4, and the right wheel 3 rotates under the driving of the right wheel motor 4, and the structure is shown in fig. 3. The left wheel motor is used for driving the left wheel to rotate or stop, and the rotation angle of the left wheel is calculated according to the rotation angle of the left wheel motor; the right wheel motor is used for driving the right wheel to rotate or stop, and the rotation angle of the right wheel is calculated according to the rotation angle of the right wheel motor. In short, as shown in step S203 of fig. 2, the main control unit 7 controls the robot to rotate, and obtains the rotation angle of the motor under the current wheelbase, where the rotation angle of the motor may be obtained by converting the feedback encoding value of the motor to a certain value. It is worth mentioning that the rotation angle of the motor can be calculated to obtain the rotation angle of the robot, which is used for indicating how much the robot rotates.
Referring to step S2051 of fig. 2, in the second rotation mode of the robot, the calibrated chassis wheelbase of the robot is obtained according to the following formula two:
formula II
In formula II, L n To calibrate the chassis wheelbase, L 0 For the initial chassis wheelbase, ao is the rotation angle of the robot calculated by a motor (a right wheel motor or a left wheel motor) according to a related formula, A n Is the rotation angle of the robot.
The values of the wheel base after calibration are shown in the following table:
| initial chassis wheelbase (mm) | Rotation angle (°) of motor | Rotation angle (°) of robot | Calibrated wheelbase value (mm) |
| 370 | 1825.411499 | 1749.675903 | 386.0156349 |
| 370 | 1825.287964 | 1747.093263 | 386.5601001 |
| 375 | 1823.948439 | 1768.103271 | 386.8442957 |
| 375 | 1823.85083 | 1770.973022 | 386.1967702 |
| 390 | 1828.440063 | 1843.656128 | 386.7812515 |
| 390 | 1825.712408 | 1840.733887 | 386.817369 |
| 395 | 1825.666382 | 1865.633179 | 386.5380553 |
| 395 | 1824.955811 | 1864.161499 | 386.6926475 |
The results show that the errors of the calibrated wheelbase values are all within 1 millimeter.
In this embodiment, the rotation angle of the motor is obtained according to the formula three, the formula four, the formula five and the formula six (from top to bottom):
formula III
Equation four
Formula five
Formula six ao=Σθ
In the formula III, V is the linear velocity of the robot, vr is the linear velocity of the right wheel of the robot, and Vl is the linear velocity of the left wheel of the robot; in the formula IV, omega is the angular speed of the rotation of the robot, vr is the rotation speed of the right wheel of the robot, vl is the rotation speed of the left wheel of the robot, and L_o is the initial chassis wheelbase; in the formula five, θ is the rotation angle of the robot obtained by conversion of a motor (linear speed of a left wheel motor and a right wheel motor), ω is the angular speed of the rotation of the robot, T is the rotation time of the robot, and pi is the circumference ratio; in the formula six, ao is a θ integrated value, and can be used for integrating the rotation angle of the robot and the rotation angle of the output shaft of the motor.
In this embodiment, in the second rotation mode of the robot, the rotation angle of the robot calculated by the motor is related to the linear speed of the left wheel and the linear speed of the right wheel, so that the rotation angle of the robot is calculated by the linear speed of the left wheel and the linear speed of the right wheel, and then the accumulated rotation angle of the robot is obtained by accumulating the angles, specifically, the rotation angle of the robot can be calculated by the main control unit according to the formula four, the formula five and the formula six.
The motor integrated rotation angle is related to the linear velocity of the wheel, and the motor integrated angle=linear velocity time/(2×pi×radius) may be expressed as formula seven.
It should be noted that, the seventh formula links the first rotation mode of the robot with the second rotation mode of the robot, and thus the first rotation mode of the robot can also calculate the calibration chassis wheelbase by using the related formula of the second formula.
In this embodiment, as shown in fig. 2, the rotation angle of the left wheel motor is obtained by: in step 203, the master control unit 7 rotates the left wheel motor, so as to drive the left wheel to rotate. Step 204, the main control unit 7 determines whether the rotation angle of the left wheel motor reaches a preset rotation angle; if yes, go to step 205, the main control unit 7 stops rotating the left wheel motor and obtains the accumulated rotation angle of the left wheel motor; if not, returning to step S203, the main control unit 7 continues to rotate the left wheel motor until the rotation angle of the left wheel motor reaches the preset angle.
Assuming that the preset rotation angle is set to 5000 degrees, when the rotation angle of the left wheel motor reaches 5000 degrees or more than 5000 degrees, stopping the left wheel motor to rotate so that the robot tends to be stable, and then acquiring the rotation angle of the left wheel motor, so that the influence on the accuracy of the numerical value caused by the continuous rotation of the left wheel motor due to inertia is avoided. The robot is in a stop and static state, the motor does not rotate, the accumulated rotation angle of the left wheel motor is accurate at the moment, and the accumulated rotation angle of the left wheel motor is acquired at the moment, so that the calibration chassis wheelbase with a higher accurate value can be obtained.
Preferably, in step 204, after the robot rotates 20 ° on the bearing surface, the robot is controlled to stop rotating and the accumulated rotation angle of the left wheel motor is obtained.
In this embodiment, as shown in fig. 2, the rotation angle of the right wheel motor is obtained by: in step 203, the main control unit 7 rotates the right wheel motor, so as to drive the right wheel to rotate. Step 204, the main control unit 7 determines whether the rotation angle of the right wheel motor reaches a preset rotation angle, if yes, step 205 is entered, the main control unit 7 stops rotating the right wheel motor and obtains the accumulated rotation angle of the right wheel motor, if not, step 203 is returned to, and the main control unit 7 continues rotating the right wheel motor until the rotation angle of the right wheel motor reaches the preset angle.
Assuming that the preset rotation angle is set to 5000 degrees, when the rotation angle of the right wheel motor reaches 5000 degrees or more than 5000 degrees, the rotation of the right wheel motor is stopped, so that the robot tends to be stable, and then the rotation angle of the right wheel motor is obtained, and the influence on the accuracy of the numerical value caused by the fact that the right wheel motor continues to rotate due to inertia is avoided. The robot is in a stop and static state, the motor does not rotate, the accumulated rotation angle of the motor of the right wheel is accurate at the moment, and the accumulated rotation angle of the motor of the right wheel is acquired at the moment, so that the calibration chassis wheelbase with a higher accurate value can be obtained.
Preferably, in step 204, after the robot rotates 20 ° on the bearing surface, the robot is controlled to stop rotating and the accumulated rotation angle of the right wheel motor is obtained. In the second rotation mode of the robot, the left wheel and the right wheel are stopped together, so that the obtained data are accurate, the error is small, and the interference to the angle obtained by the inertial measurement sensor is avoided.
In this embodiment, as shown in fig. 2, some errors may occur in the single wheelbase calibration, and in order to reduce the mechanical errors, the method for calibrating the wheelbase of the robot chassis further includes the following steps: in step 206, the main control unit 7 determines whether the number of times of acquiring the wheelbase reaches a preset number of times, where the preset number of times may be 2 times, 3 times, 4 times, 5 times or even more, if yes, a plurality of calibration chassis wheelbases of the robot are obtained (i.e. step S207), and an average value of the plurality of calibration chassis wheelbases of the robot is calculated and used as the calibration chassis wheelbases (i.e. step S209, and the average value of the calibration chassis wheelbases is used as the chassis wheelbases). If not, repeating the steps continuously to reach the preset times. In short, the steps are repeated to obtain a plurality of calibration chassis wheelbases of the robot, an average value of the plurality of calibration chassis wheelbases of the robot is calculated, and the average value is used as the calibration chassis wheelbases. The method can avoid excessive deviation of the change caused by the influence of some uncontrollable factors in mechanical transmission, measurement or calculation, and ensure that the average value of the last plurality of calibration chassis wheelbases approaches to the true value.
In this embodiment, after obtaining the calibrated chassis wheelbase, in order to update the chassis wheelbase of the robot, the chassis wheelbase calibration method further includes the following steps: the master control unit 7 stores the calibrated chassis wheelbase to a memory 8 in the robot. The memory 8 is an electronic component having a data storage function, and may be a Random Access Memory (RAM), a Read Only Memory (ROM), an optical disc, a flash memory, a U-disc, a removable hard disk, a memory card, a magnetic disk, a magnetic tape, or the like. The memory 8 is connected with the main control unit 7 of the robot, and the structure is shown in fig. 5. The main control unit is an electronic element with a data processing function, and can be a Central Processing Unit (CPU), a Graphic Processing Unit (GPU), a Digital Signal Processor (DSP) and the like.
In this embodiment, as shown in fig. 2, the chassis wheelbase calibration method further includes the following steps: in step S201, the robot is started, and the master control unit 7 starts to perform the wheelbase calibration method.
And step S208, the main control unit 7 determines whether the base plate wheelbase and the original base plate wheelbase exceed a preset error value, if not, the base plate wheelbase is updated, and if yes, the base plate wheelbase is not updated. It should be noted that if a plurality of calibration chassis wheelbases are obtained before, at this time, whether the average value of the calibration chassis wheelbases exceeds a preset error value is judged; if only one calibration chassis wheelbase is obtained before, judging whether the calibration chassis wheelbase and the original chassis wheelbase exceed a preset error value or not. It should be noted that the preset error value may be set to 0.5 mm, 1 mm, 1.5 mm, 2 mm, etc., depending on the actual situation. And, in step S208, the original wheelbase parameters may be obtained together; alternatively, the step S208 is preceded by the step S202 of acquiring the original wheelbase parameter, as shown in fig. 2, between the step S203 and the step S201.
It should be noted that, although the foregoing embodiments have been described herein, the scope of the present invention is not limited thereby. Therefore, based on the innovative concepts of the present invention, alterations and modifications to the embodiments described herein, or equivalent structures or equivalent flow transformations made by the present description and drawings, apply the above technical solution, directly or indirectly, to other relevant technical fields, all of which are included in the scope of the invention.
Claims (6)
1. The method for calibrating the wheelbase of the chassis of the robot is characterized by comprising the following steps of:
driving the left wheel or the right wheel to rotate so as to drive the robot to rotate;
acquiring the moving distance of the left wheel or the right wheel, and acquiring the rotating angle of the robot;
calculating a calibrated chassis wheelbase according to the moving distance of the left wheel or the right wheel and the rotating angle of the robot;
the moving distance of the left wheel is calculated according to the rotating angle of the left wheel and the radius of the left wheel, and the moving distance of the right wheel is calculated according to the rotating angle of the right wheel and the radius of the right wheel;
the rotation angle of the left wheel is calculated according to the rotation angle of a left wheel motor connected with the left wheel, and the rotation angle of the right wheel is calculated according to the rotation angle of a motor connected with the right wheel;
the rotation angle of the left wheel motor connected with the left wheel is obtained by the following steps:
rotating a left wheel motor, judging whether the rotation angle of the left wheel motor reaches a preset rotation angle, stopping rotating the left wheel motor and acquiring the accumulated rotation angle of the left wheel motor if the rotation angle of the left wheel motor reaches the preset rotation angle, and continuing rotating the left wheel motor if the rotation angle of the left wheel motor does not reach the preset rotation angle;
the rotation angle of the right wheel motor connected with the right wheel is obtained by the following steps:
and rotating the right wheel motor, judging whether the rotation angle of the right wheel motor reaches a preset rotation angle, stopping rotating the right wheel motor and acquiring the accumulated rotation angle of the right wheel motor if the rotation angle of the right wheel motor reaches the preset rotation angle, and continuing rotating the right wheel motor if the rotation angle of the right wheel motor does not reach the preset rotation angle.
2. The method for calibrating the wheelbase of the robot chassis according to claim 1, further comprising the steps of:
repeating the steps to obtain a plurality of calibration chassis wheelbases of the robot, calculating the average value of the plurality of calibration chassis wheelbases of the robot, and taking the average value as the calibration chassis wheelbases.
3. The method for calibrating the wheelbase of the robot chassis according to claim 1, further comprising the steps of:
and storing the calibrated chassis wheelbase to a memory in the robot.
4. The method for calibrating the wheelbase of the robot chassis according to claim 1, further comprising the steps of:
and acquiring the original wheelbase parameter, judging whether the calibrated chassis wheelbase and the original chassis wheelbase exceed a preset error value, if not, updating the calibrated chassis wheelbase, and if so, not updating the calibrated chassis wheelbase.
5. The system for calibrating the wheelbase of the chassis of the robot is characterized by comprising the robot, wherein a motor, an inertial measurement sensor and a main control unit are arranged on the robot;
the motor is used for driving a left wheel or a right wheel of the robot to walk and rotate;
the inertial measurement sensor is used for detecting the rotation angle of the robot;
the motor and the inertial measurement sensor are respectively connected with the main control unit, and the main control unit is used for executing the robot chassis wheelbase calibration method according to any one of claims 1 to 4.
6. The robot chassis wheelbase calibration system of claim 5 wherein the robot is a sweeping robot, a greeting robot or a nurse robot.
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| CN107544520A (en) * | 2017-10-25 | 2018-01-05 | 上海联适导航技术有限公司 | A kind of control method for four-wheel carrier automatic Pilot |
| CN113587832A (en) * | 2021-08-21 | 2021-11-02 | 盐城高玛电子设备有限公司 | Non-contact automatic measuring device and method for wheel base difference and wheel base |
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| CN103954234B (en) * | 2014-04-29 | 2018-01-05 | 南京理工大学 | A kind of vehicle's contour and wheelbase self-calibration Measurement Algorithm |
| CN109974746B (en) * | 2017-12-27 | 2020-11-24 | 深圳市优必选科技有限公司 | Omnidirectional wheel mileage calibration method and robot |
| CN111781931B (en) * | 2020-07-16 | 2023-08-11 | 上海擎朗智能科技有限公司 | Automatic calibration method, device, equipment and medium for robot wheel length and wheel track |
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| US5586062A (en) * | 1993-10-04 | 1996-12-17 | Hunter Engineering Company | Vehicle wheel alignment utilizing wheel offset and body center line |
| CN107544520A (en) * | 2017-10-25 | 2018-01-05 | 上海联适导航技术有限公司 | A kind of control method for four-wheel carrier automatic Pilot |
| CN113587832A (en) * | 2021-08-21 | 2021-11-02 | 盐城高玛电子设备有限公司 | Non-contact automatic measuring device and method for wheel base difference and wheel base |
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