CN114700987B - AGV steering wheel installation position calibration method, AGV steering wheel installation position calibration device and storage medium - Google Patents
AGV steering wheel installation position calibration method, AGV steering wheel installation position calibration device and storage medium Download PDFInfo
- Publication number
- CN114700987B CN114700987B CN202210444825.7A CN202210444825A CN114700987B CN 114700987 B CN114700987 B CN 114700987B CN 202210444825 A CN202210444825 A CN 202210444825A CN 114700987 B CN114700987 B CN 114700987B
- Authority
- CN
- China
- Prior art keywords
- steering wheel
- static
- free
- distance
- wheels
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000009434 installation Methods 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000003860 storage Methods 0.000 title claims abstract description 12
- 230000003068 static effect Effects 0.000 claims abstract description 75
- 238000004364 calculation method Methods 0.000 claims abstract description 22
- 238000011065 in-situ storage Methods 0.000 claims abstract description 8
- 238000004590 computer program Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
Abstract
The invention discloses a calibration method, a calibration device and a storage medium for the installation positions of steering wheels of an AGV, wherein the number of the steering wheels is four, and the steering wheels are in a trapezoid symmetrical installation mode, and the method comprises the following steps: selecting one steering wheel as a static steering wheel, and the other steering wheels as free steering wheels; setting the static steering wheel to be in a band-type brake mode, and setting all the free steering wheels to be in a non-band-type brake mode; after the AGV is subjected to external force and rotates around the static steering wheel in situ and the free steering wheel is aligned, obtaining the coded data variation of the encoders of all steering wheels before and after movement; and calculating the installation position parameters of each steering wheel according to the coding data variation quantity of each steering wheel and the geometric relation of circular motion. The scheme has a simple calibration mode, does not need an additional calibration tool, and reduces the calibration error caused by the measurement error; meanwhile, the calculation mode is simple, and the installation position of the steering wheel can be accurately calibrated.
Description
Technical Field
The invention relates to the field of position calibration methods, in particular to a method and a device for calibrating an installation position of an AGV steering wheel and a storage medium.
Background
In the AGV motion control algorithm, relevant parameters of steering wheels are used, wherein the installation position of the steering wheels is an important parameter in motion control of the mobile robot, so that the actual motion condition of the steering wheels is determined, the accuracy of the motion control of the robot is also determined, and if the steering wheels are driving wheels, the speed of the steering wheels is also influenced, and the like.
Due to the influence of manufacturing and installation errors and long-time movement wear, the installation position and design value of the steering wheel often have certain deviation, and if the error design value is used for direction and speed calculation, the actual movement of the AGV is inconsistent with the expected movement, and the movement control of the AGV is directly influenced.
In the prior art, no AGV steering wheel installation position calibration method which is easy to implement and can be used for accurately calibrating is available.
Disclosure of Invention
The invention aims to: in order to overcome the defects in the prior art, the invention provides the AGV steering wheel mounting position calibration method, the AGV steering wheel mounting position calibration device and the storage medium, which are simple to operate and can accurately calibrate the true values of the wheel base and the wheel base of the steering wheel.
The technical scheme is as follows: in order to achieve the above purpose, in the AGV steering wheel installation position calibration method of the present invention, the number of steering wheels is four, and the four steering wheels are in a trapezoid symmetrical installation mode, and the method comprises:
selecting one steering wheel as a static steering wheel, and the other steering wheels as free steering wheels;
setting the static steering wheel to be in a band-type brake mode, and setting all the free steering wheels to be in a non-band-type brake mode;
after the AGV is subjected to external force and rotates around the static steering wheel in situ and all the free steering wheels are aligned, obtaining the coding data variation of the encoders of all the steering wheels before and after movement;
and calculating the installation position parameters of each steering wheel according to the coding data variation quantity of each steering wheel and the geometric relation of circular motion.
Further, each steering wheel has a forward encoder and a rotary encoder; the method is characterized in that according to the coding data variation of each steering wheel and the geometric relationship of circular motion, calculating the installation position parameters of each steering wheel comprises the following steps:
according to the corresponding rotation coding data before and after the static steering wheel moves, obtaining the rotation coding data variation quantity of the static steering wheel, and calculating the rotation angle of the static steering wheel;
according to the forward coding data corresponding to the free steering wheels before and after moving, the forward coding data variable quantity of the free steering wheels is obtained, and the actual forward distance of the free steering wheels is calculated;
calculating the theoretical advancing distance of each free steering wheel according to the rotation angle of the static steering wheel and the geometric relation of circular motion;
and calculating according to the corresponding relation between the actual advancing distance and the theoretical advancing distance to obtain the installation position parameters of each steering wheel.
Further, the rotation angle of the stationary steering wheel is calculated according to the following formula:
wherein: phi is the rotation angle of the static steering wheel,coding the data variable quantity R for the rotation of the static steering wheel r The resolution of the rotary encoder for the stationary steering wheel.
Further, the actual travel distance of each of the freewheel is calculated according to the following formula:
wherein: s is(s) LF 、s RF 、s RB The actual advancing distance of the free steering wheel is respectively the same as the left side and the right side of the static steering wheel, the diagonal angle and the same front and rear sides; d is the diameter of the free steering wheel;the forward coding data variable quantity of the free steering wheel which is respectively on the same side as the left and right sides, the diagonal angle and the same side as the front and back sides of the static steering wheel; r is R l The resolution of the forward encoder for the freewheel.
Further, the theoretical advancing distance of each of the freewheel is calculated according to the following formula:
φW 2 ＝s' RB ；
wherein: phi is the rotation angle of the static steering wheel, W 1 W is the distance between the left and right wheels with smaller distance 2 For the distance between the left wheel and the right wheel with larger distance, L is the distance between the front wheel and the rear wheel, s' LF 、s' RF 、s' RB The theoretical advancing distance of the free steering wheel is respectively the same as the left side and the right side of the static steering wheel, the diagonal angle and the same side of the front side and the rear side.
Further, the correspondence between the actual advancing distance and the theoretical advancing distance is:
s LF ＝s' LF ；
s RF ＝s' RF ；
s RB ＝s' RB ；
the obtained installation position parameter W of the steering wheel 1 、W 2 The specific calculation formula of L is as follows:
W 2 ＝s RB /φ；
AGV steering wheel mounted position calibration device, it includes:
the selecting module is used for selecting one steering wheel as a static steering wheel and the other steering wheels as free steering wheels;
the setting module is used for setting the static steering wheel to be in a band-type brake mode and setting all the free steering wheels to be in a non-band-type brake mode;
the acquisition module is used for acquiring the coded data variation of the encoders of all steering wheels before and after the AGV receives external force and rotates around the static steering wheel in situ and the free steering wheel is aligned;
and the calculation module is used for calculating the installation position parameters of each steering wheel according to the coding data variation of each steering wheel and the geometric relationship of circular motion.
Further, the computing module includes:
the first calculation module is used for obtaining the variation of the rotary coding data of the static steering wheel according to the rotary coding data corresponding to the static steering wheel before and after moving and calculating the rotary angle of the static steering wheel;
the second calculation module is used for obtaining the variation of the forward coding data of each free steering wheel according to the forward coding data corresponding to the free steering wheel before and after moving and calculating the actual forward distance of each free steering wheel;
the third calculation module is used for calculating the theoretical advancing distance of each free steering wheel according to the rotation angle of the static steering wheel and the geometric relation of circular motion;
and the fourth calculation module is used for calculating according to the corresponding relation between the actual advancing distance and the theoretical advancing distance to obtain the installation position parameters of each steering wheel.
The storage medium stores a computer program which can implement the AGV steering wheel installation position calibration method when being executed by a processor.
The beneficial effects are that: according to the AGV steering wheel installation position calibration method, device and storage medium, one steering wheel is set to be in a band-type brake mode, the other three steering wheels are set to be in a free mode, the AGV is pushed to enable the three free steering wheels to rotate around the static steering wheel, after all the wheels are aligned, the steering wheel tread and wheelbase calculation mode is carried out through encoder data and circular motion geometric relation, the AGV steering wheel installation position is calibrated, the calibration mode is simple, no additional calibration tool is needed, calibration errors caused by measurement errors are reduced, meanwhile, the calculation mode is simple, and the steering wheel installation position can be calibrated accurately.
Drawings
FIG. 1 is a flow chart of a method for calibrating the mounting position of an AGV steering wheel;
FIG. 2 is a schematic diagram of the AGV steering wheel mounting position calibration device;
FIG. 3 is a schematic view of the relationship between AGV steering wheel mounting;
FIG. 4 is a schematic view of steering wheel direction of motion as the AGV steering wheel moves.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that the description of "first", "second", etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implying an indication of the number of technical features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
Furthermore, in the following description, suffixes such as "module", "component", or "unit" for representing elements are used only for facilitating the description of the present invention, and have no specific meaning per se. Thus, "module," "component," or "unit" may be used in combination.
First embodiment:
the embodiment provides a calibration method for the installation positions of steering wheels of an AGV, as shown in FIG. 3, the number of steering wheels of the AGV in the embodiment is four, the four steering wheels are in a trapezoid symmetrical installation mode, and each steering wheel has two degrees of freedom, namely, can rotate around a vertical shaft and a horizontal shaft; the four steering wheels are LF, RF, LB, RB respectively, wherein LF and RF are front wheels, LB and RB are rear wheels, and the distance between the two front wheels is smaller than the distance between the two rear wheels;
based on the above, as shown in fig. 1, the above method includes the following steps S101 to S104:
step S101, selecting steering wheels LB as static steering wheels, and steering wheels LF, RF and RB as free steering wheels; in this step, the wheel located at the rear left is selected as the stationary steering wheel, and the other steering wheels are free steering wheels.
Step S102, setting the static steering wheel LB into a band-type brake mode, so that the static steering wheel LB can only rotate around a vertical shaft and cannot rotate around a horizontal shaft; setting the free steering wheels LF, RF and RB to be in a non-band-type brake mode, so that the free steering wheels LF, RF and RB can rotate around a vertical shaft and a horizontal shaft;
step S103, when the AGV receives external force and rotates around the static steering wheel LB in situ, the AGV is kept to rotate around the static steering wheel LB in situ for more than 3 weeks, and after the free steering wheels LF, RF and RB are aligned, the coding data variation of all the encoders of the steering wheels before and after movement is obtained; during the rotation of the AGV, it is necessary to ensure that the free steering wheels LF, RF, RB do not slip hard.
Step S104, calculating the installation position parameters of each steering wheel according to the coding data variable quantity and the geometric relationship of the circular motion; in an ideal state, the running distance and the running angle of the steering wheel obtained according to the data variable quantity of the encoder are the same as those of the steering wheel obtained according to the geometric relation of the circular motion; based on this theory, the steering wheel mounting position parameter can be calculated.
Preferably, each steering wheel is provided with a forward encoder and a rotary encoder, wherein the forward encoder is used for calculating the walking distance of the steering wheel, and the rotary encoder is used for calculating the rotation angle of the steering wheel;
in step S104, according to the change amount of the encoded data of each steering wheel and the geometric relationship of the circular motion, the installation position parameters of each steering wheel are calculated, including the following steps S201-S204:
step S201: according to the corresponding rotation coding data before and after the static steering wheel LB moves, obtaining the rotation coding data variation of the static steering wheel LB, and calculating the rotation angle of the static steering wheel LB; in the step, as the static steering wheel LB is set into a band-type brake mode, the steering wheel only rotates and does not advance; therefore, the coded data of the forward encoder is not changed, and the rotation angle can be calculated by the change amount of the coded data of the rotary encoder;
step S202: according to the forward coded data corresponding to the free steering wheels LF, RF and RB before and after moving, the forward coded data variable quantity of the free steering wheels LF, RF and RB is obtained, and the actual forward distance of the free steering wheels LF, RF and RB is calculated;
step S203: calculating theoretical advancing distances of free steering wheels LF, RF and RB according to the rotating angle of the static steering wheel LB and the geometric relation of circular motion, wherein in the step, the rotating angle of the free steering wheels LF, RF and RB around the static steering wheel is known according to the geometric relation of circular motion, the same as the rotating angle of the static steering wheel, and the walking distance of the free steering wheels LF, RF and RB is the product of the distance of the free steering wheel from the static steering wheel LB and the rotating angle (namely the rotating angle) of the static steering wheel LB;
step S204: and calculating according to the corresponding relation between the actual advancing distance and the theoretical advancing distance to obtain the installation position parameter of the steering wheel LF, RF, LB, RB, wherein the actual advancing distance is equal to the theoretical advancing distance in the step.
Preferably, as shown in fig. 4, in the above step S201, the rotation angle of the stationary steering wheel LB is calculated according to the following formula:
wherein: phi is the rotation angle of the static steering wheel,coding the data variable quantity R for the rotation of the static steering wheel r The resolution of the rotary encoder for the stationary steering wheel.
Preferably, in the above step S202, the actual advancing distance of the freewheel LF, RF, RB is calculated according to the following formula:
wherein: s is(s) LF 、s RF 、s RB The actual advancing distance of the free steering wheel is respectively the same as the left side and the right side of the static steering wheel, the diagonal angle and the same front and rear sides; d is the diameter of the free steering wheel;the forward coding data variable quantity of the free steering wheel which is respectively on the same side as the left and right sides, the diagonal angle and the same side as the front and back sides of the static steering wheel; r is R l For the advancing encoder of the freewheelResolution.
Preferably, the theoretical advancing distance of each of the freewheel is calculated according to the following formula:
φW 2 ＝s' RB ；
wherein: phi is the rotation angle of the static steering wheel, W 1 W is the distance between the left and right wheels with smaller distance 2 For the distance between the left wheel and the right wheel with larger distance, L is the distance between the front wheel and the rear wheel, s' LF 、s' RF 、s' RB The theoretical advancing distance of the free steering wheel is respectively the same as the left side and the right side of the static steering wheel, the diagonal angle and the same side of the front side and the rear side.
Preferably, the correspondence between the actual advancing distance and the theoretical advancing distance is:
s LF ＝s' LF ；
s RF ＝s' RF ；
s RB ＝s' RB ；
the obtained installation position parameter W of the steering wheel 1 、W 2 The specific calculation formula of L is as follows:
W 2 ＝s RB /φ；
according to the method, the true values of the wheel base and the wheel base of the steering wheel can be calibrated, so that the motion control precision of the mobile platform is improved.
Example two
The embodiment provides an apparatus 300 for calibrating the installation position of the steering wheel of an AGV, where the apparatus 300 may include or be divided into one or more program modules, and the one or more program modules are stored in a storage medium and executed by one or more processors, so as to complete the present invention and implement the method for calibrating the installation position of the steering wheel of an AGV. The program module in the embodiment of the invention refers to a series of computer program instruction sections capable of completing specific functions, and is more suitable for describing the execution process of the calibration of the AGV steering wheel installation position in a storage medium than the program itself. The following description will specifically describe the functions of the program modules of this embodiment, and as shown in fig. 2, the AGV steering wheel installation position calibration device 300 includes:
the selecting module 301 is configured to select one steering wheel to be a static steering wheel, and other steering wheels to be free steering wheels;
the setting module 302 is configured to set the static steering wheel to a band-type brake mode, and set all the free steering wheels to a non-band-type brake mode;
the obtaining module 303 is used for obtaining the coding data variation of the encoders of all steering wheels before and after the AGV receives external force to rotate around the static steering wheel in situ and the free steering wheel is aligned;
and the calculating module 304 is used for calculating the installation position parameters of each steering wheel according to the coding data variation of each steering wheel and the geometric relationship of circular motion.
Preferably, the computing module 304 includes:
a first calculation module 401, configured to obtain a variation of rotation encoding data of the stationary steering wheel according to rotation encoding data corresponding to the stationary steering wheel before and after moving, and calculate a rotation angle of the stationary steering wheel;
the second calculation module 402 is configured to obtain a variation of forward coded data of each free steering wheel according to forward coded data corresponding to each free steering wheel before and after moving, and calculate an actual forward distance of each free steering wheel;
a third calculation module 403, configured to calculate a theoretical advancing distance of each free steering wheel according to a rotation angle of the static steering wheel and a geometric relationship of circular motion;
and a fourth calculation module 404, configured to calculate according to the correspondence between the actual advancing distance and the theoretical advancing distance, to obtain an installation position parameter of each steering wheel.
Other contents of implementing the above calibration method for the steering wheel mounting position of the AGV based on the calibration device 300 for the steering wheel of the AGV are described in detail in the previous embodiments, and reference may be made to the corresponding contents in the previous embodiments, which are not described herein.
Example III
The present embodiment also provides a computer-readable storage medium such as a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, a server, an App application store, etc., on which a computer program is stored, which when executed by a processor, performs the corresponding functions. The computer readable storage medium of this embodiment is used for storing the AGV steering wheel installation position calibration device 300, and when executed by the processor, implements the AGV steering wheel installation position calibration method of the present invention.
The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (3)
1. The AGV steering wheel installation position calibration method is characterized in that the number of steering wheels is four, and the four steering wheels are in a trapezoid symmetrical installation mode, and the method comprises the following steps:
selecting one steering wheel as a static steering wheel, and the other steering wheels as free steering wheels;
setting the static steering wheel to be in a band-type brake mode, and setting all the free steering wheels to be in a non-band-type brake mode;
after the AGV is subjected to external force and rotates around the static steering wheel in situ and all the free steering wheels are aligned, obtaining the coding data variation of the encoders of all the steering wheels before and after movement;
calculating the installation position parameters of each steering wheel according to the coding data variation quantity of each steering wheel and the geometric relationship of circular motion;
each steering wheel is provided with a forward encoder and a rotary encoder; calculating the installation position parameters of each steering wheel according to the coding data variation of each steering wheel and the geometric relationship of circular motion comprises the following steps:
according to the corresponding rotation coding data before and after the static steering wheel moves, obtaining the rotation coding data variation quantity of the static steering wheel, and calculating the rotation angle of the static steering wheel;
according to the forward coding data corresponding to the free steering wheels before and after moving, the forward coding data variable quantity of the free steering wheels is obtained, and the actual forward distance of the free steering wheels is calculated;
calculating the theoretical advancing distance of each free steering wheel according to the rotation angle of the static steering wheel and the geometric relation of circular motion;
calculating according to the corresponding relation between the actual advancing distance and the theoretical advancing distance to obtain the installation position parameters of each steering wheel;
the rotation angle of the stationary steering wheel is calculated according to the following formula:
wherein: phi is the rotation angle of the static steering wheel,coding the data variable quantity R for the rotation of the static steering wheel r Resolution of a rotary encoder for the stationary steering wheel;
the actual travel distance of each free steering wheel is calculated according to the following formula:
wherein: s is(s) LF 、s RF 、s RB The actual advancing distance of the free steering wheel is respectively the same as the left side and the right side of the static steering wheel, the diagonal angle and the same front and rear sides; d is the diameter of the free steering wheel;the forward coding data variable quantity of the free steering wheel which is respectively on the same side as the left and right sides, the diagonal angle and the same side as the front and back sides of the static steering wheel; r is R l A resolution of a forward encoder for the freewheel;
the theoretical advancing distance of each free steering wheel is calculated according to the following formula:
φW 2 ＝s' RB ；
wherein: phi is the rotation angle of the static steering wheel, W 1 W is the distance between the left and right wheels with smaller distance 2 Between the left and right wheels with larger distanceL is the distance between the front wheel and the rear wheel, s' LF 、s' RF 、s' RB The theoretical advancing distance of the free steering wheel is respectively the same as the left side and the right side of the static steering wheel, the diagonal angle and the same front and rear sides;
the corresponding relation between the actual advancing distance and the theoretical advancing distance is as follows:
s LF ＝s′ LF ；
s RF ＝s′ RF ；
s RB ＝s′ RB ；
the obtained installation position parameter W of the steering wheel 1 、W 2 The specific calculation formula of L is as follows:
W 2 ＝s RB /φ；
AGV steering wheel mounted position calibration device, its characterized in that includes:
the selecting module is used for selecting one steering wheel as a static steering wheel and the other steering wheels as free steering wheels;
the setting module is used for setting the static steering wheel to be in a band-type brake mode and setting all the free steering wheels to be in a non-band-type brake mode;
the acquisition module is used for acquiring the coded data variation of the encoders of all steering wheels before and after the AGV receives external force and rotates around the static steering wheel in situ and the free steering wheel is aligned;
the calculation module is used for calculating the installation position parameters of each steering wheel according to the coding data variation of each steering wheel and the geometric relationship of circular motion;
the computing module includes:
the first calculation module is used for obtaining the variation of the rotary coding data of the static steering wheel according to the rotary coding data corresponding to the static steering wheel before and after moving and calculating the rotary angle of the static steering wheel;
the second calculation module is used for obtaining the variation of the forward coding data of each free steering wheel according to the forward coding data corresponding to the free steering wheel before and after moving and calculating the actual forward distance of each free steering wheel;
the third calculation module is used for calculating the theoretical advancing distance of each free steering wheel according to the rotation angle of the static steering wheel and the geometric relation of circular motion;
the fourth calculation module is used for calculating according to the corresponding relation between the actual advancing distance and the theoretical advancing distance to obtain the installation position parameters of each steering wheel;
the rotation angle of the stationary steering wheel is calculated according to the following formula:
wherein: phi is the rotation angle of the static steering wheel,coding the data variable quantity R for the rotation of the static steering wheel r Resolution of a rotary encoder for the stationary steering wheel;
the actual travel distance of each free steering wheel is calculated according to the following formula:
wherein: s is(s) LF 、s RF 、s RB The actual advancing distance of the free steering wheel is respectively the same as the left side and the right side of the static steering wheel, the diagonal angle and the same front and rear sides; d is the diameter of the free steering wheel;the forward coding data variable quantity of the free steering wheel which is respectively on the same side as the left and right sides, the diagonal angle and the same side as the front and back sides of the static steering wheel; r is R l A resolution of a forward encoder for the freewheel;
the theoretical advancing distance of each free steering wheel is calculated according to the following formula:
φW 2 ＝s' RB ；
wherein: phi is the rotation angle of the static steering wheel, W 1 W is the distance between the left and right wheels with smaller distance 2 For the distance between the left wheel and the right wheel with larger distance, L is the distance between the front wheel and the rear wheel, s' LF 、s' RF 、s' RB The theoretical advancing distance of the free steering wheel is respectively the same as the left side and the right side of the static steering wheel, the diagonal angle and the same front and rear sides;
the corresponding relation between the actual advancing distance and the theoretical advancing distance is as follows:
s LF ＝s′ LF ；
s RF ＝s′ RF ；
s RB ＝s′ RB ；
the obtained productInstallation position parameter W of steering wheel 1 、W 2 The specific calculation formula of L is as follows:
W 2 ＝s RB /φ；
3. a storage medium having a computer program stored therein, which when executed by a processor is capable of performing the AGV steering wheel installation position calibration method according to claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210444825.7A CN114700987B (en) | 2022-04-24 | 2022-04-24 | AGV steering wheel installation position calibration method, AGV steering wheel installation position calibration device and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210444825.7A CN114700987B (en) | 2022-04-24 | 2022-04-24 | AGV steering wheel installation position calibration method, AGV steering wheel installation position calibration device and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114700987A CN114700987A (en) | 2022-07-05 |
| CN114700987B true CN114700987B (en) | 2024-02-09 |
Family
ID=82176508
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210444825.7A Active CN114700987B (en) | 2022-04-24 | 2022-04-24 | AGV steering wheel installation position calibration method, AGV steering wheel installation position calibration device and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114700987B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116061194B (en) * | 2023-03-21 | 2023-07-04 | 上海仙工智能科技有限公司 | Calibration method and system for steering wheel installation position of mobile robot and storage medium |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009008648A (en) * | 2007-02-14 | 2009-01-15 | Nsk Ltd | Three-dimensional distance measuring device and caster-type robot |
| JP2009172730A (en) * | 2008-01-25 | 2009-08-06 | Fujitsu Ltd | Wheel positioning mechanism |
| CN103241195A (en) * | 2012-02-06 | 2013-08-14 | 英飞凌科技股份有限公司 | Wheel localizer and wheel localization device, system, method and computer program |
| CN106103144A (en) * | 2014-03-17 | 2016-11-09 | 大陆汽车有限公司 | For positioning the method and apparatus of installation position in vehicle for the wheel |
| CN106627894A (en) * | 2016-12-15 | 2017-05-10 | 广州中国科学院先进技术研究所 | Two-wheeled longitudinal self-balancing robot and control system |
| CN206287167U (en) * | 2016-11-14 | 2017-06-30 | 固高科技(深圳)有限公司 | Robot calibration system and its distance-measuring device |
| CN108773433A (en) * | 2018-06-05 | 2018-11-09 | 广州市远能物流自动化设备科技有限公司 | A kind of butt junction location calibration method and AGV trolleies based on AGV trolleies |
| KR20190087018A (en) * | 2018-01-15 | 2019-07-24 | 금오공과대학교 산학협력단 | Omni-directional mobile robot with differential drive wheels |
| CN110108306A (en) * | 2019-06-06 | 2019-08-09 | 广东嘉腾机器人自动化有限公司 | The physical parameter check method and AGV trolley of AGV trolley |
| CN110147100A (en) * | 2019-05-06 | 2019-08-20 | 珠海达明科技有限公司 | A kind of AGV platform and air navigation aid with high-precision navigation locating function |
| CN110789279A (en) * | 2015-12-29 | 2020-02-14 | 英飞凌科技股份有限公司 | Wheel localizer, wheel localization device, system, method and computer program for localizing the position of a wheel |
| CN111098335A (en) * | 2019-12-26 | 2020-05-05 | 浙江欣奕华智能科技有限公司 | Method and device for calibrating odometer of double-wheel differential drive robot |
| CN112180925A (en) * | 2020-09-28 | 2021-01-05 | 广东嘉腾机器人自动化有限公司 | AGV track following method and device and processing equipment |
| CN112665879A (en) * | 2020-12-31 | 2021-04-16 | 华中科技大学 | Target surface deviation measuring and adjusting method and device of wheel pose measuring system |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9251120B2 (en) * | 2012-08-27 | 2016-02-02 | Infineon Technologies Ag | Wheel localizer, wheel localization device, system, method and computer program for locating a position of a wheel |
| DE102016219379A1 (en) * | 2016-10-06 | 2018-04-12 | Continental Teves Ag & Co. Ohg | Method for determining an orientation of a vehicle |
| US11035669B2 (en) * | 2018-02-06 | 2021-06-15 | Saudi Arabian Oil Company | Tilt and distance profiling vehicle |
-
2022
- 2022-04-24 CN CN202210444825.7A patent/CN114700987B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009008648A (en) * | 2007-02-14 | 2009-01-15 | Nsk Ltd | Three-dimensional distance measuring device and caster-type robot |
| JP2009172730A (en) * | 2008-01-25 | 2009-08-06 | Fujitsu Ltd | Wheel positioning mechanism |
| CN103241195A (en) * | 2012-02-06 | 2013-08-14 | 英飞凌科技股份有限公司 | Wheel localizer and wheel localization device, system, method and computer program |
| CN106103144A (en) * | 2014-03-17 | 2016-11-09 | 大陆汽车有限公司 | For positioning the method and apparatus of installation position in vehicle for the wheel |
| CN110789279A (en) * | 2015-12-29 | 2020-02-14 | 英飞凌科技股份有限公司 | Wheel localizer, wheel localization device, system, method and computer program for localizing the position of a wheel |
| CN206287167U (en) * | 2016-11-14 | 2017-06-30 | 固高科技(深圳)有限公司 | Robot calibration system and its distance-measuring device |
| CN106627894A (en) * | 2016-12-15 | 2017-05-10 | 广州中国科学院先进技术研究所 | Two-wheeled longitudinal self-balancing robot and control system |
| KR20190087018A (en) * | 2018-01-15 | 2019-07-24 | 금오공과대학교 산학협력단 | Omni-directional mobile robot with differential drive wheels |
| CN108773433A (en) * | 2018-06-05 | 2018-11-09 | 广州市远能物流自动化设备科技有限公司 | A kind of butt junction location calibration method and AGV trolleies based on AGV trolleies |
| CN110147100A (en) * | 2019-05-06 | 2019-08-20 | 珠海达明科技有限公司 | A kind of AGV platform and air navigation aid with high-precision navigation locating function |
| CN110108306A (en) * | 2019-06-06 | 2019-08-09 | 广东嘉腾机器人自动化有限公司 | The physical parameter check method and AGV trolley of AGV trolley |
| CN111098335A (en) * | 2019-12-26 | 2020-05-05 | 浙江欣奕华智能科技有限公司 | Method and device for calibrating odometer of double-wheel differential drive robot |
| CN112180925A (en) * | 2020-09-28 | 2021-01-05 | 广东嘉腾机器人自动化有限公司 | AGV track following method and device and processing equipment |
| CN112665879A (en) * | 2020-12-31 | 2021-04-16 | 华中科技大学 | Target surface deviation measuring and adjusting method and device of wheel pose measuring system |
Non-Patent Citations (2)
| Title |
|---|
| 双舵轮AGV定位和建图的关键技术研究;梅瑞冬;中国优秀硕士学位论文全文数据库（信息科技辑）;第1-59页 * |
| 移动机器人主动车轮设计与仿真.中国优秀硕士学位论文全文数据库（信息科技辑）.2015,第1-57页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114700987A (en) | 2022-07-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114700987B (en) | AGV steering wheel installation position calibration method, AGV steering wheel installation position calibration device and storage medium | |
| CN108731707B (en) | Method and device for measuring absolute position by double-increment type encoder | |
| CN113039115B (en) | Apparatus and method for calculating absolute angular position for controlling steering system of vehicle | |
| CN110108306B (en) | AGV and physical parameter checking method thereof | |
| CN103234504B (en) | A kind of error calibration, compensation method and its computer program, computer-readable recording medium | |
| CN112161620B (en) | Vehicle positioning method, device, equipment and storage medium | |
| CN110487285B (en) | Path planning control method and electronic equipment for low-speed turning of vehicle | |
| CN113291314B (en) | Method and system for calculating vehicle course information | |
| CN110949509A (en) | Method and system for determining vehicle course angle and tractor | |
| CN109443186A (en) | Rope body length measuring device and measuring method | |
| CN109591808B (en) | Debugging method, device and system for automatic parking system | |
| CN114019954B (en) | Course installation angle calibration method, device, computer equipment and storage medium | |
| CN111186491B (en) | EPS corner sensor angle mapping method | |
| CN112009567B (en) | Agricultural machine and steering angle calibration method and steering control method thereof | |
| CN115051618A (en) | Motor rotation error compensation method, device, equipment and medium | |
| CN111504309B (en) | Method for calculating pose of automobile in low-speed motion | |
| CN112747741A (en) | Inertial navigation method and device of vehicle and vehicle | |
| CN113386792A (en) | Trajectory tracking-based automatic driving vehicle control method and device, vehicle and storage medium | |
| CN112781543B (en) | Wheel corner measuring method and device for agricultural machinery | |
| CN112506190A (en) | Robot positioning method, robot positioning device and robot | |
| CN111412886A (en) | Detection method and detection system | |
| CN107462261B (en) | Compensation method and device of gyroscope and gyroscope | |
| CN111307134B (en) | Electronic compass calibration method, device, system and computer readable storage medium | |
| CN116372941B (en) | Robot parameter calibration method and device and wheeled robot | |
| CN114935347B (en) | Odometer correction method of wheeled robot, electronic device and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |