CN114932951A - Method and system for calibrating equivalent steering angle of front wheel of robot chassis - Google Patents
Method and system for calibrating equivalent steering angle of front wheel of robot chassis Download PDFInfo
- Publication number
- CN114932951A CN114932951A CN202210753520.4A CN202210753520A CN114932951A CN 114932951 A CN114932951 A CN 114932951A CN 202210753520 A CN202210753520 A CN 202210753520A CN 114932951 A CN114932951 A CN 114932951A
- Authority
- CN
- China
- Prior art keywords
- chassis
- angle
- steering angle
- equivalent steering
- equivalent
- 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.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0235—Determination of steering angle by measuring or deriving directly at the electric power steering motor
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a calibration method and a system for equivalent steering angles of front wheels of a robot chassis, wherein the calibration method comprises the following steps: s1, acquiring a course angle and a mileage value before the initial movement of the chassis; s2, setting the output angle of the steering motor and the linear speed of the chassis; s3, acquiring a course angle and a mileage value after the chassis movement stops; s4, calculating the turning radius of the chassis movement; s5, calculating an equivalent steering angle of the chassis; and S6, repeating the steps S1 to S5, obtaining the equivalent steering angle corresponding to the chassis according to different output angles of the steering motor, and carrying out data imaging on the relationship between the output angle and the equivalent steering angle. The calibration method of the invention realizes measurement by using the robot chassis without dynamically observing the measured value. And the relation between the output angle and the equivalent steering angle is obtained through data imaging, the measurement and calibration of the equivalent steering angle of the front wheel of the robot chassis are realized, the operation is simple and convenient, and the calibration efficiency and precision are high.
Description
Technical Field
The invention relates to the technical field of robot calibration, in particular to a method and a system for calibrating equivalent steering angles of front wheels of a robot chassis.
Background
Due to the influence of factors such as mechanical design tolerance and the like, when the ackerman chassis steering structure drives the front wheels to steer according to a certain angle, the equivalent steering angle may not be equal to the steering angle of the chassis steering structure, so that the measurement is needed to obtain the equivalent steering angle, the relation between the motor output angle and the equivalent steering angle is found out, and then the chassis is controlled according to the relation in the actual use process of the chassis, so as to improve the motion control precision of the chassis.
In the prior art, by setting a target chassis angular velocity, the circular motion radius of the chassis, that is, the front wheel steering angle, is changed during the motion process until the measured chassis angular velocity is equal to the set target chassis angular velocity. And repeating the steps to obtain a series of data of the front wheel steering angle and the equivalent steering angle, and then performing data fitting to obtain a functional relation between the front wheel steering angle and the equivalent steering angle data.
In the calibration method for equivalent steering of the robot chassis in the prior art, the circular motion radius of the chassis needs to be changed continuously, the whole process is complicated to operate, the measured value needs to be observed dynamically, the measured data cannot be imaged, and the calibration efficiency and precision are poor.
Disclosure of Invention
The invention aims to provide a new technical scheme of a calibration method and a system for equivalent steering angles of front wheels of a chassis of a robot, which can at least solve the problems that the calibration method in the prior art is complex in operation, cannot pattern measured data and the like.
The invention provides a calibration method of an equivalent steering angle of a front wheel of a robot chassis, which comprises the following steps:
s1, acquiring a course angle and a mileage value before the chassis starts to move;
s2, setting the output angle of the steering motor and the linear speed of the chassis;
s3, acquiring a course angle and a mileage value after the chassis movement stops;
s4, calculating the turning radius of the chassis movement;
s5, calculating an equivalent steering angle of the chassis;
and S6, repeating S1 to S5, obtaining the equivalent steering angle corresponding to the chassis according to different output angles of the steering motor, and carrying out data imaging on the relation between the output angle and the equivalent steering angle to realize measurement and calibration of the equivalent steering angle of the front wheel of the robot chassis.
Optionally, in the step of setting the output angle of the steering motor and the chassis linear velocity, the chassis linear velocity is set to be a constant velocity, and the velocity value of the chassis linear velocity is 0.05-0.15 m/s.
Optionally, the chassis moves along a circular arc route, and the circular arc length of the chassis movement is as follows:
s＝mile e －mile s
wherein s is the arc length of the chassis motion, mile e Is the mileage value after the chassis movement stops, mile s And the mileage value before the initial movement of the chassis is obtained.
Optionally, the variation of the heading angle of the chassis motion is:
a＝yaw e －yaw s
wherein a is the variation of the course angle of the chassis motion, yaw e Is the heading angle after the chassis movement stops, yaw s And the heading angle of the chassis before the initial motion is obtained.
Optionally, the radius of the circular arc route of the chassis in the process of moving along the circular arc route is as follows:
r＝s/a
wherein r is the radius of the circular arc route of the chassis movement, s is the circular arc length of the chassis movement, and a is the variation of the course angle of the chassis movement.
Optionally, the formula for calculating the equivalent steering angle of the chassis is:
β＝arctan(L/r)
wherein beta is the equivalent steering angle of the chassis, L is the fore-and-aft wheelbase of the chassis, and r is the radius of the circular arc path of the chassis movement.
Optionally, the step of data-graphing the relationship between the output angle and the equivalent steering angle includes: and performing linear fitting, polynomial fitting or exponential fitting on the output angle and the equivalent steering angle to obtain a corresponding expression.
Optionally, an expression obtained by performing linear fitting on the output angle and the equivalent steering angle is as follows:
θ＝(β－b)/k
wherein θ is the output angle of the steering motor, β is the equivalent steering angle of the chassis, and k and b are proportional coefficients and constants obtained by fitting, respectively.
In a second aspect of the present invention, there is provided a calibration system for a front wheel equivalent steering angle of a robot chassis, which is applied to the calibration method for a front wheel equivalent steering angle of a robot chassis described in the foregoing embodiments, the calibration system includes:
the first acquisition module is used for acquiring a course angle and a mileage value before the initial movement of the chassis;
the setting module is connected with the first acquisition module and is used for setting the output angle of the steering motor and the linear speed of the chassis;
the second acquisition module is connected with the setting module and is used for acquiring the course angle and the mileage value of the chassis after the motion is stopped;
the calculation module is connected with the second acquisition module and is used for calculating the turning radius and the equivalent steering angle of the chassis movement;
and the data fitting module is connected with the calculation module and is used for fitting the relation between the output angle and the equivalent steering angle.
In a second aspect of the present invention, a robot is provided, which includes the calibration system for equivalent steering angles of front wheels of a chassis of the robot described in the above embodiments.
The calibration method of the equivalent steering angle of the front wheel of the robot chassis obtains the equivalent steering angle according to the output angle output by the steering motor, and the measurement is realized by using the robot chassis without dynamically observing the measured value. And the relation between the output angle and the equivalent steering angle is obtained through data imaging, the measurement and calibration of the equivalent steering angle of the front wheel of the robot chassis are realized, the operation is simple and convenient, and the calibration efficiency and precision are high.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a flow chart of a method for calibrating an equivalent steering angle of a front wheel of a robot chassis according to an embodiment of the invention;
FIG. 2 is a motion trajectory diagram of a robot chassis according to an embodiment of the present invention;
FIG. 3 is an equivalent model diagram of a robot chassis according to an embodiment of the invention;
FIG. 4 is a data fit of a robot chassis according to an embodiment of the invention;
fig. 5 is a schematic diagram of a calibration system for equivalent steering angles of front wheels of a robot chassis according to an embodiment of the present invention.
Reference numerals
A chassis 10;
a first acquisition module 20;
a setup module 30;
a second obtaining module 40;
a calculation module 50;
a data fitting module 60.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be discussed further in subsequent figures.
The method for calibrating the equivalent steering angle of the front wheels of the robot chassis 10 according to the embodiment of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, the method for calibrating the equivalent steering angle of the front wheels of the robot chassis according to the embodiment of the invention comprises the following steps:
s1, acquiring a course angle and a mileage value before the chassis 10 starts to move;
s2, setting the output angle of the steering motor and the linear speed of the chassis 10;
s3, acquiring a course angle and a mileage value of the chassis 10 after the motion is stopped;
s4, calculating the turning radius of the movement of the chassis 10;
s5, calculating an equivalent steering angle of the chassis 10;
and S6, repeating S1 to S5, obtaining the corresponding equivalent steering angle of the chassis 10 according to different output angles of the steering motor, and carrying out data imaging on the relation between the output angle and the equivalent steering angle to realize measurement and calibration of the equivalent steering angle of the front wheels of the chassis of the robot.
In other words, referring to fig. 1, in the calibration method of the equivalent steering angle of the front wheel of the robot chassis according to the embodiment of the present invention, it is necessary to obtain the relationship between the output angle of the steering motor and the equivalent steering angle, wherein first, the course angle (yaw) before the chassis 10 starts to move may be obtained s ) Mileage and mileage value (mile) s ). Before the chassis 10 moves, the upper computer may read data of an IMU (Inertial Measurement Unit) and data fed back by a driver, to obtain a heading angle yaw of the chassis 10 s And mileage value mile s . Then, the output angle of the steering motor and the linear speed of the chassis 10 are set, and the course angle and the mileage value after the motion of the chassis 10 is stopped are obtained. After the chassis 10 stops moving, reading IMU data and data fed back by a driver through an upper computer to obtain a course angle yaw of the chassis 10 e And mileage value mile e . Next, the turning radius of the movement of the chassis 10 and the equivalent steering angle of the chassis 10 are calculated. By repeating the steps from S1 to S5 and according to different output angles of the steering motor, the corresponding equivalent steering angle of the chassis 10 is obtained, and data imaging is performed on the relation between the output angle and the equivalent steering angle, so that the measurement and calibration of the equivalent steering angle of the front wheel of the robot chassis 10 are realized.
Therefore, according to the calibration method of the equivalent steering angle of the front wheel of the robot chassis 10 in the embodiment of the invention, the equivalent steering angle is obtained according to the output angle output by the steering motor, and the measurement is realized by using the robot chassis 10 without dynamically observing the measured value. And the relation between the output angle and the equivalent steering angle is obtained through data imaging, the measurement and calibration of the equivalent steering angle of the front wheel of the robot chassis 10 are realized, the operation is simple and convenient, and the calibration efficiency and precision are high.
According to an embodiment of the present invention, in the step of setting the output angle of the steering motor and the linear velocity of the chassis 10, the linear velocity of the chassis 10 is set to be a constant velocity, and the velocity value of the linear velocity of the chassis 10 is 0.05-0.15 m/s.
It is assumed that the range of the possible value of the output angle θ of the steering motor is-Ang to + Ang. Setting theta in a range from-Ang to + Ang and a fixed linear speed v of 0.1m/s for the chassis 10 by an upper computer from an integer which is not less than-Ang, so that the chassis 10 walks a circular arc route.
In some embodiments of the present invention, the chassis 10 moves in a circular arc path, and the length of the circular arc of the chassis 10 is:
s＝mile e －mile s
wherein s is the arc length of the chassis 10 in motion, mile e Is the mileage value after the movement of the chassis 10 is stopped s The mileage value before the initial movement of the chassis 10.
The variation of the heading angle of the chassis 10 motion is:
a＝yaw e －yaw s
where a is the variation of the heading angle of the chassis 10, yaw e Is the heading angle, yaw, of the chassis 10 after the movement has stopped s Is the heading angle of the chassis 10 before the initial movement.
As shown in fig. 2 and 3, the radius of the circular arc route of the chassis 10 during the movement of the circular arc route is:
r is s/a, i.e. r is (mile) e －mile s )/(yaw e －yaw s )
Wherein r is the radius of the circular arc route of the chassis 10, s is the circular arc length of the chassis 10, and a is the variation of the course angle of the chassis 10.
Then, the formula for calculating the equivalent steering angle of the chassis 10 is:
β ═ arctan (L/r), that is, β ═ arctan (L ═ yaw (r)), using a two-dimensional model e －yaw s )/(mile e －mile s ))
Wherein β is the equivalent steering angle of the chassis 10, L is the fore-aft wheelbase of the chassis 10, and r is the radius of the circular arc path of the chassis 10.
According to one embodiment of the present invention, the step of data-patterning the relationship between the output angle and the equivalent steering angle comprises: and performing linear fitting, polynomial fitting or exponential fitting on the output angle and the equivalent steering angle to obtain a corresponding expression.
By repeating S1-S5, θ is incremented each time by a fixed integer value, e.g., by 1, until θ reaches a maximum integer no more than + Ang. And finally, analyzing the output angle theta of the steering motor and the corresponding equivalent steering angle beta of the chassis 10 through a chart to analyze the characteristics of the relation between the theta and the beta, and performing linear fitting, polynomial fitting or exponential fitting to obtain the expression of the corresponding type.
In the invention, the expression obtained by linear fitting the output angle and the equivalent steering angle is as follows:
θ＝(β－b)/k
wherein θ is the output angle of the steering motor, β is the equivalent steering angle of the chassis 10, and k and b are respectively a proportionality coefficient and a constant obtained by fitting.
As shown in fig. 4, the relationship of the example θ and β is a linear relationship, and k and b are respectively a proportionality coefficient and a constant obtained by fitting. In an actual chassis control application, the output angle of the steering of the chassis 10 is converted by an expression of (β -b)/k.
In the invention, an equivalent steering angle is obtained according to a given angle output by the steering motor. And determining the type of data curve fitting by imaging the relationship between the steering motor angle and the equivalent steering angle, and obtaining the relational expressions of the data curve fitting and the equivalent steering angle. The operation is more convenient, and the measurement can be realized by using the basic chassis 10 without dynamically observing the measured value. The data is patterned to facilitate selection of a more appropriate data fitting type.
In summary, according to the calibration method for the equivalent steering angle of the front wheel of the robot chassis 10 of the embodiment of the present invention, the equivalent steering angle is obtained according to the output angle of the steering motor, and the measurement is realized by using the robot chassis 10 without dynamically observing the measured value. And the relation between the output angle and the equivalent steering angle is obtained through data imaging, the measurement and calibration of the equivalent steering angle of the front wheel of the robot chassis 10 are realized, the operation is simple and convenient, and the calibration efficiency and precision are high.
According to a second aspect of the present invention, as shown in fig. 5, there is provided a calibration system for equivalent steering angles of front wheels of a robot chassis 10, which is applied to the calibration method for equivalent steering angles of front wheels of a robot chassis 10 in the above embodiments, and the calibration system includes a first obtaining module 20, a setting module 30, a second obtaining module 40, a calculating module 50, and a data fitting module 60.
Referring to fig. 5, the first obtaining module 20 is used for obtaining the heading angle and the mileage value before the chassis 10 starts moving. The setting module 30 is connected to the first acquiring module 20, and the setting module 30 is used for setting the output angle of the steering motor and the linear speed of the chassis 10. The second obtaining module 40 is connected to the setting module 30, and the second obtaining module 40 is configured to obtain a heading angle and a mileage value after the chassis 10 stops moving. The calculation module 50 is connected to the second obtaining module 40, and the calculation module 50 is used for calculating the turning radius and the equivalent steering angle of the chassis 10 movement. The data fitting module 60 is connected to the calculating module 50, and the data fitting module 60 is used for fitting the relation between the output angle and the equivalent steering angle.
In the present invention, as shown in fig. 5, the first obtaining module 20 and the second obtaining module 40 may be an upper computer, and the heading angle yaw of the chassis 10 may be obtained by reading through the upper computer, the data of an IMU (Inertial Measurement Unit) and the data fed back by a driver s And mileage value mile s . Then, the output angle of the steering motor and the linear speed of the chassis 10 are set, and the course angle and the mileage value after the motion of the chassis 10 is stopped are obtained. After the chassis 10 stops moving, reading IMU data and data fed back by a driver through an upper computer to obtain a course angle yaw of the chassis 10 e And mileage value mile e . The turning radius of the movement of the chassis 10 and the equivalent steering angle of the chassis 10 are calculated by the first calculation module 50 and the second calculation module 50. Obtaining the corresponding equivalent steering angle of the chassis 10 according to different output angles of the steering motor by repeating S1-S5, and using the data fitting module 60 to obtain the relation between the output angle and the equivalent steering angleAnd performing data imaging to realize measurement and calibration of the equivalent steering angle of the front wheel of the robot chassis 10.
According to the calibration system of the equivalent steering angle of the front wheel of the robot chassis 10, the equivalent steering angle is obtained according to the output angle output by the steering motor, and the measurement is realized by using the robot chassis 10 without dynamically observing the measured value. And the relation between the output angle and the equivalent steering angle is obtained through data imaging, the measurement and calibration of the equivalent steering angle of the front wheel of the robot chassis 10 are realized, the operation is simple and convenient, and the calibration efficiency and precision are high.
Of course, the calibration system further includes a controller, a rear axle motor, a rear axle driver, a steering motor, a steering driver, an IMU, and other structures, the upper computer is used for chassis 10 control and data exchange, the IMU is used for obtaining attitude information of the chassis 10, and the driver and the motor are used for motion and steering control of the chassis 10. The working principle and the specific structure of the controller, the rear axle motor, the rear axle driver, the steering motor, the steering driver, the IMU and the like can be understood and realized by those skilled in the art, and are not described in detail herein.
According to a third aspect of the present invention, there is provided a robot comprising the calibration system for the equivalent steering angle of the front wheels of the robot chassis 10 in the above-described embodiments. The robot of the present invention may be an ackerman model robot. Because the calibration system according to the embodiment of the invention has the technical effects, the robot according to the embodiment of the invention also has the corresponding technical effects, namely the robot of the invention can realize the measurement and calibration of the equivalent steering angle of the front wheel of the robot chassis 10, is simple and convenient to operate, and has high calibration efficiency and precision.
Of course, other structures of the robot and the working principle thereof are understood and can be realized by those skilled in the art, and detailed description is not provided in the present invention.
Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that modifications can be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims (10)
1. A calibration method for equivalent steering angles of front wheels of a robot chassis is characterized by comprising the following steps:
s1, acquiring a course angle and a mileage value before the chassis starts to move;
s2, setting the output angle of the steering motor and the linear speed of the chassis;
s3, acquiring a course angle and a mileage value after the chassis movement stops;
s4, calculating the turning radius of the chassis movement;
s5, calculating an equivalent steering angle of the chassis;
and S6, repeating the steps S1 to S5, obtaining the equivalent steering angle corresponding to the chassis according to different output angles of the steering motor, and performing data imaging on the relation between the output angle and the equivalent steering angle to realize measurement and calibration of the equivalent steering angle of the front wheel of the robot chassis.
2. The method for calibrating the equivalent steering angle of the front wheels of the robot chassis according to claim 1, wherein in the step of setting the output angle of the steering motor and the linear speed of the chassis, the linear speed of the chassis is set to be a constant speed, and the speed value of the linear speed of the chassis is 0.05-0.15 m/s.
3. The method for calibrating the equivalent steering angle of the front wheels of the robot chassis according to claim 1, wherein the chassis moves along a circular arc route, and the length of the circular arc of the chassis movement is as follows:
s＝mile e －mile s
wherein s is the arc length of the chassis motion, mile e Is the mileage value after the chassis movement stops, mile s And the mileage value before the initial movement of the chassis is obtained.
4. The method for calibrating the equivalent steering angle of the front wheels of the robot chassis according to claim 3, wherein the variation of the heading angle of the chassis motion is as follows:
a＝yaw e －yaw s
wherein a is the variation of the course angle of the chassis motion, yaw e Is the heading angle after the chassis movement stops, yaw s And the heading angle of the chassis before the initial motion is obtained.
5. The method for calibrating the equivalent steering angle of the front wheels of the robot chassis according to claim 4, wherein the radius of the circular arc route of the chassis in the process of moving by the circular arc route is as follows:
r＝s/a
wherein r is the radius of the circular arc route of the chassis movement, s is the circular arc length of the chassis movement, and a is the variation of the course angle of the chassis movement.
6. The method for calibrating the equivalent steering angle of the front wheels of the robot chassis according to claim 5, wherein the formula for calculating the equivalent steering angle of the chassis is as follows:
β＝arctan(L/r)
wherein beta is the equivalent steering angle of the chassis, L is the fore-and-aft wheelbase of the chassis, and r is the radius of the circular arc path of the chassis movement.
7. The method of calibrating a front wheel equivalent steering angle of a robot chassis according to claim 6, wherein the step of data-graphing the relationship between the output angle and the equivalent steering angle comprises: and performing linear fitting, polynomial fitting or exponential fitting on the output angle and the equivalent steering angle to obtain a corresponding expression.
8. The method for calibrating the equivalent steering angle of the front wheels of the robot chassis according to claim 7, wherein the expression obtained by linearly fitting the output angle and the equivalent steering angle is as follows:
θ＝(β－b)/k
wherein θ is the output angle of the steering motor, β is the equivalent steering angle of the chassis, and k and b are respectively a proportionality coefficient and a constant obtained by fitting.
9. A calibration system for equivalent steering angles of front wheels of a robot chassis, which is applied to the calibration method for equivalent steering angles of front wheels of a robot chassis according to any one of claims 1-8, and is characterized by comprising the following steps:
the first acquisition module is used for acquiring a course angle and a mileage value before the initial movement of the chassis;
the setting module is connected with the first acquisition module and is used for setting the output angle of the steering motor and the linear speed of the chassis;
the second acquisition module is connected with the setting module and is used for acquiring the course angle and the mileage value of the chassis after the motion is stopped;
the calculation module is connected with the second acquisition module and is used for calculating the turning radius and the equivalent steering angle of the chassis movement;
and the data fitting module is connected with the calculation module and is used for fitting the relation between the output angle and the equivalent steering angle.
10. A robot comprising a calibration system for equivalent steering angles of front wheels of a robot chassis according to claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210753520.4A CN114932951B (en) | 2022-06-29 | 2022-06-29 | Calibration method and system for equivalent steering angle of front wheel of robot chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210753520.4A CN114932951B (en) | 2022-06-29 | 2022-06-29 | Calibration method and system for equivalent steering angle of front wheel of robot chassis |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114932951A true CN114932951A (en) | 2022-08-23 |
| CN114932951B CN114932951B (en) | 2023-08-25 |
Family
ID=82868535
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210753520.4A Active CN114932951B (en) | 2022-06-29 | 2022-06-29 | Calibration method and system for equivalent steering angle of front wheel of robot chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114932951B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116202472A (en) * | 2023-05-05 | 2023-06-02 | 九识(苏州)智能科技有限公司 | Method, device, storage medium and equipment for checking steering angle of front wheel |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109552417A (en) * | 2018-12-27 | 2019-04-02 | 华晟（青岛）智能装备科技有限公司 | A kind of calibration method and system of driving wheel angle zero bias |
| US20190233008A1 (en) * | 2018-01-31 | 2019-08-01 | Bourns, Inc. | Steering angle sensor with slotted magnet |
| CN112319236A (en) * | 2020-10-26 | 2021-02-05 | 广州视源电子科技股份有限公司 | Motion control method of mobile robot chassis and mobile robot chassis |
| CN113029201A (en) * | 2021-04-07 | 2021-06-25 | 北京布科思科技有限公司 | Mileage calibration method, device, equipment and storage medium for double-wheel differential model |
| CN113219973A (en) * | 2021-05-08 | 2021-08-06 | 浙江工业大学 | Efficient local path control method for mobile robot |
| CN113291314A (en) * | 2020-02-21 | 2021-08-24 | 湖北亿咖通科技有限公司 | Method and system for calculating vehicle course information |
| CN113415340A (en) * | 2021-08-25 | 2021-09-21 | 江苏贝叶斯机器人有限公司 | Parameter setting method for steering control of Ackerman-like steering mechanism |
| CN113602350A (en) * | 2021-09-01 | 2021-11-05 | 国汽智控(北京)科技有限公司 | Method, device and equipment for dynamically calibrating deviation angle of front wheel of vehicle and storage medium |
| CN113970310A (en) * | 2021-11-24 | 2022-01-25 | 福建汉特云智能科技有限公司 | Robot chassis wheelbase calibration method and system |
| CN114111681A (en) * | 2021-11-24 | 2022-03-01 | 福建汉特云智能科技有限公司 | Wheelbase calibration method and system for robot chassis |
-
2022
- 2022-06-29 CN CN202210753520.4A patent/CN114932951B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190233008A1 (en) * | 2018-01-31 | 2019-08-01 | Bourns, Inc. | Steering angle sensor with slotted magnet |
| CN109552417A (en) * | 2018-12-27 | 2019-04-02 | 华晟（青岛）智能装备科技有限公司 | A kind of calibration method and system of driving wheel angle zero bias |
| CN113291314A (en) * | 2020-02-21 | 2021-08-24 | 湖北亿咖通科技有限公司 | Method and system for calculating vehicle course information |
| CN112319236A (en) * | 2020-10-26 | 2021-02-05 | 广州视源电子科技股份有限公司 | Motion control method of mobile robot chassis and mobile robot chassis |
| CN113029201A (en) * | 2021-04-07 | 2021-06-25 | 北京布科思科技有限公司 | Mileage calibration method, device, equipment and storage medium for double-wheel differential model |
| CN113219973A (en) * | 2021-05-08 | 2021-08-06 | 浙江工业大学 | Efficient local path control method for mobile robot |
| CN113415340A (en) * | 2021-08-25 | 2021-09-21 | 江苏贝叶斯机器人有限公司 | Parameter setting method for steering control of Ackerman-like steering mechanism |
| CN113602350A (en) * | 2021-09-01 | 2021-11-05 | 国汽智控(北京)科技有限公司 | Method, device and equipment for dynamically calibrating deviation angle of front wheel of vehicle and storage medium |
| CN113970310A (en) * | 2021-11-24 | 2022-01-25 | 福建汉特云智能科技有限公司 | Robot chassis wheelbase calibration method and system |
| CN114111681A (en) * | 2021-11-24 | 2022-03-01 | 福建汉特云智能科技有限公司 | Wheelbase calibration method and system for robot chassis |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116202472A (en) * | 2023-05-05 | 2023-06-02 | 九识(苏州)智能科技有限公司 | Method, device, storage medium and equipment for checking steering angle of front wheel |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114932951B (en) | 2023-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10352829B2 (en) | Automatic calibration method of an angle sensor for an automatic drive control system of a farm machine | |
| CN107380254A (en) | The electric power steering predicted using system mode is controlled | |
| CN112720483B (en) | Method and device for acquiring combined mass center state, humanoid robot and readable storage medium | |
| CN111086556B (en) | Variable transmission ratio optimization method of intelligent steer-by-wire system | |
| CN110386189A (en) | Interference signal is accessed into datum quantity in Cascade control | |
| CN114932951A (en) | Method and system for calibrating equivalent steering angle of front wheel of robot chassis | |
| CN114148320B (en) | Path tracking control method and equipment | |
| CN111982091A (en) | Laser point cloud distortion correction method based on synchronous IMU | |
| CN111806430A (en) | Vehicle speed calculation method for automatic parking | |
| Rill et al. | VTT–a virtual test truck for modern simulation tasks | |
| CN117369402A (en) | Multi-axis distributed chassis stability control system and control method | |
| CN112389438A (en) | Method and device for determining transmission ratio of vehicle steering system | |
| CN113415340B (en) | Parameter setting method for steering control of Ackerman-like steering mechanism | |
| CN108955720A (en) | A kind of mileage projectional technique and device based on four motorized wheels and steering | |
| CN111504309B (en) | Method for calculating pose of automobile in low-speed motion | |
| CN106909155A (en) | Automated guided vehicle control method, device and automated guided vehicle | |
| US11731700B2 (en) | Friction compensation for vehicle system control | |
| CN114212078B (en) | Method and system for detecting positioning accuracy of self-vehicle in automatic parking | |
| CN117400944B (en) | Wheel-leg type vehicle speed difference steering control method, system and electronic equipment | |
| CN116588121B (en) | Vehicle parameter estimation method, device, medium and equipment based on vehicle information | |
| Tomner | Design and implementation of control and actuation for an over-actuated research vehicle | |
| CN114925447B (en) | Method for establishing dynamic model of multi-body system of two-axis electric drive vehicle | |
| CN107817761A (en) | Method of processing parts and system based on error iterative learning | |
| CN114427652B (en) | Indoor three-dimensional reconstruction information acquisition device and device camera position acquisition method | |
| CN117773928B (en) | Mobile device calibration method and device, 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 |