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Robot steering error calibration method, device and system

A technology of error calibration and robotics, applied in manipulators, manufacturing tools, etc., can solve problems such as angle errors, and achieve the effect of reducing angle errors

Active Publication Date: 2018-08-07
浙江立石工业互联科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the deficiencies of the prior art, the object of the present invention is to provide a robot steering error calibration method, device and system, aiming to solve the problem of angle error when the robot in the prior art makes a turning motion

Method used

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  • Robot steering error calibration method, device and system
  • Robot steering error calibration method, device and system

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specific Embodiment 1

[0053] Such as Figure 1a and Figure 1b As shown, the embodiment of the present invention provides a robot steering error calibration method, including:

[0054] Fence setting step S101, setting a rectangular fence;

[0055] Initial attitude acquisition step S102, after the robot drives into the fence, scan the environment through the laser radar installed on the robot, monitor the four sidelines of the fence, and obtain the initial attitude angle a1 of the robot relative to the fence;

[0056] Turn step S103 to control the robot to turn the angle p in situ;

[0057] The current attitude acquisition step S104 is to scan the environment through the laser radar, monitor the four sidelines of the fence, and obtain the current attitude angle a2 of the robot relative to the fence;

[0058] The steering error calculation step S105 is to calculate the steering error m of the robot according to the initial attitude angle a1, the current attitude angle a2 and the rotation angle p: ...

specific Embodiment 2

[0068] Such as figure 2 As shown, the embodiment of the present invention provides a robot steering error calibration device, including:

[0069] The fence setting module 201 is used to set a rectangular fence;

[0070] The initial attitude acquisition module 202 is used to scan the environment through the laser radar installed on the robot after the robot enters the fence, monitor the four sidelines of the fence, and obtain the initial attitude angle a1 of the robot relative to the fence;

[0071] The rotation module 203 is used to control the rotation angle p of the robot in situ;

[0072] The current attitude acquisition module 204 is used to scan the environment by laser radar, monitor the four sidelines of the fence, and obtain the current attitude angle a2 of the robot relative to the fence;

[0073] The steering error calculation module 205 is used to calculate the steering error m of the robot according to the initial attitude angle a1, the current attitude angle a2...

specific Embodiment 3

[0080] Such as image 3 As shown, the embodiment of the present invention provides a robot steering error calibration system, including:

[0081] The robot steering error calibration device 301 in the second embodiment;

[0082] The fence 302 is used to provide a calibration site;

[0083] The laser radar 303 is installed on the robot, and the laser radar is used to scan the environment and monitor the 4 sidelines of the fence.

[0084] The embodiment of the present invention can calculate the relative position error of the left wheel and the right wheel of the robot according to the steering error, and calibrate the relative position error of the wheels, which can be compensated for the error during the subsequent movement of the robot, thereby reducing the turning of the robot Angle error during movement.

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Abstract

The invention discloses a robot steering error calibration method, device and system. Firstly, a rectangular fence is arranged; after a robot enters the fence, a laser radar mounted on the robot scansthe environment, four side lines of the fence are monitored, and the initial attitude angle of the robot relative to the fence is obtained; the robot is controlled to rotate by an angle in situ; through the laser radar, the current attitude angle of the robot relative to the fence is obtained; according to the initial attitude angle, the current attitude angle and the rotating angle, the steeringerror of the robot is calculated. According to the steering error, the relative location error of a left wheel and a right wheel of the robot is calculated, the opposite position error of the wheelsis calibrated, in the robot subsequent motion process, compensation can be carried out according to the error, and the angle error of the robot during turning motion is reduced.

Description

technical field [0001] The invention relates to a robot steering error calibration method, device and system. Background technique [0002] There is a relative position error between the left wheel and the right wheel of a multi-wheeled mobile robot, which will cause an angular error when the mobile robot makes a turning motion. Therefore, it is necessary to calibrate the relative position error of the wheels to compensate for this error. Contents of the invention [0003] In order to overcome the deficiencies of the prior art, the object of the present invention is to provide a robot steering error calibration method, device and system, aiming to solve the problem of angle error when the robot in the prior art makes a turning motion. [0004] The object of the present invention adopts following technical scheme to realize: [0005] A method for calibrating a steering error of a robot, comprising: [0006] The fence setting step is to set a rectangular fence; [0007] T...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00B25J19/02
CPCB25J19/00B25J19/02B25J19/022
Inventor 金杭张利刚刘立力
Owner 浙江立石工业互联科技有限公司
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