CN109974746B - 全向轮里程校准方法及机器人 - Google Patents
全向轮里程校准方法及机器人 Download PDFInfo
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- CN109974746B CN109974746B CN201711468460.7A CN201711468460A CN109974746B CN 109974746 B CN109974746 B CN 109974746B CN 201711468460 A CN201711468460 A CN 201711468460A CN 109974746 B CN109974746 B CN 109974746B
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- wheel
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- mileage
- coordinate
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- 238000000034 method Methods 0.000 title claims abstract description 62
- 238000012795 verification Methods 0.000 claims abstract description 26
- 239000003638 chemical reducing agent Substances 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 11
- 230000009897 systematic effect Effects 0.000 description 7
- 238000012935 Averaging Methods 0.000 description 2
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
- G06F17/13—Differential equations
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/02—Registering or indicating driving, working, idle, or waiting time only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mathematical Optimization (AREA)
- Computational Mathematics (AREA)
- Mathematical Analysis (AREA)
- Pure & Applied Mathematics (AREA)
- Data Mining & Analysis (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Operations Research (AREA)
- Databases & Information Systems (AREA)
- Software Systems (AREA)
- General Engineering & Computer Science (AREA)
- Algebra (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims (6)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201711468460.7A CN109974746B (zh) | 2017-12-27 | 2017-12-27 | 全向轮里程校准方法及机器人 |
US16/195,868 US10788334B2 (en) | 2017-12-27 | 2018-11-20 | Omni wheel mileage calibration method, apparatus and robot using the same |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201711468460.7A CN109974746B (zh) | 2017-12-27 | 2017-12-27 | 全向轮里程校准方法及机器人 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN109974746A CN109974746A (zh) | 2019-07-05 |
CN109974746B true CN109974746B (zh) | 2020-11-24 |
Family
ID=66951039
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201711468460.7A Active CN109974746B (zh) | 2017-12-27 | 2017-12-27 | 全向轮里程校准方法及机器人 |
Country Status (2)
Country | Link |
---|---|
US (1) | US10788334B2 (zh) |
CN (1) | CN109974746B (zh) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111781931B (zh) * | 2020-07-16 | 2023-08-11 | 上海擎朗智能科技有限公司 | 机器人轮长和轮距的自动标定方法、装置、设备和介质 |
CN112240776B (zh) * | 2020-12-09 | 2021-03-23 | 延锋伟世通电子科技(南京)有限公司 | 一种基于调整测试速率的里程总计的测试方法 |
CN112711736B (zh) * | 2021-01-28 | 2024-05-10 | 中国人民解放军63920部队 | 大气密度探测数据的标校方法、装置、存储介质和处理器 |
CN113075931B (zh) * | 2021-03-30 | 2022-04-08 | 西南科技大学 | 一种三轮全向移动机器人及其运动控制方法 |
CN114035540B (zh) * | 2021-10-26 | 2024-03-22 | 嘉兴市敏硕智能科技有限公司 | 全向移动平台误差自校准方法、***、装置及存储介质 |
CN114111681B (zh) * | 2021-11-24 | 2023-06-06 | 福建汉特云智能科技有限公司 | 一种用于机器人底盘的轴距标定方法及*** |
CN113970310B (zh) * | 2021-11-24 | 2023-06-06 | 福建汉特云智能科技有限公司 | 一种机器人底盘轴距标定方法及*** |
CN114442054A (zh) * | 2021-12-22 | 2022-05-06 | 上海宾通智能科技有限公司 | 一种移动机器人的传感器与底盘联合标定***及方法 |
CN114491833B (zh) * | 2021-12-28 | 2024-05-14 | 中车永济电机有限公司 | 一种带锥度波纹翅片型材散热器参数化快速建模方法 |
CN114580089B (zh) * | 2021-12-28 | 2024-04-19 | 中车永济电机有限公司 | 一种带锥度三角形锯齿翅片型材散热器参数化快速建模方法 |
CN114890339B (zh) * | 2022-05-12 | 2024-02-20 | 华北水利水电大学 | 三面起吊搬运机器人的控制方法 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5416712A (en) * | 1993-05-28 | 1995-05-16 | Trimble Navigation Limited | Position and velocity estimation system for adaptive weighting of GPS and dead-reckoning information |
US7460950B2 (en) * | 2004-09-17 | 2008-12-02 | Delphi Technologies, Inc. | System for establishing a vehicle parameter |
US7392145B1 (en) * | 2007-04-16 | 2008-06-24 | Romano James P | Speedometer drive apparatus and method |
US8195357B2 (en) * | 2008-04-16 | 2012-06-05 | GM Global Technology Operations LLC | In-vehicle sensor-based calibration algorithm for yaw rate sensor calibration |
US8265425B2 (en) * | 2008-05-20 | 2012-09-11 | Honda Motor Co., Ltd. | Rectangular table detection using hybrid RGB and depth camera sensors |
CN104216406B (zh) * | 2013-06-05 | 2017-07-14 | 中国石油天然气集团公司 | 一种四轮驱动全向底盘的控制装置及控制方法 |
US9764473B1 (en) * | 2014-10-01 | 2017-09-19 | Bobsweep Inc. | System and method for confinement of a robotic device |
CN104848876B (zh) * | 2015-05-18 | 2017-10-03 | 哈尔滨工程大学 | 全方位移动机器人定位码盘的安装误差测量方法 |
WO2017062658A1 (en) * | 2015-10-06 | 2017-04-13 | Snap-On Incorporated | Self-calibrating wheel aligner with improved portability |
CN106272433B (zh) * | 2016-09-28 | 2019-03-26 | 中科新松有限公司 | 自主移动机器人的轨迹定位***及方法 |
CN106323294B (zh) * | 2016-11-04 | 2023-06-09 | 新疆大学 | 变电站巡检机器人定位方法及定位装置 |
WO2018108832A1 (en) * | 2016-12-14 | 2018-06-21 | Starship Technologies Oü | Robot, system and method detecting and/or responding to transitions in height |
US10521977B2 (en) * | 2017-03-27 | 2019-12-31 | GM Global Technology Operations LLC | Methods and systems for integrated vehicle sensor calibration and maintenance |
CN107314773B (zh) * | 2017-08-18 | 2019-10-01 | 广东宝乐机器人股份有限公司 | 移动机器人的地图创建方法及基于该地图的路径规划方法 |
KR102628012B1 (ko) * | 2018-10-23 | 2024-01-22 | 삼성전자주식회사 | 캘리브레이션 방법 및 장치 |
-
2017
- 2017-12-27 CN CN201711468460.7A patent/CN109974746B/zh active Active
-
2018
- 2018-11-20 US US16/195,868 patent/US10788334B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
US20190195653A1 (en) | 2019-06-27 |
CN109974746A (zh) | 2019-07-05 |
US10788334B2 (en) | 2020-09-29 |
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Address after: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Youbixuan Technology Co.,Ltd. Address before: 22nd floor, building C1, Nanshan wisdom Park, 1001 Xueyuan Avenue, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: Shenzhen Youbixuan Technology Co.,Ltd. |
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Effective date of registration: 20240415 Address after: Room 101 and 201, Building 1, Qingwang Science and Technology Park, Intersection of Ecological Fourth Road and Keji Fourth Road, Lianxi District, Jiujiang City, Jiangxi Province, 332000 Patentee after: Jiujiang Youbixing Technology Co.,Ltd. Country or region after: China Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Youbixuan Technology Co.,Ltd. Country or region before: China |