An automatic zeroing method for a steering wheel of a wheeled robot comprises a single-wheel automatic zeroing mode and a complete-machine automatic zeroing mode, single-wheel automatic zeroing operation is carried out firstly, and then complete-machine automatic zeroing operation is carried out; the single-wheel automatic zeroing operation comprises the following steps: controlling a steering engine to be zeroed to rotate clockwise and anticlockwise at a constant speed respectively, and acquiring a first complete machine current value and a second complete machine current value under clockwise and anticlockwise conditions respectively; when it is detected that the first complete machine current value rises to a target threshold value Ia, the current deviation angle theta 1 of the steering engine rotating clockwise is recorded; when it is detected that the second complete machine current value rises to the target threshold value Ia, the current deviation angle theta 2 of the steering engine rotating anticlockwise is recorded; and according to the deviation angle theta1 and the deviation angle theta2, zero deviation information of the wheel is obtained and corrected. Starting from solving the fundamental problems of linear driving, endurance and the like, any external equipment is not needed, and the speed of production manufacturing and field maintenance is greatly increased.
一种轮式机器人转向轮的自动调零方法,包括单轮自动调零模式和整机自动调零模式,且先进行单轮自动调零操作,再进行整机自动调零操作;所述单轮自动调零的操作步骤为:控制待调零的舵机分别进行顺时针和逆时针匀速旋转,分别获取顺时针和逆时针条件下的第一整机电流值和第二整机电流值;待检测到第一整机电流值升高至目标阈值Ia时,记录顺时针转动的舵机在当前的偏移角度θ1;以及待检测到第二整机电流值升高至目标阈值Ia时,记录逆时针转动的舵机在当前的偏移角度θ2;根据偏移角度θ1和偏移角度θ2获取轮子零位偏移信息并修正。本发明从解决直线行驶、续航等根本问题出发,不需要任何外部设备,极大加快生产制造以及现场维修的速度。
Automatic zero setting method for steering wheel of wheeled robot
一种轮式机器人转向轮的自动调零方法
2025-01-24
Patent
Electronic Resource
Chinese
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