Wheel diameter compensation method and apparatus for robot
First Claim
1. A wheel diameter compensation method for a robot, comprising:
- receiving, by a robot at a first location point in a work place, a travel instruction sent from a server, wherein the travel instruction instructs the robot to travel to a second location point, wherein a plurality of location points are set in the work place, and the travel instruction includes a distance between the first location point and the second location point and a travel direction towards the second location point from the first location point;
acquiring, by the robot, a travelling deviation corresponding to travelling from the first location point to the second location point, the travelling deviation being a difference between a theoretical distance corresponding to actual number of tire revolutions of the robot and an actual distance; and
the robot correcting its own current wheel diameter based on the travelling deviation and the distance between the first location point and the second location point,wherein the step of the robot correcting its own current wheel diameter based on the travelling deviation and the distance between the first location point and the second location point includes;
the robot calculating its own travelling deviation per unit distance, based on the distance between the first location point and the second location point and the travelling deviation;
the robot searching, in a preset list, a wheel diameter compensation value corresponding to the travelling deviation per unit distance; and
the robot correcting its own current wheel diameter based on the searched wheel diameter compensation value.
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Accused Products
Abstract
Wheel diameter compensation method and apparatus for a robot, wherein the method comprises: receiving, by a robot at a first location point in a work place where multiple location points are set, a travel instruction, sent from a server, wherein the travel instruction instructs it to travel to a second location point and includes a distance between the first and the second location points and a travel direction towards the second location point from the first location point; acquiring, by the robot, a travelling deviation corresponding to travelling from the first location point to the second location point, the travelling deviation being a difference between a theoretical distance and an actual distance corresponding to actual number of tire revolutions of the robot; and correcting, by the robot, a current wheel diameter of the robot based on the travelling deviation and the distance between the first and the second location points.
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Citations
22 Claims
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1. A wheel diameter compensation method for a robot, comprising:
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receiving, by a robot at a first location point in a work place, a travel instruction sent from a server, wherein the travel instruction instructs the robot to travel to a second location point, wherein a plurality of location points are set in the work place, and the travel instruction includes a distance between the first location point and the second location point and a travel direction towards the second location point from the first location point; acquiring, by the robot, a travelling deviation corresponding to travelling from the first location point to the second location point, the travelling deviation being a difference between a theoretical distance corresponding to actual number of tire revolutions of the robot and an actual distance; and the robot correcting its own current wheel diameter based on the travelling deviation and the distance between the first location point and the second location point, wherein the step of the robot correcting its own current wheel diameter based on the travelling deviation and the distance between the first location point and the second location point includes; the robot calculating its own travelling deviation per unit distance, based on the distance between the first location point and the second location point and the travelling deviation; the robot searching, in a preset list, a wheel diameter compensation value corresponding to the travelling deviation per unit distance; and the robot correcting its own current wheel diameter based on the searched wheel diameter compensation value. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A wheel diameter compensation apparatus for a robot, comprising:
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a receiving module, configured to receive a travel instruction sent from a server, wherein the travel instruction instructs the robot to travel from a first location point to a second location point, wherein a plurality of location points are set in a work place, and the travel instruction includes a distance between the first location point and the second location point and a travel direction towards the second location point from the first location point; a travelling deviation calculation module, configured to acquire a travelling deviation corresponding to travelling from the first location point to the second location point, the travelling deviation being a difference between a theoretical distance corresponding to actual number of tire revolutions of the robot and an actual distance; and a correcting module, configured to correct a current wheel diameter of the robot based on the distance between the first location point and the second location point and the travelling deviation; wherein the correction module includes; a deviation-per-unit-distance calculation subunit, configured to calculate, based on the distance between the first location point and the second location point and the travelling deviation, a travelling deviation per unit distance of the robot; a wheel diameter compensation value searching subunit, configured to search in a preset list a wheel diameter compensation value corresponding to the travelling deviation per unit distance; and a current wheel diameter correcting subunit, configured to correct the current wheel diameter of the robot based on the searched wheel diameter compensation value. - View Dependent Claims (8, 9, 10, 11, 12)
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13. A wheel diameter compensation method for a robot, comprising:
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acquiring a travelling deviation corresponding to the robot travelling from a first location point to a second location point in a work place and a distance between the first location point and the second location point;
wherein a plurality of location points are set in the work place, and the travelling deviation is a difference between a theoretical distance corresponding to an actual number of tire revolutions of the robot and an actual distance; andupdating a current wheel diameter of the robot based on the distance between the first location point and the second location point and the travelling deviation; wherein the step of updating a current wheel diameter of the robot based on the distance between the first location point and the second location point and the travelling deviation includes; calculating, based on the distance between the first location point and the second location point and the travelling deviation, a travelling deviation per unit distance of the robot; searching in a preset list a wheel diameter compensation value corresponding to the travelling deviation per unit distance; and updating the current wheel diameter of the robot based on the searched wheel diameter compensation value. - View Dependent Claims (14, 15, 16, 17)
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18. A wheel diameter compensation apparatus for a robot, comprising:
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an acquiring module, configured to acquire a travelling deviation corresponding to the robot travelling from a first location point to a second location point in a work place and a distance between the first location point and the second location point, wherein a plurality of location points are set in the work place, and the travelling deviation is a difference between a theoretical distance corresponding to the actual number of tire revolutions of the robot and an actual distance; and a wheel diameter updating module, configured to update a current wheel diameter of the robot based on the distance between the first location point and the second location point and the travelling deviation; wherein the wheel diameter updating module includes; a travelling-deviation-per-unit-distance calculation unit, configured to calculate, based on the distance between the first location point and the second location point and the travelling deviation, a travelling deviation per unit distance of the robot; a wheel diameter compensation value searching unit, configured to search in a preset list a wheel diameter compensation value corresponding to the travelling deviation per unit distance of the robot; and a current wheel diameter updating unit, configured to update the current wheel diameter of the robot based on the searched wheel diameter compensation value. - View Dependent Claims (19, 20, 21, 22)
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Specification