Title:
APPARATUS, METHOD AND SYSTEM FOR MEASURING SPEED OF UNIVERSAL WHEEL, SLIP DETECTION METHOD, MOVABLE ELECTRONIC APPARATUS, AND METHOD AND ROUTE CORRECTION APPARATUS FOR CORRECTING ROUTE
Document Type and Number:
WIPO Patent Application WO/2020/000325
Kind Code:
A1
Abstract:
Disclosed is an apparatus for measuring the speed of a universal wheel, wherein one end of a movable rod (3) is provided with a magnetic element (5), and the other end thereof is connected to a universal wheel (1) by means of a transmission mechanism (2); a linear Hall sensor (4) is located at one side of the movable rod (3) and faces the magnetic element (5); the movable rod (3) moves, with the rotation of the universal wheel (1), in a cyclic reciprocating motion by means of the transmission mechanism (2), so as to drive the magnetic element (5) to move in a cyclic reciprocating motion close to and away from the linear Hall sensor (4); the linear Hall sensor (4) continuously outputs analog signal values during the cyclic reciprocating motion of the magnetic element (5); and the angles of rotation of the universal wheel (1), with respect to an initial state at different times, are calculated based on the analog signal values output by the linear Hall sensor (4) in real time and the preset correspondence relationship to further calculate the speed of rotation of the universal wheel (1) in real time. The apparatus can acquire continuous signals and quantize the speed of the universal wheel (1), thereby facilitating the slip detection and route correction of a wheeled mobile robot. A method and system for measuring the speed of a universal wheel, a slip detection method, a portable electronic device, and a route correction method and apparatus are further provided.
Inventors:
LI BEICHEN (CN)
Application Number:
PCT/CN2018/093467
Publication Date:
January 02, 2020
Filing Date:
June 28, 2018
Export Citation:
Assignee:
GUANGZHOU AIROB ROBOT TECH CO LTD (CN)
International Classes:
A47L11/24; G01P3/42
Foreign References:
| CN106419744A | 2017-02-22 | |||
| CN107802213A | 2018-03-16 | |||
| CN202313115U | 2012-07-11 | |||
| CN201932254U | 2011-08-17 | |||
| CN102880175A | 2013-01-16 | |||
| CN205649470U | 2016-10-19 | |||
| CN104006823A | 2014-08-27 | |||
| US20040193339A1 | 2004-09-30 |
Attorney, Agent or Firm:
SCIHEAD IP LAW FIRM (CN)
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