Title:
METHOD FOR DETECTING SKIDDING BY ROBOT
Document Type and Number:
WIPO Patent Application WO/2021/046991
Kind Code:
A1
Abstract:
A method for detecting skidding by a robot, the robot comprising a working mechanism, a housing (10), a walking mechanism and a turntable that is rotatably provided on the housing (10). The method for detecting skidding comprises the following steps: a. providing a sensing assembly on the turntable; b. at the working boundary of the robot, providing n beacons (20) which are sensed by the sensing assembly; c. by using an m-th beacon (20) as reference, defining a calculated value of the steering angle of the robot as Δθm, and defining Δθm as the angle of rotation Δθ of the robot, wherein m refers to the m-th beacon (20), and 1≤m≤n; d. using a calculated angle value obtained by calculating by using the wheel speed of a walking wheel and the rotation time thereof as ΔθspeedΔ; and e. calculating the difference between the two calculated angle values, Δθaviation=Δθ-Δθspeed; determining whether Δθaviation>θthresholdΔ is established; if the determination result is yes, the beacon (20) detects that skidding has occurred; and if the determination result is no, the beacon (20) does not detect that skidding has occurred, θthreshold being a preset angle change difference. The described method for detecting skidding does not experience a cumulative error and has high real-time performance.
Inventors:
CUI JIANGWEI (CN)
HAN KUI (CN)
HAN KUI (CN)
Application Number:
PCT/CN2019/115249
Publication Date:
March 18, 2021
Filing Date:
November 04, 2019
Export Citation:
Assignee:
SUZHOU CLEVA PRECISION MACHINERY & TECH CO LTD (CN)
International Classes:
B25J19/00
Domestic Patent References:
| WO2018166590A1 | 2018-09-20 |
Foreign References:
| CN101600618A | 2009-12-09 | |||
| CN102666032A | 2012-09-12 | |||
| CN108748135A | 2018-11-06 | |||
| CN107443430A | 2017-12-08 | |||
| CN109511274A | 2019-03-22 |
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