Omni wheel mileage calibration method, apparatus and robot using the same

A robot comprising:

• at least an mini wheel having three wheels;
• one or more processors;
• a memory;
• and
• one or more computer program stored in the memory and executable on the one or more processors, wherein the one or more computer programs comprise:
• instructions for implementing step (a):
• calibrating the omni wheel through a linear motion to obtain a straight line calibration result:
• instructions for implementing step (b):
• calibrating the on mi wheel through a rotational motion to obtain a rotation calibration result;
• instructions for implementing step (c):
• performing error verification to the straight line calibration result and the rotation calibration result along a preset movement trajectory having a loop to obtain an error verification result;
• instructions for implementing step (d):
• determining a straight line calibration corresponding to the straight line calibration result and a rotation calibration corresponding to the rotation calibration result being successful response to the error verification result meeting a preset precision requirement;
• wherein, an object of calibrating the omni wheel through the linear motion is a diameter of the three wheels of the omni wheel, and an object of calibrating the omni wheel through the rotational motion is a distance from the three wheels to the center of the three wheels, the movement trajectory is a square movement trajectory.

A calibration apparatus for a mileage of an omni wheel of a robot, comprising:

• a first unit configured to calibrate the omni wheel through a linear motion to obtain a straight line calibration result;
• a second unit configured to calibrate the omni wheel through a rotational motion to obtain a rotation calibration result;
• a third unit configured to perform error verification to the straight line calibration result and the rotation calibration result along a preset movement trajectory having a loop to obtain an error verification result;
• a fourth unit configured to determine a straight line calibration corresponding to the straight line calibration result and a rotation calibration corresponding to the rotation calibration result being successful in response to the error verification result meeting a preset precision requirement;
• wherein, the omni wheel comprises three wheels, and an object of calibrating the omni wheel through the linear motion is a diameter of the three wheels of the omni wheel, and an object of calibrating the omni wheel through the rotational motion is a distance from the three wheels to the center of the three wheels, the movement trajectory is a square movement trajectory.