CN115979201A - A method for measuring the wheel offset angle of a transfer robot - Google Patents

Abstract

The invention provides a method for measuring a wheel offset angle of a transfer robot, which comprises the steps of detecting a first point of a datum plane and a second point of the datum plane, obtaining first data of the datum plane, second data of the datum plane and third data of the datum plane to obtain inclination data of the datum plane, comparing the obtained wheel inclination data and obtaining actual wheel inclination data, providing a reference point of a relative angle for the inclination data of the wheel plane, comparing and referring depending on the angle of the datum plane on the basis of improving partial accuracy of acquisition and detection of point position data of the datum plane and the wheel plane, greatly improving the accuracy compared with single wheel surface detection by adopting the wheel surface, detecting the self-carrying offset angle of a vehicle body when the transfer robot is positioned on a table board for fixed detection, and detecting the distance between the vehicle body and the wheel surface in the point direction by matching with the table board, and greatly improving the detection accuracy of the wheel offset angle when the transfer robot is fixed on the table board for detection.

Description

A method for measuring the wheel offset angle of a transfer robot

technical field

The invention relates to the technical field of structure of unmanned conveying equipment, in particular to a method for measuring a wheel offset angle of a transfer robot.

Background technique

Due to the continuous improvement of the demand for non-contact delivery of goods, the number and use scenarios of transfer robots are constantly expanding. While the work efficiency of transfer robots is improved, the requirements for the movement accuracy standards of transfer robots during operation are also getting higher and higher.

The walking structure of the transfer robot is mostly transported by a wheeled structure, and the number of the wheeled structures is generally more than two. During the operation, the rotation of the wheeled structure in the horizontal direction is controlled by the motor and the computer. The wheeled structure The angular accuracy of the structure directly affects the operating efficiency of the transfer robot.

In actual use, the transfer robot mostly walks along the preset angle of the vehicle, and due to the horizontal or vertical corner offset problem that occurs during the assembly or use of the vehicle's walking wheels, it is easy to cause the body of the transfer robot to tilt or the wheels to move in different directions. Skewing, resulting in the deviation of the angle of the moving direction, resulting in frequent angle corrections, or deviation from the predetermined route, reducing the operating accuracy and efficiency.

In the existing detection methods, the inclinometer is mainly used to simply attach the wheel surface for detection. Since the equipment can only detect a single area, the reference detection point is difficult to locate accurately, and the transfer robot lacks the relative angle to the vehicle body in the fixed state. It is difficult to detect the inclination angle accurately.

Contents of the invention

In view of the above problems, the object of the present invention is to provide a method for measuring the wheel offset angle of the transfer robot to solve the problem of horizontal or vertical corner offset in the prior art during the assembly or use of the vehicle's road wheels, which may easily cause the body of the transfer robot to Tilting or the wheels are skewed in different directions, resulting in the deviation of the angle of the moving direction, frequent angle corrections, or deviation from the predetermined route, which reduces the problem of operating accuracy and efficiency.

In order to solve the above problems, the inventor provides a method for measuring the offset angle of the wheels of the transfer robot, which includes the following steps:

30 Detect the first point of the reference plane, and obtain the first data of the reference plane;

Detect the second point of the reference plane, and obtain the second data of the reference plane;

Obtain the third datum data between the first point of the datum and the second point of the datum;

Obtain the inclination of the datum plane according to the first data of the datum plane, the second data of the datum plane and the third data of the datum plane

skewed data;

35 Detect the first point of the wheel surface, and obtain the first data of the wheel surface;

Detect the second point of the wheel surface and obtain the second data of the wheel surface;

Obtain the third data of the wheel surface between the first point of the wheel surface and the second point of the wheel surface;

Acquiring wheel surface inclination data according to the first wheel surface data, the second wheel surface data and the third wheel surface data;

The actual inclination data of the wheel surface is obtained according to the inclination data of the reference surface and the inclination data of the wheel surface.

40 As a preferred embodiment of this application, the first point of the reference plane is located in front of one side of the vehicle body

The second point of the reference plane is located at the rear end of one side of the vehicle body, or the first point of the reference plane is located at the upper end of one side of the vehicle body, and the second point of the reference plane is located at the lower end of one side of the vehicle body. By selecting the front and rear ends or the upper and lower ends of one side of the car body as the first point of the reference plane or the second point of the reference plane, it is convenient to use the car body as the wheel surface offset angle for comparison processing.

45 As a preferred embodiment of this application, the third data of the reference plane is the first data of the reference plane

The horizontal or vertical distance from the second data of the datum plane. By providing the distance between the first data of the reference plane and the second data of the reference plane in the horizontal or vertical direction as the third data of the reference plane, it is convenient to measure the angle of the reference plane.

As a preferred embodiment of the present application, the first point of the wheel surface and the second point of the wheel surface are located in the front-back or up-down direction of the surface of the hub 50 . By measuring the wheel surface in the front and rear or up and down directions of the hub surface

The one point and the second point on the wheel face are convenient for measuring the symmetrical area of the wheel face by relying on the point positions, thereby further improving the accuracy.

As a preferred embodiment of the present application, the third data of the wheel surface is the first point of the wheel surface and

The distance between the second point of the wheel surface in the horizontal or vertical direction. By adopting the point on the horizontal or 55 degree direction of the wheel tread as the acquisition area of the third data of the wheel tread, it is convenient to obtain information for the offset angle of the wheel tread

Acquire and improve the accuracy of wheel surface information acquisition.

As a preferred embodiment of the present application, the first point of the reference surface, the second point of the reference surface, the first point of the wheel surface and the second point of the wheel surface are obtained by using an infrared range finder. Acquisition of benchmarks by using an infrared rangefinder

The distance data of the first point on the surface, the second point on the datum surface, the first point on the wheel surface and the second point on the wheel surface are convenient for data collection at the symmetrical points of the vehicle body or wheel surface structure, and the accuracy of data collection is improved.

As a preferred embodiment of the present application, the number of the second point of the datum plane is more than two, and the first point of the datum plane and any second point of the datum plane are obtained to obtain the third data of the datum plane. By adopting multiple second points of the reference plane, it is convenient to perform multi-point detection of the tilt data of the reference plane.

As a preferred embodiment of the present application, the number of the second point of the wheel surface is more than two, and the first point of the wheel surface and any second point of the wheel surface are obtained to obtain the third data of the wheel surface. By using multiple wheel surfaces

The second point is to facilitate the multi-point detection of the wheel surface inclination data.

As a preferred embodiment of the present application, the third data of the wheel surface is obtained using a scale.

As a preferred embodiment of the present application, the third datum data is obtained using a scale.

Different from the prior art, the above-mentioned technical solution has the following advantages: by detecting the first point of the datum plane and the second point of the datum plane, the first data of the datum plane, the second data of the datum plane and the third data of the datum plane are acquired.

Obtain datum surface inclination data, compare the obtained wheel surface inclination data and obtain the actual wheel surface inclination data, provide a reference point for the relative angle of the wheel surface inclination data, and collect point data between the datum surface and the wheel surface And on the basis of the improved part accuracy of the detection, relying on the reference plane angle for comparison and

For reference, compared with the single surface detection of the wheel surface, the accuracy is greatly improved. When the transfer robot is fixed on the platform 75, the offset angle of the body is detected, and the point can be matched with the platform.

The detection of the distance between the vehicle body and the wheel surface in the direction greatly improves the detection accuracy of the wheel surface offset angle when the transfer robot is fixed on the table for detection.

The relevant descriptions of the above-mentioned content of the invention are only an overview of the technical solution of the present application. In order to allow those skilled in the art to understand the technical solution of the application more clearly, it can be implemented according to the text of the description and the content recorded in the drawings, and in order to let those skilled in the art The above purpose and other purposes, features and advantages of the present application can be more easily understood, and will be described below in conjunction with specific implementation methods and accompanying drawings of the present application.

Description of drawings

In order to more clearly illustrate the specific implementation of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the specific implementation or description of the prior art. Obviously, the accompanying drawings in the following description The drawings show some implementations of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative work.

Fig. 1 is a schematic diagram of the detection state structure of the method for measuring the wheel offset angle of the transfer robot in the embodiment of the present invention;

Fig. 2 is the flowchart of the method for measuring the horizontal offset angle of the wheels of the transfer robot in the embodiment of the present invention;

Fig. 3 is a flow chart of the method for measuring the longitudinal offset angle of the wheels of the transfer robot in the embodiment of the present invention.

The reference numerals involved in the above-mentioned drawings are explained as follows:

10. Abutment;

11. Horizontal guide rail; 12. Longitudinal guide rail; 13. Infrared range finder;

20. Body;

30. Wheels;

31. Wheel surface.

Detailed ways

In order to describe in detail the possible application scenarios, technical principles, specific solutions that can be implemented, goals and effects that can be achieved, etc., the following will be described in detail in conjunction with the listed specific embodiments and accompanying drawings. The embodiments described herein are only used to illustrate the technical solutions of the present application more clearly, so they are only used as illustrations, and should not be used to limit the protection scope of the present application.

Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The word "embodiment" appearing in various positions in the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or relationship with other embodiments. In principle, in this application, as long as there is no technical contradiction or conflict, each technical feature mentioned in each 110 embodiment can be combined in any way to form a corresponding implementable technical solution.

Unless otherwise defined, the meanings of the technical terms used herein are the same as those commonly understood by those skilled in the art to which the application belongs; the use of relevant terms herein is only to describe specific embodiments, and is not intended to limit the application .

115 In the description of this application, the word "and/or" is an expression used to describe the logical relationship between objects, indicating that there may be three relationships, such as A and/or B, which means: there is A, there is B, as well as

There are three situations A and B at the same time. In addition, the character "/" in this article generally indicates that the contextual objects are a logical relationship of "or".

In this application, terms such as "first" and "second" are only used to distinguish one entity 120 or operation from another entity or operation, and do not necessarily require or imply that there is a difference between these entities or operations. Any actual quantitative, primary, or sequential relationship exists.

Without further limitation, in this application, the words "including", "comprising", "having" or other similar expressions are intended to cover a non-exclusive inclusion, and these expressions do not exclude Additional elements may also be present in a process, method, or product that includes stated elements,125 such that a process, method, or product that includes a series of elements may include not only those defined elements, but also other elements not explicitly listed. elements, or also elements inherent in such a process, method or product.

The same as the understanding in the "Examination Guidelines", in this application, expressions such as "greater than", "less than", and "exceeding" are understood to not include the original number; expressions such as "above", "below", and "within" are understood to be Include this number. In addition, in the description of the embodiments of the present application, "multiple" means more than two (including two), and similar expressions related to "many" are also understood in this way, such as "multiple groups",

"Multiple times", etc., unless otherwise expressly and specifically qualified.

In the description of the embodiments of the present application, expressions related to space used, such as "center"

"Vertical" "Lateral" "Length" "Width" "Thickness" "Top" "Down" "Front" "Back" "Left" 135 "Right" "Vertical" "Horizontal" "Vertical" "Top" "Bottom" "Inside", "Outside", "Clockwise", "Counterclockwise", "Axial", "Radial", "Circumferential", etc., the orientation or positional relationship indicated is based on the specific embodiment or the orientation or positional relationship shown in the drawings , are only for the convenience of describing the specific embodiments of the application or for the convenience of the readers to understand, and do not indicate or imply that the referred device or component must have a specific position, a specific orientation, or be constructed or operated in a specific orientation, so it cannot be understood In order to limit the implementation of 140 embodiments of the present application.

Unless otherwise clearly specified or limited, in the description of the embodiments of the present application, terms such as "installation", "connection", "connection", "fixation" and "setting" should be understood in a broad sense. For example, the

The "connection" can be a fixed connection, a detachable connection, or an integrated arrangement; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or through an intermediate connection. A medium connects indirectly; it may be an internal communication between two elements or an interactive relationship between two elements. Those skilled in the technical field to which the present application belongs can understand the specific meanings of the above terms in the embodiments of the present application according to specific situations.

Please refer to Figures 1 to 3 together, a method for measuring the wheel offset angle of a transfer robot, including the following steps:

150 Detect the first point of the datum plane, and acquire the first data of the datum plane;

Detect the second point of the reference plane, and obtain the second data of the reference plane;

Obtain the third datum data between the first point of the datum and the second point of the datum;

Obtain datum plane inclination data according to the first data of the datum plane, the second data of the datum plane and the third data of the datum plane;

155 Detect the first point of the wheel surface, and obtain the first data of the wheel surface;

Detect the second point of the wheel surface and obtain the second data of the wheel surface;

Obtain the third data of the wheel surface between the first point of the wheel surface and the second point of the wheel surface;

Acquiring wheel surface inclination data according to the first wheel surface data, the second wheel surface data and the third wheel surface data;

The actual inclination data of the wheel surface is obtained according to the inclination data of the reference plane and the inclination data of the wheel surface.

The above-mentioned technical scheme is described in detail below:

The transfer robot includes a body 20 and a plurality of wheels 30 assembled on the body 20. The wheel hub or the outer surface of the tire of the wheel 30 is a wheel surface 31. The body 20 of the transfer robot is assembled on the base 10, and the infrared range finder 13 is slidably connected to the On the longitudinal guide rail 12 , the longitudinal guide rail 12 is slidably connected to the transverse guide rail 11 . The sliding connection of the infrared rangefinder 13 and the longitudinal guide rail 12, the sliding connection of the longitudinal guide rail 12 and the transverse guide rail 11 is provided with a locking device (or adopts a screw slide rail), which is used for the infrared range finder, the longitudinal guide rail. The relative position is fixed. The horizontal guide rail 11 and the longitudinal guide rail 12 are provided with scales for confirming the length and the amount of movement. (In other embodiments, the infrared range finder 13 can also be slidably connected to the transverse guide rail 11, and the transverse guide rail 11 is slidably connected to the longitudinal guide rail.)

When it is necessary to detect the horizontal offset angle of the transfer robot wheel:

S101: Move the infrared range finder to the first point of the reference plane in the front direction of one side of the vehicle body by moving the horizontal guide rail and the longitudinal guide rail, and the infrared range finder detects and obtains the distance from the detection end of the infrared range finder to the front direction of the side of the vehicle body The surface is used as the distance data of the first point of the datum plane as the first data X1 of the datum plane.

S102: Move the infrared range finder to the second point of the reference plane in the rear direction of one side of the vehicle body by moving the horizontal guide rail and the longitudinal guide rail, and the infrared range finder detects and obtains the distance from the detection end of the infrared range finder to the rear direction of the side of the vehicle body The surface is used as the distance data of the second point of the datum plane as the second data X2 of the datum plane.

S103: Obtain the moving distance of the longitudinal guide rail on the transverse guide rail when the infrared range finder moves from the first point of the reference plane to the second point of the reference plane as the third data A1 of the reference plane.

S104: According to the formula a1=tan ⁻¹ (X2−X1)/A1, obtain the vehicle body inclination angle a1 as reference plane inclination data.

S105: Move the infrared range finder to the first point of the wheel surface in the direction of the front side of the wheel hub surface by moving the horizontal guide rail and the longitudinal guide rail, and the infrared range finder detects and obtains the detection end of the infrared range finder to the side of the wheel hub surface The wheel surface in the front direction is used as the distance data of the first point on the wheel surface, and is used as the first data X3 of the reference plane.

S106. Relying on moving the horizontal guide rail and the longitudinal guide rail, move the infrared range finder to the second point on the wheel surface in the rear direction of one side of the wheel hub surface, and the infrared range finder detects and obtains the detection end of the infrared range finder to the wheel hub surface side side The wheel surface in the rear direction is used as the distance data of the second point on the wheel surface, which is used as the second datum surface data X4.

S107. Obtain the moving distance of the longitudinal guide rail on the transverse guide rail when the infrared range finder moves from the first point of the wheel surface to the second point of the wheel surface as the third data A2 of the wheel surface.

S108. According to the formula a2=tan ^-1 (X4-X3)/A2, obtain the vehicle body inclination angle a2 as the wheel surface inclination data.

S109. Subtract the wheel surface inclination data from the reference surface inclination data, that is, a2-a1 to obtain the actual wheel surface inclination data.

Then rely on the actual tilt data of the active wheel surface to adjust the angle of the wheel relative to the horizontal direction of the vehicle body.

When it is necessary to detect the vertical offset angle of the transfer robot wheel:

S201: Move the infrared rangefinder to the first point of the reference plane above the side of the vehicle body by moving the horizontal guide rail and the longitudinal guide rail, and the infrared rangefinder detects and obtains the distance from the detection end of the infrared rangefinder to the direction above the side of the vehicle body The surface is used as the distance data of the first point of the datum plane as the first data Y1 of the datum plane.

S202: Move the infrared range finder to the second point of the reference plane in the direction below one side of the vehicle body by moving the horizontal guide rail and the longitudinal guide rail, and the infrared range finder detects and obtains the vehicle body in the direction from the detection end of the infrared range finder to the direction below the side of the vehicle body The surface is used as the distance data of the second point of the datum plane as the second data Y2 of the datum plane.

S203: Obtain the moving distance of the infrared rangefinder on the longitudinal guide rail when the infrared rangefinder moves from the first point of the reference plane to the second point of the reference plane as the third data B1 of the reference plane.

S204: According to the formula b1=tan ⁻¹ (Y2−Y1)/B1, obtain the vehicle body inclination angle b1 as the reference plane inclination 210 data.

S205: Move the infrared range finder to the first point on the wheel surface above the side of the wheel hub surface by moving the horizontal guide rail and the longitudinal guide rail, and the infrared range finder detects and obtains the detection end of the infrared range finder to the side of the wheel hub surface The wheel surface in the upward direction is used as the distance data of the first point on the wheel surface, which is used as the first datum surface data Y3.

215S206. Relying on moving the horizontal guide rail and the longitudinal guide rail, move the infrared range finder to the second point on the wheel surface below the side of the wheel hub surface, and the infrared range finder detects and obtains the detection end of the infrared range finder to the side of the wheel hub surface The wheel surface in the downward direction is used as the distance data of the second point on the wheel surface, which is used as the second datum surface data Y4.

S207. Obtain the moving distance of the infrared rangefinder 220 on the longitudinal guide rail when the infrared rangefinder moves from the first point on the wheel surface to the second point on the wheel surface as the third data B2 on the wheel surface.

S208. According to the formula b2=tan ^-1 (Y4-Y3)/B2, obtain the vehicle body inclination angle b2 as the wheel surface inclination data.

S209. Subtract the wheel surface inclination data from the reference surface inclination data, that is, b2-b1 to obtain the actual wheel surface inclination data.

225 then relies on the actual inclination data of the active wheel surface to adjust the vertical angle of the wheel relative to the vehicle body.

As a preferred embodiment of the present application, the first point of the reference plane is located at the front end of the first side of the vehicle body, the second point of the reference plane is located at the rear end of the first side of the vehicle body, or the first point of the reference plane is located at the first side of the vehicle body The upper end of the side, the second point of the reference plane is located at the lower end of a side of the vehicle body. By selecting the front and rear ends or upper and lower ends of the car 230 in the body side direction as the first point of the reference plane or the second point of the reference plane, it is convenient to perform comparison processing with the vehicle body as the wheel offset angle.

As a preferred embodiment of the present application, the third data of the datum plane is the horizontal or vertical distance between the first data of the datum plane and the second data of the datum plane. By providing the distance between the first data of the reference plane and the second data of the reference plane in the horizontal or vertical direction as the third data of the reference plane, it is convenient to measure the angle of the reference plane.

As a preferred embodiment of the present application, the first point of the wheel surface and the second point of the wheel surface are located in the front-back or up-down direction of the hub surface. By measuring the first point of the wheel surface and the second point of the wheel surface in the front, rear or up and down directions of the hub surface, it is convenient to measure the symmetrical area of the wheel surface by relying on the points, and the accuracy is further improved.

As a preferred embodiment of the present application, the third data of the wheel surface is the horizontal or vertical distance between the first point of the wheel surface and the second point of the wheel surface. By using points in the horizontal or height direction of the wheel tread as the acquisition area of the third data of the wheel tread, it is convenient to obtain information for the offset angle of the wheel tread and improve the accuracy of information acquisition of the tread surface.

As a preferred embodiment of the present application, the first point of the reference surface, the second point of the reference surface, the first point of the wheel surface and the second point of the wheel surface are obtained by using an infrared rangefinder. By using the infrared range finder to collect the distance data of the first point of the reference plane, the second point of the reference plane, the first point of the wheel surface and the second point of the wheel surface, it is convenient to carry out data collection at the symmetrical point of the body or wheel surface structure, and improve the data collection. the accuracy.

As a preferred embodiment of the present application, the number of the second point of the datum plane is more than two, and the first point of the datum plane and any second point of the datum plane are obtained to obtain the third data of the datum plane. By adopting multiple second points of the reference plane, it is convenient to perform multi-point detection of the tilt data of the reference plane.

By detecting the first point of the reference plane and the second point of the reference plane, obtain the first data of the reference plane, the second data of the reference plane, and the third data of the reference plane to obtain the tilt data of the reference plane, and compare the obtained wheel surface tilt data and obtain the actual wheel surface inclination data, which provides a reference point for the relative angle of the wheel surface inclination data. On the basis of the point data collection and detection of the datum surface and the wheel surface have improved part of the accuracy, relying on the datum surface angle for comparison For reference, compared with the single surface detection of the wheel surface, the accuracy is greatly improved. When the transfer robot is fixed on the table, the offset angle of the car body is detected, and the car body in the point direction can be matched with the table. and wheel surface distance detection, which greatly improves the detection accuracy of the wheel surface offset angle when the transfer robot is fixed on the table for detection.

As a preferred embodiment of the present application, the number of the second point of the wheel surface is more than two, and the first point of the wheel surface and any second point of the wheel surface are obtained to obtain the third data of the wheel surface. By adopting multiple second points of the wheel surface, it is convenient to perform multi-point detection of the wheel surface inclination data.

As a preferred embodiment of the present application, the third data of the wheel surface is obtained using a scale.

As a preferred embodiment of the present application, the third datum data is obtained using a scale.

In the above-mentioned embodiment, the points in the up-down and front-back directions of one side of the vehicle body and one side of the wheel (i.e. the first point of the datum plane, the second point of the datum plane, the first point of the wheel surface and the second point of the wheel surface) can be adopted The point detection operation is performed on the symmetrical point of the plane shell of the car body, the tire or the wheel hub.

In the above-mentioned embodiment, the first data of the reference plane, the second data of the reference plane, the third data of the reference plane, the first data of the wheel surface, the second data of the wheel surface and the third data of the wheel surface can rely on a control module (such as a computer, PLC structure with calculation data) to calculate the reference plane inclination data, the wheel surface inclination data and the actual wheel surface inclination data.

Finally, it should be noted that although the above-mentioned embodiments have been described in the specification text and drawings of the present application, the scope of protection of the patent of the present application cannot be limited thereby. Any technical solution based on the substantive concept of this application, using the equivalent structure or equivalent process replacement or modification of the content recorded in the text and drawings of this application, and directly or indirectly implementing the technical solutions of the above embodiments in Other relevant technical fields, etc., are included in the patent protection scope of this application.

Claims (10)

1. A method for measuring the wheel offset angle of a transfer robot, characterized in that it may further comprise the steps: Detect the first point of the reference plane and obtain the first data of the reference plane; Detect the second point of the reference plane, and obtain the second data of the reference plane; Obtain the third datum data between the first point of the datum and the second point of the datum; Obtain datum plane inclination data according to the first data of the datum plane, the second data of the datum plane and the third data of the datum plane; Detect the first point of the wheel surface and obtain the first data of the wheel surface; Detect the second point of the wheel surface and obtain the second data of the wheel surface; Obtain the third data of the wheel surface between the first point of the wheel surface and the second point of the wheel surface; Acquiring wheel surface inclination data according to the first wheel surface data, the second wheel surface data and the third wheel surface data; The actual inclination data of the wheel surface is obtained according to the inclination data of the reference surface and the inclination data of the wheel surface. 2. The method for measuring the wheel offset angle of the transfer robot according to claim 1, wherein the first point of the reference plane is located at the front end of one side of the vehicle body, and the second point of the reference plane is located at the rear end of one side of the vehicle body , or the first point of the reference plane is located at the upper end of one side of the vehicle body, and the second point of the reference plane is located at the lower end of one side of the vehicle body. 3. The method for measuring the wheel offset angle of the transfer robot according to claim 2, wherein the third data of the reference plane is the distance between the first data of the reference plane and the second data of the reference plane in the horizontal or vertical direction . 4. The method for measuring the wheel offset angle of a transport robot according to claim 1, wherein the first point on the wheel surface and the second point on the wheel surface are located in the front-back or up-down direction of the hub surface. 5. The method for measuring the wheel offset angle of the transfer robot according to claim 4, wherein the third data of the wheel surface is the first point of the wheel surface and the second point of the wheel surface at the horizontal or vertical distance in direction. 6. The method for measuring the wheel offset angle of the transfer robot according to claim 1, wherein the first point of the reference plane, the second point of the reference plane, the first point of the wheel surface and the second point of the wheel surface are measured by infrared The distance meter is obtained. 7. The method for measuring the wheel offset angle of the transfer robot according to claim 1, wherein the number of the second points of the reference plane is more than two, and the first point of the reference plane and any second point of the reference plane are obtained Obtain the third datum data. 8. The method for measuring the wheel offset angle of the transfer robot according to claim 1, wherein the number of the second points of the wheel surface is more than two, and the first point of the wheel surface and any second point of the wheel surface are obtained Obtain the third data of the wheel surface. 9. The method for measuring the wheel offset angle of the transfer robot according to claim 1, wherein the third data of the wheel surface is obtained using a scale. 10. The method for measuring the wheel offset angle of the transfer robot according to claim 1, wherein the third data of the reference plane is obtained using a scale.

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