Control method for carpet deviation during robot movement, chip and robot cleaner

Abstract

The invention discloses a control method for carpet deviation during robot movement, a chip and a robot cleaner. The control method comprises the following steps: carrying out fusion calculation on the current position coordinates of the robot according to sensing data of a sensor at every first preset time, calculating the deviation amount of the robot relative to the preset direction according to the relative position relation between the current position and the initial position of the robot, and carrying out accumulation to obtain a deviation statistical value; and calculating the collecting times for position coordinates in the second preset time, carrying out averaging, thus obtaining a deviation average value, determining the condition that the robot deviates from the preset direction according to the deviation average value, and setting a corresponding PID proportionality coefficient for synchronously adjusting the speed of left and right drive wheels of the robot, wherein thedeviation angle of the robot is reduced. With the control method, the accuracy in detecting the carpet deviation of the robot is improved, and thus the robot is effectively controlled to maintain thegood linear walking effect.

Description

technical field [0001] The invention relates to the field of robot detection and control, in particular to a control method for identifying the direction and magnitude of carpet offset by a robot, and compensation for carpet offset, a chip and a cleaning robot. Background technique [0002] Robots based on inertial navigation navigate back to the charging dock based on a global grid map. This approach assumes that the global map is more accurate. However, many conventional autonomous robots do not properly or accurately determine the Position and / or posture and the movement of the robot is not properly controlled to ensure that the robot stays on the given route and / or reaches the specified position and / or posture, causing the robot's position calculation results to be wrong, for example, autonomous cleaning equipment Trajectories may be disturbed by the effect of carpet texture. The effect of the rug texture on the motion of the object may be referred to as rug offset. Th...

AI Technical Summary

Problems solved by technology

Although the optical flow sensor guarantees the position accuracy of the robot, it cannot guarantee the regularity of the robot's motion and eliminate the influence of the anisotropy of the direction of the carpet.

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