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Angle correction method of mobile robot in working area and mobile robot

A mobile robot and angle correction technology, which is applied in the field of mobile robots, can solve the problems of complex control and increased cost of mobile robots, and achieve the effect of low cost

Active Publication Date: 2019-08-02
GUANGZHOU COAYU ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the above method requires additional parts to be realized, which increases the cost of the mobile robot and makes the control more complicated.

Method used

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  • Angle correction method of mobile robot in working area and mobile robot
  • Angle correction method of mobile robot in working area and mobile robot
  • Angle correction method of mobile robot in working area and mobile robot

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Embodiment Construction

[0024] The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and specific embodiments. Apparently, the embodiments described here are only part of the embodiments of the invention, not all of them. Based on the specific embodiments described in the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection defined by the claims of the present invention.

[0025] Such as figure 1 Shown is a flowchart of a preferred embodiment of the method of the present invention.

[0026] The mobile robot in this embodiment is described by taking the sweeping robot as an example, as figure 2 As shown, the sweeping robot in this embodiment includes a controller, a drive system, an angle sensor (gyroscope in this embodiment), a distance sensor (odometer in this embodiment), an edge sensor and a memory. Among ...

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Abstract

The present invention discloses a method for correcting the angle of a mobile robot in a working area, including: S1: Establishing a Cartesian coordinate system with reference to the long straight line on the edge of the obstacle that the mobile robot finds for the first time, wherein the long straight line is defined as having a length greater than a certain A straight line or approximate straight line with a preset value; S2: Obtain the travel angle when the mobile robot finds the long straight line on the edge of the obstacle again, and the angle difference between the travel angle and the coordinate axis direction of the Cartesian coordinate system is less than a certain The default value corrects the travel angle to the corresponding coordinate axis direction. The present invention uses the long straight line of the obstacle edge in the working area of ​​the mobile robot as a reference to adjust its travel angle. The present invention has low cost, easy implementation and good implementation effect, and can be used for covering path planning of the mobile robot. In addition, the invention also discloses a mobile robot capable of angle correction.

Description

technical field [0001] The invention belongs to the field of mobile robots, and in particular relates to a mobile robot with an angle correction function and an angle correction method of the mobile robot in a working area. Background technique [0002] Existing mobile robots (such as sweeping robots) use the principle of inertial navigation to measure their own angles. After the mobile robot has been working for a period of time, the accumulated error will cause the mobile robot to obtain inaccurate self-angles, which will affect the mobile robot's working area. The recharging efficiency and coverage efficiency within. [0003] In view of the above problems, the existing technical solutions realize the correction of the angle of the mobile robot itself by installing a camera on the mobile robot, by identifying the surrounding environment feature points (such as feature points on the ceiling or artificially set marks); A beacon is set on the boundary, and the mobile robot a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D2201/0203G05D1/0221G05D1/027G05D1/0272G05D1/0242B25J9/1666B25J11/0085G05D1/0214
Inventor 刘好新杨锴
Owner GUANGZHOU COAYU ROBOT CO LTD