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Robot and marching control method thereof

A technology of travel control and robot, applied in the field of control, can solve the problem of low robot control precision, achieve the effect of improving control precision and realizing closed-loop control

Active Publication Date: 2017-10-27
SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI +1
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Problems solved by technology

[0004] Embodiments of the present invention provide a robot and its travel control method, aiming to solve the existing problem of low control precision for robot travel

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  • Robot and marching control method thereof
  • Robot and marching control method thereof
  • Robot and marching control method thereof

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Embodiment Construction

[0014] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0015] In the following description, for the purpose of illustration rather than limitation, explanatory diagrams and reference numerals of many technical features are given, so as to thoroughly understand the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known devices, terminals, methods, etc., are omitted so as not to obscure the description of the present application with unnecessary detail.

[0016] In order to effectively solve the existing problem of low control precision for robot travel. The method for controlling the movement of the robot p...

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Abstract

The invention belongs to the control technical field and provides a robot and a marching control method thereof so as to solve the problem of low robot marching control precision in the prior art. The method can calculate a target position coordinate of a target marching point of the robot in a global map coordinate system according to a current position coordinate of a preset first reference point on the robot in the global map coordinate system, a current marching direction of the robot in the global map coordinate system, a first distance between a second reference point, closest to the first reference point, on a wall body, and the first reference point, a second deflection angle between a connection line between the first reference point and the second reference point and the current marching direction, a second distance needing to be kept between the first reference point and the wall body as well as marching step length along the marching direction of the wall body. The method can greatly improve robot marching control precision by accurately calculating the target marching point of the robot.

Description

technical field [0001] The invention relates to the field of control technology, in particular to a robot and a method for controlling its travel. Background technique [0002] Mobile travel is almost a necessary function for robots. [0003] The inventors of the present application have found that the current control accuracy for robot travel is not high, and the tracking deviation is relatively large. For example, most intelligent cleaning robots now use distance sensors (such as infrared distance sensors, ultrasonic distance sensors, etc.) The distance to the wall is measured to achieve the purpose of tracking the progress of the wall. The control accuracy of this method is not high, and the tracking deviation is large. Contents of the invention [0004] Embodiments of the present invention provide a robot and a traveling control method thereof, aiming at solving the problem of low control precision of the existing robot traveling. [0005] In order to solve the above...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0236G05D1/024G05D1/0246G05D1/0257G05D1/0259
Inventor 欧勇盛左思翔张国栋宋章军
Owner SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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