Sweeping machine and method and device for measuring its traveling angle

Abstract

The invention proposes a sweeping machine and a method and device for measuring its traveling angle, wherein at least two gyroscopes are arranged on the sweeping machine, and the method for measuring the sweeping machine and its traveling angle includes the following steps: obtaining the current value of each gyroscope Collect data, and obtain the horizontal installation angle of each gyroscope; perform Kalman filter fusion on the currently collected data of all gyroscopes according to the horizontal installation angle of each gyroscope, so as to obtain the optimal estimate of the travel angle of the sweeper value. This measurement method can obtain more accurate sweeping machine travel angles, and provides guarantee for accurate sweeping machine operation cleaning mode and control.

Description

technical field [0001] The invention relates to the field of sweeping machines, in particular to a method for measuring the traveling angle of the sweeping machine, a device for measuring the traveling angle of the sweeping machine and a sweeping machine. Background technique [0002] With the development of science and technology and the improvement of people's living standards, the use of sweeping machines has become more and more common. Sweeping machines have also changed from blind cleaning and random cleaning to planned and guided cleaning. However, at present, the gyroscope of the sweeper generally has the problem of unstable data collection, and the reasons are as follows: [0003] 1) Due to the limitation of cost and data acquisition principle, ordinary consumer-grade gyroscopes have relatively large system noise; [0004] 2) The gyroscope is greatly affected by its own detection error, environmental noise and other aspects; [0005] 3) The situation of the furnit...

AI Technical Summary

Problems solved by technology

However, at present, the gyroscope of the sweeper generally has the problem of unstable data collection, and the reasons are as follows:

[0003] 1) Due to the limitation of cost and data acquisition principle, ordinary consumer-grade gyroscopes have relatively large system noise;

[0004] 2) The gyroscope is greatly affected by its own detection error, environmental noise and other aspects;

[0005] 3) The situation of the furniture is more complicated. The sweeper needs to constantly change the direction of travel during operation, and constantly collide, constantly turn, sudden collision vibration, speed changes, etc. will introduce random errors, and long-term accumulation will lead to gyroscopic errors. instrument appears unstable

[0006] Due to the inaccurate data collected by the gyroscope, the navigation, mapping, path planning, etc.

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