System for controlling floor mopping robot to walk along line on basis of PID control algorithm and method for controlling floor mopping robot to walk along line on basis of PID control algorithm

Abstract

The invention discloses a system for controlling a floor mopping robot to walk along a line on the basis of a PID control algorithm and a method for controlling the floor mopping robot to walk along the line on the basis of the PID control algorithm. The system comprises a floor mopping robot body, a left rotating wheel, a right rotating wheel, a bottom layer driving module, a control module and apower supply module, wherein the bottom driving module comprises a floor mopping robot body attitude measuring unit and a driving unit. The system for controlling the floor mopping robot to walk along the line on the basis of the PID control algorithm and the method for controlling the floor mopping robot to walk along the line on the basis of the PID control algorithm provided by the invention have the advantages that the attitude angle, the speed and the position (namely the offset distance) of a floor mopping robot in the advancing process are subjected to closed-loop control, so that thefloor mopping robot keeps walking along a straight line in the advancing process; the system and the method are applicable to floor mopping robots of various models; parameters can be conveniently regulated; the control is stable; and the intelligent control of the floor mopping robot is completed at low cost.

Description

technical field [0001] The invention relates to the technical field of sweeping robots, in particular to a sweeping robot walking control system and a control method thereof based on a PID control algorithm. Background technique [0002] People usually refer to robots that complete cleaning, vacuuming, and mopping the floor as intelligent sweeping robots. Intelligent sweeping robots can rely on certain artificial intelligence technology to complete cleaning tasks in the room autonomously. Generally, brushing and vacuum methods are used. The debris on the ground is first absorbed into its own garbage storage box, thus completing the function of ground cleaning. [0003] At present, the intelligent sweeping robot on the market does not have a standard straight-line walking control method, nor does it realize the attitude, speed and position control of the sweeping robot through an automatic control algorithm. Although the speed measurement, distance measurement and rotation a...

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Problems solved by technology

[0006] Aiming at the deficiencies of the prior art, the present invention provides a PID control algorithm-based control system and control method for the sweeping robot to walk along the line, which solves the problem that the prior art cannot smoothly control the walking speed of the sweeping robot and the straight-line walking of the sweeping robot. The problem of large time shift

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