Sweeper gyroscope angle correction method and sweeper

Abstract

The invention discloses a sweeper gyroscope angle correction method and a sweeper, and belongs to the technical field of sweeping equipment. The sweeper gyroscope angle correction method is characterized by comprising the following steps: S100) obtaining a gyroscope angle [theta]1 at a first moment after a gyroscope of the sweeper is reset, and establishing a two-dimensional rectangular plane coordinate system according to the angle [theta]1; S200) acquiring a gyroscope angle [theta]2 at a second moment after the sweeper walks linearly, and acquiring a direction angle [theta]3 of the two-dimensional rectangular plane coordinate system according to the angle [theta]2; and S300) correcting the gyroscope angle by using the angles theta1 and [theta]3 so as to obtain a real angle [theta]2' of the gyroscope. The invention also discloses the sweeper adopting the gyroscope angle correction method, wherein the sweeper has the advantages that the path planning effect of the sweeper is improved,and the situations of repeated sweeping, missing sweeping and the like are avoided.

Description

technical field [0001] The invention belongs to the technical field of cleaning equipment, and in particular relates to a method for correcting the angle of a gyroscope of a sweeping machine and the sweeping machine. Background technique [0002] Sweepers have a relatively high penetration rate at present, and most sweepers are equipped with gyroscope sensors to help sweepers realize route planning and regular walking and cleaning functions. The gyro sensor mainly judges the walking direction of the sweeper and provides the function of heading angle. The gyroscope is accurate in a short period of time. As the sweeper works for a long time, the gyroscope will drift and the angle will have cumulative errors, which will affect the The path of the sweeper. An external solution to the accumulated error of the gyroscope is required. [0003] At present, smart sweeper products generally use gyroscope sensors to realize path planning. The advantage of using gyroscope sensors is th...

AI Technical Summary

Problems solved by technology

During the working process of the gyroscope, the angular cumulative error is not obvious in a short period of time, but after a long time, it will be affected by environmental noise interference and its own data drift, and there will be cumulative errors. The longer the time, the greater the error will be. After it gets bigger, the walking path of the sweeper will be more chaotic, and the cleaning efficiency will be reduced

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