A kind of sweeper gyroscope angle correction method and sweeper

An angle correction and gyroscope technology, applied in the field of sweeper gyroscope angle correction and sweepers, can solve the problems of accumulated errors, chaotic walking paths of sweepers, and reduced cleaning efficiency, so as to reduce angle errors, avoid repeated cleaning, and improve effect of effect

Active Publication Date: 2021-05-28
SUZHOU YIBEI TEXTILE CO LTD
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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

Method used

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  • A kind of sweeper gyroscope angle correction method and sweeper
  • A kind of sweeper gyroscope angle correction method and sweeper
  • A kind of sweeper gyroscope angle correction method and sweeper

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Embodiment Construction

[0027] The specific implementation of the present invention will be described in detail below in conjunction with the accompanying drawings, but the applicant's description of the embodiments is not a limitation to the technical solution, and any changes based on the concept of the present invention in form but not in essence should be regarded as the protection scope of the present invention.

[0028] see figure 1 , the present invention relates to a gyroscope angle correction method of a sweeping machine. Those skilled in the art know that sweeping machines have their own appearance designs, including circular sweeping machines and square sweeping machines. Those skilled in the art can understand that sweeping machines The specific appearance design of the machine does not affect the actual protection scope of the present invention. The specific gyroscope angle correction method includes the following steps:

[0029] S100) Obtain the angle θ1 of the gyroscope at the first m...

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Abstract

A method for correcting the gyroscope angle of a sweeping machine and the sweeping machine, belonging to the technical field of cleaning equipment. A gyroscope angle correction method for a sweeping machine, characterized in that it includes the following steps: S100) obtaining the gyroscope angle θ1 at the first moment after the gyroscope of the sweeping machine is reset, and establishing a two-dimensional plane Cartesian coordinate system according to the angle θ1; S200 ) Obtain the gyroscope angle θ2 at the second moment after the sweeper walks in a straight line, and obtain the direction angle θ3 of the two-dimensional plane Cartesian coordinate system according to the angle θ2; The real angle θ2' of the meter. The invention also discloses a sweeping machine adopting the method for correcting the angle of the gyroscope. Advantages: Improve the effect of sweeper path planning, avoid repeated cleaning, missed sweeping, etc.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A47L11/24A47L11/40G01C19/00
CPCA47L11/24A47L11/4008A47L11/4061A47L2201/00A47L2201/04G01C19/00
Inventor 钟海
Owner SUZHOU YIBEI TEXTILE CO LTD
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