Sweeping robot gyroscope calibration method and device, computer equipment and memory

Abstract

The embodiment of the invention belongs to the technical field of sweeping robot detection, and relates to a sweeping robot gyroscope calibration method which comprises the steps of continuously detecting signals generated by a reference gyroscope until the signals are detected, and entering a calibration mode; executing an adjustment step, specifically, in the calibration mode, adjusting the initial angle of the reference gyroscope and the initial angle of the gyroscope to be measured to be consistent; driving the robot to rotate according to preset actions; in a static state, respectively acquiring the angle values of the reference gyroscope and the gyroscope to be measured, determining a calibration coefficient according to the proportion of the angle variation, and adjusting the angle variation amplitude of the gyroscope to be measured according to the calibration coefficient; and turning to the adjustment step until the difference value between the angle value of the reference gyroscope and the angle variation of the gyroscope to be measured is less than the threshold value. The invention further provides a sweeping robot gyroscope calibration device, computer equipment and a storage medium. According to the invention, the detection cost is low, and the efficiency is high.

Description

technical field [0001] The present application relates to the technical field of sweeping robot detection, in particular to a method, device, computer equipment and memory for calibrating the gyroscope of a sweeping robot. Background technique [0002] The sweeping robot can autonomously clean a preset area, thereby simplifying the workload of indoor cleaning. In the process of autonomous cleaning by the sweeping robot, it is necessary to rely on navigation to control the sweeping robot to walk and clean in the preset area reasonably. Among them, it is necessary to obtain the change data of the dynamic angle of the sweeping robot through the gyroscope. When each sweeping robot leaves the factory, it is necessary to ensure that the accuracy of the gyroscope is within the allowable range. The existing gyroscope detection method usually requires the use of a dedicated Testing equipment, and such professional equipment is expensive to use, and is suitable for use by professional...

AI Technical Summary

Problems solved by technology

[0002] The sweeping robot can autonomously clean a preset area, thereby simplifying the workload of indoor cleaning. In the process of autonomous cleaning by the sweeping robot, it is necessary to rely on navigation to control the sweeping robot to walk and clean in the preset area reasonably. Among them, it is necessary to obtain the change data of the dynamic angle of the sweeping robot through the gyroscope. When each sweeping robot leaves the factory, it is necessary to ensure that the accuracy of the gyroscope is within the allowable range. The existing gyroscope detection method usually requires the use of a dedicated Testing equipment, and such professional equipment is expensive to use, and is suitable for use by professional electronic accessories manufacturers. For manufacturers that use a small amount of gyroscopes, supporting dedicated gyroscope testing equipment will result in high costs for the testing process. The important value of the special gyroscope detection equipment is that it can drive the gyroscope to be tested to rotate the preset rotation angle, and the sweeping robot itself can realize the precise control of the body rotation. Therefore, it is necessary to detect its gyroscope through the sweeping robot itself. The gyroscope used to reduce the cost of gyroscope detection on the sweeping robot

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