Method for detecting skidding of robot, mapping method and chip
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Solution Overview
Problem
Intelligent cleaning robots experience travel distance errors due to wheel skidding, leading to inaccurate mapping, as existing methods for detecting skidding are costly and lack accuracy, particularly when relying on additional odometers for driven wheels.
Innovation Solution
A method utilizing the difference in angle change rates from driving wheels and a gyroscope to determine the angular velocity change error rate, which, when exceeding a preset value, indicates skidding, allowing for accurate detection and correction of travel data without additional sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If an additional odometer is mounted on the driven wheel to detect skidding, then the detection capability is improved, but the cost and device complexity increase
Solution Approach 1:
The gyroscope, originally designed for orientation detection, is repurposed to detect skidding by analyzing angular velocity changes. This multi-functional use of existing sensors eliminates the need for additional odometers while maintaining detection capability.
Solution Approach 2:
The robot's existing inertial sensors (gyroscope and odometer on driving wheels) are utilized to detect skidding conditions. The system serves itself by using already-installed components rather than requiring external additional sensors.
2Ease of operation
If the driven wheel speed comparison method is used to detect skidding, then the detection approach is simplified, but the accuracy decreases due to uncontrollability of the driven wheel
Solution Approach 1:
The mechanical comparison method of driven vs. driving wheel speeds is replaced with an inertial sensing approach using the gyroscope to detect angular velocity changes. This substitution eliminates the reliability issues associated with driven wheel controllability while maintaining detection simplicity.
3Productivity
If wheel skidding is not detected, then the robot continues normal operation, but mapping accuracy deteriorates due to travel distance errors
Solution Approach 1:
The system continuously monitors angular velocity changes using the gyroscope and provides feedback to detect skidding conditions. When skidding is detected, the robot can correct its position calculations, maintaining mapping accuracy while allowing continuous operation.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This method provides a cost-effective and accurate detection of skidding, ensuring high accuracy in mapping and navigation by using existing sensors, thereby improving travel efficiency and navigation performance.
Implementation Method 1
a second angle change rate generated by a gyroscope within the preset time period is calculated
Data Source
AI summary
The present disclosure relates to a method for detecting a skidding of a robot, a mapping method and a chip. A method for detecting a skidding of a robot, comprising the following steps: By an odometer on existing driving wheels of a robot and a gyroscope and a processor in a body of the robot, a first angle change rate generated by two driving wheels within a preset time and a second angle change rate generated by the gyroscope within the preset time are detected and calculated, so as to determine an angular velocity change error rate of the robot. Finally, by judging whether the angular velocity change error rate is greater than or equal to a preset value, it is determined whether the robot is in the skidding state.