CN108646733B - Correction method of automatic correction mobile robot - Google Patents
Correction method of automatic correction mobile robot Download PDFInfo
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- CN108646733B CN108646733B CN201810392074.2A CN201810392074A CN108646733B CN 108646733 B CN108646733 B CN 108646733B CN 201810392074 A CN201810392074 A CN 201810392074A CN 108646733 B CN108646733 B CN 108646733B
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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Abstract
The invention discloses a correction method of an automatic correction mobile robot, which comprises a mobile robot, wherein the mobile robot is provided with an MCU (microprogrammed control Unit) main control system, a direction sensor and a mobile motor driving system, and the direction sensor and the mobile motor driving system are connected with the MCU main control system; the front surface of the mobile robot is provided with a positive infrared ranging module, and at least one side of the mobile robot is provided with at least one group of side infrared ranging modules; the positive infrared ranging module and the side infrared ranging module are connected with the MCU master control system. When the mobile robot moves to an obstacle in the indoor movement process, the robot body is rotated, the value of lateral infrared is read, the vertical angle between the robot and the obstacle is calculated through an algorithm, and therefore the course angle calculated by the direction sensor is corrected; the robot is ensured to move for a long time, and the course angle does not have large deviation.
Description
Technical Field
The invention relates to the technical field of angle correction of mobile robots, in particular to a correction method of an automatic correction mobile robot.
Background
A direction sensor such as an acceleration sensor or a gyroscope is a device for sensing and maintaining a direction, and the purpose of calculating an attitude angle is achieved by measuring an angular velocity. The navigation system is widely applied to the fields of aerospace, automobile biology, environmental monitoring and smart phones. In the intelligent sweeping robot industry, the functions of indoor navigation, I-shaped sweeping and the like can be realized by using a direction sensor based on inertial navigation, and the intelligent sweeping robot is a necessary component of a new-generation intelligent sweeping robot. Due to the accumulation of the self error and the integral error of the direction sensor, the attitude angle calculation generates deviation along with the accumulation of time, so that the situations of errors of a navigation path, deviation of a running track and the like of the sweeping robot are caused; some errors of more than 10 degrees can be initiated in 20 minutes, and the application of the direction sensor on the robot is severely limited.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a correction method of an automatic correction mobile robot, which solves the problem that the use of the mobile robot is restricted due to the condition that the angle deviation occurs in the long-time integral angle of a direction sensor of the mobile robot moving indoors at present.
In order to achieve the purpose, the invention provides the following technical scheme: the correction method of the mobile robot with automatic correction comprises the following steps that the mobile robot is provided with an MCU (microprogrammed control unit) main control system: reading data of a direction sensor, and calculating a course angle of the mobile robot through integration;
a direction sensor: output angular velocity or angle;
moving the motor drive system: driving the mobile robot to walk;
the direction sensor and the mobile motor driving system are connected with the MCU master control system; the front surface of the mobile robot is provided with a positive infrared ranging module, and at least one side of the mobile robot is provided with at least one group of side infrared ranging modules; the positive infrared ranging module and the side infrared ranging module are connected with the MCU master control system;
the method comprises the following steps:
the method comprises the following steps: the MCU master control system controls the mobile motor driving system to drive the mobile robot to walk according to a set path, after the positive infrared ranging module detects an obstacle A in the walking process of the mobile robot, the motor driving system drives the mobile robot to rotate, so that the side infrared ranging module sweeps the obstacle A, in the rotating process, the side infrared ranging module samples data every N time, the distance between the side infrared ranging module and the obstacle A is read, a group of distance data S1 is obtained, when the data reach the maximum value, the side infrared ranging module and the obstacle A form an angle a1, and meanwhile, the direction sensor also generates angle data ɵ 1;
step two: then the mobile robot continues to walk according to the set path;
step three: when the positive infrared ranging module of the mobile robot detects the obstacle A again, the motor driving system drives the mobile robot to rotate, so that the side infrared ranging module sweeps the obstacle A, the side infrared ranging module samples data every N time in the rotating process, the distance between the side infrared ranging module and the obstacle A is read, a group of distance data S2 is obtained, when the data reach the maximum value, an angle a2 is formed between the side infrared ranging module and the obstacle A, and meanwhile, the direction sensor also generates angle data ɵ 2; correcting the current angle according to the difference between ɵ 2 and ɵ 1;
in the second step, when the positive infrared distance measuring module of the mobile robot detects the obstacle again, the motor driving system drives the mobile robot to rotate, so that the side infrared distance measuring module sweeps the obstacle, the side infrared distance measuring module samples data every N times in the rotating process, the distance between the side infrared distance measuring module and the obstacle is read, a group of distance data S is obtained, when the data reach the maximum value, an angle a is formed between the side infrared distance measuring module and the obstacle A, and meanwhile, the direction sensor also generates angle data ɵ; when the data S curve is approximate to the data S1 curve, judging that the obstacle is the same as the obstacle A, and correcting the current angle according to the difference value of ɵ and ɵ 1; if not, continuing to execute the step two.
Preferably, the direction sensor is a gyroscope.
Preferably, the gyroscope is a micromechanical gyroscope.
Preferably, the data is sampled once every 1-30 ms by the side infrared.
Further, when the direction sensor forms angle data closer to 90 ° or 180 ° or 0 ° or 270 ° and is considered to be parallel or perpendicular to the obstacle, the fuselage angle may be directly corrected to 90 ° or 180 ° or 0 ° or 270 °.
The invention has the beneficial effects that: when the mobile robot moves to an obstacle in the indoor movement process, the robot body is rotated, the value of lateral infrared is read, the vertical angle between the robot and the obstacle is calculated through an algorithm, and therefore the course angle calculated by the direction sensor is corrected; the robot is ensured to move for a long time, and the course angle does not have large deviation.
Drawings
FIG. 1 is a flow chart of the present invention.
Fig. 2 is a block diagram of the mobile robot according to the present invention.
Fig. 3 is a state diagram of the present invention.
FIG. 4 is a graph showing the distance variation between the side infrared ranging module and the obstacle according to the present invention.
Wherein: 1: mobile robot, 2: MCU master control system, 3: moving motor drive system, 4: gyroscope, 5: positive infrared ranging module, 6: and a side infrared distance measurement module.
Detailed Description
As shown in fig. 1, 2, and 3, a method for correcting a mobile robot with automatic correction includes a mobile robot, where the mobile robot is provided with an MCU master control system: reading data of a direction sensor, and calculating a course angle of the mobile robot through integration;
a direction sensor: output angular velocity or angle;
moving the motor drive system: driving the mobile robot to walk;
the direction sensor and the mobile motor driving system are connected with the MCU master control system; the front surface of the mobile robot is provided with a positive infrared ranging module, and at least one side of the mobile robot is provided with at least one group of side infrared ranging modules; the positive infrared ranging module and the side infrared ranging module are connected with the MCU master control system.
Preferably, the orientation sensor is a micromechanical gyroscope.
The method comprises the following steps:
the method comprises the following steps: the method comprises the steps that an MCU master control system controls a mobile motor driving system to drive a mobile robot to walk according to a set path, after a positive infrared ranging module detects an obstacle A in the walking process of the mobile robot, the motor driving system drives the mobile robot to rotate, so that a side infrared ranging module sweeps the obstacle A, the side infrared ranging module samples data every 1-30 ms in the rotating process, the distance between the side infrared ranging module and the obstacle A is read, a group of data S1 of the distance is obtained, when the data reach the maximum value, an angle a1 can be formed between the side infrared ranging module and the obstacle A, and meanwhile, an angle data ɵ 1 is generated by a direction sensor;
step two: then the mobile robot continues to walk according to the set path;
step three: when the positive infrared ranging module of the mobile robot detects the obstacle A again, the motor driving system drives the mobile robot to rotate, so that the side infrared ranging module sweeps the obstacle A, the side infrared ranging module samples data every 1-30 ms in the rotating process, the distance between the side infrared ranging module and the obstacle A is read, a group of distance data S2 is obtained, when the data reach the maximum value, the side infrared ranging module and the obstacle A form an angle a2, and meanwhile, the direction sensor also generates angle data ɵ 2; and correcting the current angle according to the difference between ɵ 2 and ɵ 1.
Further, in the second step, when the positive infrared ranging module of the mobile robot detects the obstacle again, the motor driving system drives the mobile robot to rotate, so that the side infrared ranging module sweeps the obstacle, the side infrared ranging module samples data every 1ms to 30ms in the rotating process, the distance between the side infrared ranging module and the obstacle is read, a group of data S of the distance is obtained, when the data reaches the maximum value, the side infrared ranging module and the obstacle A form an angle a, and meanwhile, the direction sensor also generates angle data ɵ; when the data S curve is approximate to the data S1 curve, judging that the obstacle is the same as the obstacle A, and correcting the current angle according to the difference value of ɵ and ɵ 1; if not, continuing to execute the step two.
When the direction sensor forms angle data closer to 90 ° or 180 ° or 0 ° or 270 ° and is considered parallel or perpendicular to the obstacle, the fuselage angle can be directly corrected to 90 ° or 180 ° or 0 ° or 270 °.
The invention automatically corrects the course angle in the walking process of the mobile robot, analyzes and corrects the course angle at any time when encountering obstacles, effectively avoids path errors, ensures that the robot moves for a long time and avoids large deviation of the course angle.
The rotation supports clockwise rotation or anticlockwise rotation, and during anticlockwise rotation, the MCU controls the right wheel to move forwards and the left wheel to move backwards. And the left wheel and the right wheel use PID as a speed difference to ensure the machine to rotate in situ. When the left wheel rotates clockwise, the left wheel moves forwards, the right wheel moves backwards, and the speed difference is made between the left wheel and the right wheel by using a PID (proportion integration differentiation), so that the machine can rotate in place.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (5)
1. The correction method of the mobile robot with automatic correction comprises the following steps that the mobile robot is provided with an MCU (microprogrammed control unit) main control system: reading data of a direction sensor, and calculating a course angle of the mobile robot through integration;
a direction sensor: output angular velocity or angle;
moving the motor drive system: driving the mobile robot to walk;
the direction sensor and the mobile motor driving system are connected with the MCU master control system; the system is characterized in that a positive infrared ranging module is installed on the front face of the mobile robot, and at least one group of side infrared ranging modules are installed on at least one side of the mobile robot; the positive infrared ranging module and the side infrared ranging module are connected with the MCU master control system;
the method comprises the following steps:
the method comprises the following steps: the MCU master control system controls the mobile motor driving system to drive the mobile robot to walk according to a set path, after the positive infrared ranging module detects an obstacle A in the walking process of the mobile robot, the motor driving system drives the mobile robot to rotate, so that the side infrared ranging module sweeps the obstacle A, in the rotating process, the side infrared ranging module samples data every N time, the distance between the side infrared ranging module and the obstacle A is read, a group of distance data S1 is obtained, when the data reach the maximum value, the side infrared ranging module and the obstacle A form an angle a1, and meanwhile, the direction sensor also generates angle data ɵ 1;
step two: then the mobile robot continues to walk according to the set path;
step three: when the positive infrared ranging module of the mobile robot detects the obstacle A again, the motor driving system drives the mobile robot to rotate, so that the side infrared ranging module sweeps the obstacle A, the side infrared ranging module samples data every N time in the rotating process, the distance between the side infrared ranging module and the obstacle A is read, a group of distance data S2 is obtained, when the data reach the maximum value, an angle a2 is formed between the side infrared ranging module and the obstacle A, and meanwhile, the direction sensor also generates angle data ɵ 2; correcting the current angle according to the difference between ɵ 2 and ɵ 1;
in the second step, when the positive infrared distance measuring module of the mobile robot detects the obstacle again, the motor driving system drives the mobile robot to rotate, so that the side infrared distance measuring module sweeps the obstacle, the side infrared distance measuring module samples data every N times in the rotating process, the distance between the side infrared distance measuring module and the obstacle is read, a group of distance data S is obtained, when the data reach the maximum value, an angle a is formed between the side infrared distance measuring module and the obstacle A, and meanwhile, the direction sensor also generates angle data ɵ; when the data S curve is approximate to the data S1 curve, judging that the obstacle is the same as the obstacle A, and correcting the current angle according to the difference value of ɵ and ɵ 1; if not, continuing to execute the step two.
2. The mobile robot orthotic method according to claim 1, wherein the orientation sensor is a gyroscope.
3. The mobile robot orthotic method, according to claim 2, wherein the gyroscope is a micromechanical gyroscope.
4. The correction method of the automatically corrected mobile robot as claimed in claim 1, wherein the data is sampled every 1ms to 30ms by the side infrared.
5. The correction method of an automatically corrected mobile robot according to claim 1, wherein when the angle data formed by the direction sensor is closer to 90 ° or 180 ° or 0 ° or 270 ° and is considered to be parallel or perpendicular to the obstacle, the body angle is directly corrected to 90 ° or 180 ° or 0 ° or 270 °.
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| CN112263188B (en) * | 2020-10-22 | 2022-04-05 | 湖南格兰博智能科技有限责任公司 | Correction method and device for moving direction of mobile robot |
| CN113854892B (en) * | 2021-10-21 | 2022-08-02 | 唐山学院 | Cleaning device capable of automatically planning path |
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