CN108937742A - A kind of the gyroscope angle modification method and sweeper of sweeper - Google Patents
A kind of the gyroscope angle modification method and sweeper of sweeper Download PDFInfo
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- CN108937742A CN108937742A CN201811037968.6A CN201811037968A CN108937742A CN 108937742 A CN108937742 A CN 108937742A CN 201811037968 A CN201811037968 A CN 201811037968A CN 108937742 A CN108937742 A CN 108937742A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- Image Processing (AREA)
Abstract
The invention discloses a kind of gyroscope angle modification methods of sweeper, its angle according to the same indoor reference feature in different images, calculate the actual rotation angle of sweeper, and the angle that gyroscope exports is corrected in real time according to the actual rotation angle, substantially reduce gyroscope because time integral and caused by angular error, the effect of sweeper path planning is improved, situations such as repeating cleaning, drain sweep is avoided.In addition, the invention also discloses a kind of sweepers.
Description
Technical field
The present invention relates to a kind of cleaning equipment more particularly to a kind of sweeper gyroscope angle modification method and sweepers.
Background technique
In the prior art, cleaning type sweeper realizes the planning for cleaning path usually using gyroscope, avoids repeating clear
It sweeps or cleans at random and cause temporal waste.Micro-mechanical gyroscope (MEMS, Micro-electromechanical
Systems) because of the features such as its own is small in size, light-weight, easy of integration, good reliability, it is widely used in existing sweep
In ground machine.It is a kind of device for measuring angular speed, and the horizontal rotation angle of sweeper can be calculated by time integral.So
And during micro-mechanical gyroscope MEMS work, it can be influenced by external noise etc., cause the micro-mechanical gyroscope MEMS
The angle of output is relatively practical often to have deviation, and as the growth of the time of integration, this deviation can be increasing, seriously affects
The cleaning effect of sweeper.Therefore, the output of the micro-mechanical gyroscope can be corrected and then make to sweep the floor by how obtaining one kind
Machine is more efficiently completed cleaning task, is that those skilled in the art are badly in need of technical problems to be solved.
Summary of the invention
Goal of the invention: in view of the above problems, the present invention proposes a kind of gyroscope angle modification method of sweeper, so that working as
Sweeper efficiently completes cleaning task when cleaning room, avoids drain sweep or repeats to clean.
Technical solution: to achieve the purpose of the present invention, the technical scheme adopted by the invention is that: a kind of gyro of sweeper
Instrument angle modification method, comprising: step S100 obtains the angle, θ 1 of gyroscope and the top of the sweeper described in the first moment
Image Image1 extracts the indoor reference feature in the Image1 and calculates the indoor reference feature in the Image1
Angle beta 1；Step S200 obtains the angle, θ 2 of gyroscope and the top image Image2 of the sweeper described in the second moment,
It extracts the indoor reference feature in the Image2 and calculates angle beta of the indoor reference feature in the Image2
2, wherein the first moment was different from for the second moment；Step S300 corrects the angle, θ 2 of the gyroscope using θ 1, β 1, β 2.
In addition, the invention also discloses a kind of sweepers using the angle modification method, comprising: angle obtains mould
Block obtains the angle, θ 1 and angle, θ 2 of the gyroscope at the first moment and the second moment respectively, wherein first moment is not
It is same as second moment；Image capture module obtains the sweeper at first moment and second moment respectively
Top image Image1 and top image Image2；Fixed reference feature extraction module extracts the interior in the Image1 respectively
The indoor reference feature in fixed reference feature and the Image2；Fixed reference feature angle obtains module, calculates separately the room
Angle beta 1 of the internal reference feature in the Image1, and the angle beta 2 in Image2；Angle modification module uses θ 1, β
1, β 2 corrects the angle, θ 2 of the gyroscope.
The utility model has the advantages that the invention discloses a kind of sweeper gyroscope output angle modification methods, according to the same interior
Angle of the fixed reference feature in different images calculates the actual rotation angle of sweeper, and according to the actual rotation angle pair
In sweeper gyroscope export angle corrected in real time, reduce gyroscope because integrate and caused by angular error, mention
The effect for having risen sweeper path planning avoids situations such as repeating cleaning, drain sweep.In addition, the invention also discloses one kind to sweep the floor
Machine.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the gyroscope angle modification method of sweeper of the present invention；
Fig. 2 is the two-dimensional coordinate system of top image in the present invention；
Fig. 3 is angle schematic diagram of the same fixed reference feature of the present invention in different top images；
Fig. 4 is a kind of system composition figure of sweeper of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, the present invention will be made further in conjunction with attached drawing
Detailed description.This description is to describe specific implementation consistent with the principles of the present invention by way of example, and not limitation
Mode, the description of these embodiments is detailed enough, so that those skilled in the art can practice the present invention, is not being taken off
Other embodiments can be used in the case where from scope and spirit of the present invention and can change and/or replace each element
Structure.Therefore, the following detailed description should not be understood from restrictive sense.
In the present invention, skilled person will appreciate that, sweeper all has the design of its own, including circle is swept
Ground machine, rectangular sweeper etc., those skilled in the art are not it is understood that the specific design of sweeper influences reality of the invention
Protection scope.
Fig. 1 is a kind of flow chart of the gyroscope angle modification method of sweeper of the present invention.Wherein this method comprises:
Step S100 obtains the angle, θ 1 of gyroscope and the top image Image1 of the sweeper described in the first moment,
It extracts the indoor reference feature in the Image1 and calculates angle beta 1 of the indoor reference feature in the Image1.
Step S200 obtains the angle, θ 2 of gyroscope and the top image Image2 of the sweeper described in the second moment,
It extracts the indoor reference feature in the Image2 and calculates angle beta of the indoor reference feature in the Image2
2, wherein the first moment was different from for the second moment.
Specifically, in above-mentioned two step, it is provided with filming apparatus at the top of the sweeper, which can not
It is influenced by the sweeper and unobstructedly takes the image above the sweeper, the imaging plane of photographic device is with institute
The top surface of sweeper is stated at 0 degree, in order to which sweeper can take the complete indoor photo in its top.
Preferably, the filming apparatus can be the common filming apparatus such as camera, video camera, and the filming apparatus
Image Acquisition is carried out with fixed frequency, which can according to need any setting.Specifically, the fixed frequency can be with
It is -100 frame of 1 frame per second, i.e., the time interval at described first moment and second moment is -1 second 0.01 second, further preferably
The time interval at ground, first moment and second moment is 0.1 second.
Preferably, the filming apparatus is fixed at the top appearance center of the sweeper, so that described sweep the floor
The long symmetry axis of the driving direction of machine and the rectangle photo acquired by the filming apparatus remains point-blank, i.e. square
The long symmetry axis of shape photo is identical or opposite with the driving direction of sweeper.Due to the filming apparatus being arranged on the sweeper
Position, angle etc. immobilize, and therefore, when sweeper rotation, the filming apparatus also can be with rotation.In the present invention,
From the same static feature that can be used in extraction chamber referring to respectively in the top image of acquisition, in order to same quiet according to this
Only position of the feature in the photo that different moments shoot to determine that the actual physics of the sweeper rotate angle, and utilizes
The angular error of actual physics rotation angle modification gyroscope.
Preferably, the indoor reference feature can be the stationary object of the indoor top, including straight line or
It is individual object etc..
When specifically, due to using filming apparatus shooting top image, the imaging of the top image is generally rectangular, because
There are two the symmetry axis of this top image is general, the one long symmetry axis peace including being parallel to the top image long side
Row is in a short symmetry axis of the top image short side, and the long symmetry axis and the short symmetry axis are vertical.When calculating institute
When stating angle of the indoor reference feature in top image, it is x-axis that the long symmetry axis, which is arranged, and the short symmetry axis is y-axis, with
Rectangular coordinate system is established, as shown in Figure 2.
Specifically, in the present invention, when sweeper is moved to a certain position, the top graph of the sweeper at this time is acquired
As abcd (referring to Fig. 3), then knows that the angle of the fixed reference feature AB and described image abcd long symmetry axis is 0 °, work as sweeper
When rotating to the left 90 ° at this location, the top image a1b1c1d1 of the sweeper at this time is acquired, then is known described with reference to special
The angle for levying AB and described image a1b1c1d1 long symmetry axis is -90 °, at this time according to two obtained different images it is found that institute
It states fixed reference feature AB and has rotated totally 90 °, i.e., the practical rotation angle of the described sweeper physically is 90 °.The present invention is exactly benefit
The practical rotation angle of sweeper is obtained with the rotation angle of fixed reference feature in image, and then corrects the angle of gyroscope output
Degree.
Wherein, it will be understood by those skilled in the art that the angle of the fixed reference feature and the long symmetry axis of image can be voluntarily
Setting, fixed reference feature can be rotated to the left and be defined as forward direction, fixed reference feature can also rotated to the right and be defined as negative sense, ability
For field technique personnel it is also to be understood that after defining positively or negatively, opposite to that direction is negative sense or forward direction.
Step S300 corrects the angle, θ 2 of the gyroscope using θ 1, β 1, β 2.Preferably, in this step, θ's 1
On the basis of, the practical rotation angle beta 1- β 2 of the sweeper is superimposed to obtain accurate θ 2, at this point, the output angle of gyroscope
It is corrected.For example, gyroscope start angle is 50 °, the fixed reference feature start angle is 50 °, when gyroscope output angle is
At 90 °, angle is 12 ° after fixed reference feature rotation, by calculating it is found that 38 ° of the practical corotating of the sweeper, because
This, the angle of gyroscope output has error, at this time the real angle of gyroscope should for 50 °+(50 ° -12 °)=88 °.
By gyroscope angle modification method disclosed above it is found that according to the same indoor reference feature in different images
Angle, calculate the actual rotation angle of sweeper, and export to gyroscope in sweeper according to the actual rotation angle
Angle is corrected in real time, reduce gyroscope because integral and caused by angular error, improve sweeper path planning
Effect avoids situations such as repeating cleaning, drain sweep.
In addition, in one embodiment of this invention, the gyroscope angle modification method further comprises: obtaining respectively
It is pre-processed after the Image1 and the Image2, removes the noise in the Image1 and the Image2, in order to
Reduce the influence of noise on image.
It further, in another embodiment of the invention, can also include that sweeper initially travels before step S100
Direction set-up procedure, comprising:
Step S001 starts in the period T for keeping straight trip in the sweeper, when obtaining the sweeper third respectively
The top image Image3 and the top image Image4 at the 4th moment at quarter, wherein the third moment was different from for the 4th moment.
Step S002 extracts adjustment feature from the Image3 and calculates the angle of itself and the sweeper driving direction
α 3 extracts the adjustment feature from the Image4 and calculates the angle α 4 of itself and the sweeper driving direction.In the step
In rapid, the symmetrical axis direction of length of the indoor top image of acquisition is consistent with the driving direction of sweeper always, therefore, is solved
The angle of the adjustment feature and sweeper driving direction is to solve the adjustment feature and the long symmetry axis of image where it
Angle.
Further, the adjustment feature can be preset multiple lines etc. that can reflect indoor coordinate layouts, such as
It can be the lines on roof between ceiling block, these lines are usually identical with the direction in room layout；It is also possible to wall
Intersection line between the walls, be based on these lines, sweeper can by constantly adjust by initial driving direction be adjusted to
Room direction is laid out identical driving direction.
Preferably, the period T is [5 seconds, 10 seconds], and the time interval at the third moment and the 4th moment is
[0.01 second, 1 second].
Step S003 adjusts sweeper driving direction if α 3 and α 4 are equal, makes driving direction and the institute of the sweeper
State it is indoor kept for 0 ° with fixed reference feature angle, and make the gyroscope at 0 ° of output angle of the 4th moment.
From the foregoing it can be that the present invention is straight by calculating the same top feature and the sweeper in different moments room
Angle when row can adjust the driving direction of sweeper in time, so that sweeper is started cleaning task according to preset direction, avoid
There is deviation on startup in sweeper path planning.
Fig. 3 is a kind of system composition figure of sweeper of the present invention.In Fig. 3, the sweeper 10 includes: that angle obtains mould
Block 11 obtains the angle, θ 1 and angle, θ 2 of the gyroscope at the first moment and the second moment respectively, wherein first moment
Different from second moment.
Image capture module 12 obtains the top graph of the sweeper at first moment and second moment respectively
As Image1 and top image Image2.Specifically, it is provided with filming apparatus at the top of the sweeper, which can
The image above the sweeper is unobstructedly taken not influenced by the sweeper, the imaging plane of photographic device
Top surface with the sweeper is at 0 degree, in order to which sweeper can take the complete indoor photo in its top.
Preferably, the filming apparatus can be the common filming apparatus such as camera, video camera, and the filming apparatus
Image Acquisition is carried out with fixed frequency, which can according to need any setting.Preferably, the fixed frequency can be with
It is -100 frame of 1 frame per second, i.e., the time interval at described first moment and second moment is -1 second 0.01 second, further preferably
The time interval at ground, first moment and second moment is 0.1 second.
Preferably, the filming apparatus is fixed at the top appearance center of the sweeper, so that described sweep the floor
The long symmetry axis of the driving direction of machine and the rectangle photo acquired by the filming apparatus remains point-blank, i.e. square
The long symmetry axis of shape photo is identical or opposite with the driving direction of sweeper.Due to the filming apparatus being arranged on the sweeper
Position, angle etc. immobilize, and therefore, when sweeper rotation, the filming apparatus also can be with rotation.In the present invention,
From the same static feature that can be used in extraction chamber referring to respectively in the top image of acquisition, in order to same quiet according to this
Only position of the feature in the photo that different moments shoot to determine that the actual physics of the sweeper rotate angle, and utilizes
The angular error of actual physics rotation angle modification gyroscope.
Fixed reference feature extraction module 13 is extracted respectively in indoor reference feature and the Image2 in the Image1
The indoor reference feature.
Preferably, the indoor stationary reference feature can be the stationary object of the indoor top, including one straight
Line or be individual object etc..
Fixed reference feature angle obtains module 14, calculates separately angle beta of the indoor reference feature in the Image1
1, and the angle beta 2 in the Image2.When specifically, due to using filming apparatus shooting top image, the top graph
The imaging of picture is generally rectangular, thus the top image symmetry axis it is general there are two, including be parallel to the top image
One long symmetry axis of long side and a short symmetry axis for being parallel to the top image short side, and the long symmetry axis and described
Short symmetry axis is vertical.When calculating angle of the indoor reference feature in top image, it is x that the long symmetry axis, which is arranged,
Axis, the short symmetry axis are y-axis, to establish rectangular coordinate system, as shown in Figure 2.
Specifically, in the present invention, when sweeper is moved to a certain position, the top graph of the sweeper at this time is acquired
As abcd (referring to Fig. 3), then knows that the angle of the fixed reference feature AB and described image abcd long symmetry axis is 0 °, work as sweeper
When rotating to the left 90 ° at this location, the top image a1b1c1d1 of the sweeper at this time is acquired, then is known described with reference to special
The angle for levying AB and described image a1b1c1d1 long symmetry axis is -90 °, at this time according to two obtained different images it is found that institute
It states fixed reference feature AB and has rotated totally 90 °, i.e., the practical rotation angle of the described sweeper physically is 90 °.The present invention is exactly benefit
The practical rotation angle of sweeper is obtained with the rotation angle of fixed reference feature in image, and then corrects the angle of gyroscope output
Degree.
Wherein, it will be understood by those skilled in the art that the angle of the fixed reference feature and the long symmetry axis of image can be voluntarily
Setting, fixed reference feature can be rotated to the left and be defined as forward direction, fixed reference feature can also rotated to the right and be defined as negative sense, ability
For field technique personnel it is also to be understood that after defining positively or negatively, opposite to that direction is negative sense or forward direction.
Angle modification module 15 corrects the angle, θ 2 of the gyroscope using θ 1, β 1, β 2.Preferably, in this step,
On the basis of 1 θ, the practical rotation angle beta 1- β 2 of the sweeper is superimposed to obtain accurate θ 2, at this point, gyroscope is defeated
Angle is corrected out.For example, gyroscope start angle is 50 °, the fixed reference feature start angle is 50 °, when gyroscope exports
When angle is 90 °, angle is 12 ° after the fixed reference feature rotation, by calculating it is found that the practical corotating of the sweeper
38 °, therefore, the angle of gyroscope output has error, at this time the real angle of gyroscope should for 50 °+(50 ° -12 °)=
88°。
By content disclosed above it is found that present invention foundation is in different moments collected indoor environment image, according to same
Goniometer of one indoor reference feature in different images calculates the actual rotation angle of sweeper, and according to the actual rotation
Angle in sweeper gyroscope export angle corrected in real time, reduce gyroscope because integral and caused by angle mistake
Difference improves the effect of sweeper path planning, avoids situations such as repeating cleaning, drain sweep.
It in one embodiment of the invention, can also include: image pre-processing module after described image acquisition module,
It is pre-processed after obtaining the Image1 and Image2 respectively, removes making an uproar in the Image1 and the Image2
Sound.Described image preprocessing module advantageously reduces interference of the noise to useful signal, and the signal extracted is made more to meet true field
Scape.
In another embodiment of the invention, the sweeper further can also include the pre-adjustment of sweeper driving direction
Module, comprising:
Image collection module starts in the period T for keeping straight trip in the sweeper, obtains the sweeper the respectively
The top image Image3 and the top image Image4 at the 4th moment at three moment, wherein the third moment was different from for the 4th moment.
Preferably, which can be identical with described image acquisition module, can also be different with described image acquisition module.
Angle calcu-lation module is adjusted, adjustment feature is extracted from the Image3 and calculates itself and the sweeper traveling side
To angle α 3, the adjustment feature is extracted from the Image4 and calculates the angle α of itself and the sweeper driving direction
4.Specifically, in this step, the symmetrical axis direction of length of the indoor top image of acquisition is protected with the driving direction of sweeper always
It holds unanimously, therefore, the angle for solving the indoor pre-adjustment fixed reference feature and sweeper form direction solves the interior in advance
Adjust the angle of fixed reference feature and the long symmetry axis of image where it.
Further, the adjustment feature can be preset multiple lines etc. that can reflect indoor coordinate layouts, such as
It can be the lines on roof between ceiling block, these lines are usually identical with the direction in room layout；It is also possible to wall
Intersection line between the walls, be based on these lines, sweeper can by constantly adjust by initial driving direction be adjusted to
Room direction is laid out identical driving direction.
Preferably, the period T is [5 seconds, 10 seconds], and the time interval at the third moment and the 4th moment is
[0.01 second, 1 second].
Angle pre-adjustment module adjusts sweeper driving direction if α 3 and α 4 are equal, makes the traveling side of the sweeper
To with it is described it is indoor kept for 0 ° with fixed reference feature angle, and make the gyroscope at 0 ° of output angle of the 4th moment.
From the foregoing it can be that the present invention is straight by calculating the same top feature and the sweeper in different moments room
Angle when row can adjust the driving direction of sweeper in time, so that sweeper is started cleaning task according to preset direction, avoid
There is deviation on startup in sweeper path planning.
In addition, according to disclosed specification of the invention, other realizations of the invention are for those skilled in the art
Significantly.The various aspects of embodiment and/or embodiment can be used for system of the invention individually or with any combination
In method.Specification and example therein should be only be regarded solely as it is exemplary, the actual scope of the present invention and spirit by appended
Claims indicate.
Claims (10)
1. a kind of gyroscope angle modification method of sweeper characterized by comprising
Step S100 obtains the angle, θ 1 of gyroscope and the top image Image1 of the sweeper described in the first moment, extracts
Indoor reference feature in the Image1 simultaneously calculates angle beta 1 of the indoor reference feature in the Image1；
Step S200 obtains the angle, θ 2 of gyroscope and the top image Image2 of the sweeper described in the second moment, extracts
The indoor reference feature in the Image2 simultaneously calculates angle beta 2 of the indoor reference feature in the Image2,
In the first moment be different from the second moment；
Step S300 corrects the angle, θ 2 of the gyroscope using θ 1, β 1, β 2.
2. gyroscope angle modification method according to claim 1, which is characterized in that first moment and described second
The time interval at moment is -1 second 0.1 second.
3. gyroscope angle modification method according to claim 1, which is characterized in that described to correct institute using θ 1, β 1, β 2
State the angle, θ 2 of gyroscope specifically: θ 2=θ 1+ β 2- β 1.
4. gyroscope angle modification method according to claim 1-3, which is characterized in that this method is further wrapped
It includes: being pre-processed, removed in the Image1 and the Image2 after obtaining the Image1 and Image2 respectively
Noise.
5. gyroscope angle modification method according to claim 1, which is characterized in that can also be wrapped before step S100
It includes:
Step S001 starts in the period T for keeping straight trip in the sweeper, obtains the sweeper third moment respectively
The top image Image4 of top image Image3 and the 4th moment, wherein the third moment was different from for the 4th moment；
Step S002 extracts adjustment feature from the Image3 and calculates the angle α 3 of itself and the sweeper driving direction,
The adjustment feature is extracted from the Image4 and calculates the angle α 4 of itself and the sweeper driving direction；
Step S003 adjusts the sweeper driving direction if α 3 and α 4 are equal, makes driving direction and the institute of the sweeper
It states indoor pre-adjustment fixed reference feature angle and is kept for 0 °, and make the gyroscope at 0 ° of output angle of the 4th moment.
6. a kind of sweeper, comprising:
Angle obtains module, obtains the angle, θ 1 and angle, θ 2 of the gyroscope at the first moment and the second moment respectively, wherein
First moment is different from second moment；
Image capture module obtains the top image of the sweeper at first moment and second moment respectively
Image1 and top image Image2；
Fixed reference feature extraction module extracts the room in the indoor reference feature and the Image2 in the Image1 respectively
Internal reference feature；
Fixed reference feature angle obtains module, calculates separately angle beta 1 of the indoor reference feature in the Image1, and
Angle beta 2 in Image2；
Angle modification module corrects the angle, θ 2 of the gyroscope using θ 1, β 1, β 2.
7. sweeper according to claim 6, which is characterized in that between first moment and the time at second moment
It is divided into -1 second 0.1 second.
8. sweeper according to claim 7, which is characterized in that the angle for correcting the gyroscope using θ 1, β 1, β 2
Spend θ 2 specifically: θ 2=θ 1+ β 2- β 1.
9. according to the described in any item sweepers of claim 6-8, which is characterized in that the sweeper further comprises that image is pre-
Processing module is pre-processed after obtaining the Image1 and Image2 respectively, removes the Image1 and described
Noise in Image2.
10. sweeper according to claim 6, which is characterized in that the sweeper further can also include:
Image collection module starts in the period T for keeping straight trip in the sweeper, when obtaining the sweeper third respectively
The top image Image3 and the top image Image4 at the 4th moment at quarter, wherein the third moment was different from for the 4th moment.
Angle calcu-lation module is adjusted, adjustment feature is extracted from the Image3 and calculates itself and the sweeper driving direction
Angle α 3 extracts the adjustment feature from the Image4 and calculates the angle α 4 of itself and the sweeper driving direction.
Angle pre-adjustment module adjusts sweeper traffic direction if α 3 and α 4 are equal, make the sweeper traffic direction and
It is described it is indoor kept for 0 ° with fixed reference feature angle, and make the gyroscope at 0 ° of output angle of the 4th moment.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113932808A (en) * | 2021-11-02 | 2022-01-14 | 湖南格兰博智能科技有限责任公司 | Algorithm suitable for fusion correction of vision and gyroscope of vision navigation floor sweeping robot |
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