CN111947660B - Course correction method and device - Google Patents
Course correction method and device Download PDFInfo
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- CN111947660B CN111947660B CN202010679668.9A CN202010679668A CN111947660B CN 111947660 B CN111947660 B CN 111947660B CN 202010679668 A CN202010679668 A CN 202010679668A CN 111947660 B CN111947660 B CN 111947660B
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- 238000004364 calculation method Methods 0.000 claims description 25
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- 238000004590 computer program Methods 0.000 description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The invention provides a course correction method and a device, wherein the method comprises the following steps: acquiring an initial coordinate point of a robot positioned at a charging base station; controlling the robot to leave the charging base station; when the robot reaches the movement requirement, acquiring at least one first coordinate point of the robot and at least one second coordinate point calculated by a sensor of the robot, generating an actual movement line according to the initial coordinate point and the first coordinate point, and generating a virtual movement line according to the initial coordinate point and the second coordinate point; judging whether the actual moving line and the virtual moving line are parallel or not; if so, controlling the robot to continue moving, if not, calculating an error angle between the actual moving line and the virtual moving line, correcting the sensor according to the error angle, and controlling the robot to continue moving. According to the invention, the sensor is corrected according to the error angle between the actual moving line and the virtual moving line, so that the phenomenon of low accuracy of map establishment caused by angle error is effectively prevented.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a heading correction method and device.
Background
With the advent of the intelligent age, robots have been increasingly driven into people's lives, from intelligent manipulators on factory product lines to life service robots, and our society will be entering the age of intelligent robots. For intelligent equipment such as a service robot and the like which can move autonomously, automatic charging is one of basic capabilities, and the service robot can autonomously find the position of a charging base station for charging when the electric quantity is low so as to ensure the normal operation of a system.
When the existing robot returns to the charging base station, the charging base station is started to charge the robot, if the posture of the sensor of the robot is not aligned, but the sensor is wrong to consider that the posture is accurate at the moment, then after the robot leaves the charging base station, the actual course of the robot is accurate, but the initial course considered by the sensor is wrong (because the initial posture is wrong), so that deviation exists between the actual course and the considered initial course, and further, the drawing precision of the robot is lower.
Disclosure of Invention
The embodiment of the invention aims to provide a course correction method, which aims to solve the problem of lower robot map building accuracy caused by deviation between an actual course and an initial course considered in the process that an existing robot drives away from a charging base station.
The embodiment of the invention is realized in such a way that a course correction method comprises the following steps:
acquiring an initial coordinate point of a robot positioned at a charging base station;
controlling the robot to leave the charging base station;
when the robot meets the movement requirement, acquiring at least one first coordinate point of the robot and at least one second coordinate point calculated by a sensor of the robot, generating an actual movement line according to the initial coordinate point and the first coordinate point, and generating a virtual movement line according to the initial coordinate point and the second coordinate point;
judging whether the actual moving line and the virtual moving line are parallel or not;
if so, controlling the robot to continue moving, if not, calculating an error angle between the actual moving line and the virtual moving line, correcting the sensor according to the error angle, and controlling the robot to continue moving.
Further, when acquiring one of the first coordinate point and one of the second coordinate point, the step of calculating an error angle according to the actual moving line and the virtual moving line specifically includes:
and directly substituting the initial coordinate point, the first coordinate point and the second coordinate point into a trigonometric function formula to calculate an error angle between the actual moving line and the virtual moving line.
Further, when acquiring the plurality of first coordinate points and the plurality of second coordinate points, the step of calculating an error angle according to the actual moving line and the virtual moving line specifically includes:
calculating a first average coordinate point of the first coordinate points and a second average coordinate point of the second coordinate points;
substituting the initial coordinate point, the first average coordinate point and the second average coordinate point into a trigonometric function formula to calculate an error angle between the actual moving line and the virtual moving line.
Furthermore, the charging base station is provided with an initial wiring, the initial wiring is parallel to the setting direction of the charging base station, and the step of controlling the robot to leave the charging base station specifically comprises:
acquiring a first control moving line parallel to the initial wiring;
and controlling the robot to leave the charging base station according to the first control moving line.
Furthermore, the charging base station extends to form a wire slot, initial wiring is arranged in the wire slot, and the step of controlling the robot to leave the charging base station specifically comprises the following steps:
acquiring a second control moving line parallel to the initial wiring;
and controlling the robot to leave the charging base station according to the second control moving line.
It is another object of an embodiment of the present invention to provide a heading correcting apparatus, the apparatus including:
an initial coordinate point obtaining unit for obtaining an initial coordinate point of the robot at the charging base station;
a control leaving unit for controlling the robot to leave the charging base station;
the line calculation unit is used for acquiring at least one first coordinate point of the robot and at least one second coordinate point calculated by a sensor of the robot when the robot meets the movement requirement, generating an actual movement line according to the initial coordinate point and the first coordinate point, and generating a virtual movement line according to the initial coordinate point and the second coordinate point;
a judging unit configured to judge whether the actual moving line and the virtual moving line are parallel;
and the error correction unit is used for controlling the robot to continuously move if yes, calculating an error angle between the actual moving line and the virtual moving line if no, correcting the sensor according to the error angle, and controlling the robot to continuously move.
Further, in acquiring one of the first coordinate points and one of the second coordinate points, the error correction unit includes:
and the first error calculation module is used for directly substituting the initial coordinate point, the first coordinate point and the second coordinate point into a trigonometric function formula to calculate an error angle between the actual movement line and the virtual movement line.
Further, in acquiring the plurality of first coordinate points and the plurality of second coordinate points, the error correction unit includes:
a point calculation module, configured to calculate a first average coordinate point of the plurality of first coordinate points, and calculate a second average coordinate point of the plurality of second coordinate points;
and the second error calculation module is used for substituting the initial coordinate point, the first average coordinate point and the second average coordinate point into a trigonometric function formula to calculate an error angle between the actual movement line and the virtual movement line.
Still further, the charging base station is provided with an initial wiring, the initial wiring is parallel to the setting direction of the charging base station, and the control leaving unit includes:
a first control moving line acquisition module for acquiring a first control moving line parallel to the initial wiring;
and the first control departure module is used for controlling the robot to leave the charging base station according to the first control moving line.
Still further, charging base station extends and sets up a wire casing, be equipped with initial wiring in the wire casing, the control leaves the unit and includes:
a second control moving line acquisition module for acquiring a second control moving line parallel to the initial wiring;
and the second control departure module is used for controlling the robot to leave the charging base station according to the second control moving line.
According to the embodiment of the invention, whether the robot is in a course deviation state is judged by judging whether the actual moving line and the virtual moving line are parallel or not, and the sensor is corrected according to the error angle between the actual moving line and the virtual moving line, so that the sensor stores the offset to realize calculation compensation, and the phenomenon of low accuracy of map establishment caused by angle error is effectively prevented.
Drawings
FIG. 1 is a flow chart of a heading correction method provided by a first embodiment of the invention;
FIG. 2 is a flow chart of a heading correction method provided by a second embodiment of the invention;
fig. 3 is a schematic diagram of a coordinate relationship between a first coordinate point and a second coordinate point according to a second embodiment of the present invention;
FIG. 4 is a flow chart of a heading correction method provided by a third embodiment of the invention;
fig. 5 and 6 are schematic structural views of a working area according to a third embodiment of the present invention;
FIG. 7 is a flow chart of a heading correction method provided by a fourth embodiment of the invention;
FIG. 8 is a schematic view of a working area according to a fourth embodiment of the present invention;
fig. 9 is a schematic structural diagram of a heading correcting device according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The invention provides a course correction method, which is characterized in that whether a robot is in a course deviation state is judged by judging whether an actual moving line and a virtual moving line are parallel or not, and a sensor is corrected according to an error angle between the actual moving line and the virtual moving line, so that the sensor is stored with an offset, and corresponding compensation is carried out in a subsequent calculation process, thereby effectively preventing the phenomenon of low accuracy of map establishment caused by angle errors.
In order to illustrate the technical scheme of the invention, the following description is made by specific examples.
Example 1
Referring to fig. 1, a flowchart of a heading correcting method according to a first embodiment of the present invention includes the steps of:
step S10, acquiring an initial coordinate point of a robot positioned at a charging base station, and controlling the robot to leave the charging base station;
the initial coordinate point of the robot on the charging base station can be acquired by adopting a GPS, UWB or imu detection mode and the like.
For example, when the positioning of the robot is performed by adopting the GPS method, the current positioning coordinate is obtained according to the GPS module provided on the robot, and the position of the current positioning coordinate on the charging base station is calculated, so as to obtain the initial coordinate.
Step S20, when the robot reaches the movement requirement, acquiring at least one first coordinate point of the robot and at least one second coordinate point calculated by a sensor of the robot;
the condition parameters in the moving condition can be set according to the user requirement, for example, the condition parameters can be used for judging whether the current moving distance of the robot is larger than a distance threshold, judging whether the current running time of the robot is larger than a time threshold, judging whether the current electric quantity of the robot is smaller than an electric quantity threshold, judging whether the current moving position of the robot is in a preset area range, and avoiding judging under the condition that the moving condition is not met and judging errors occur.
Specifically, the first coordinate point is any coordinate point on the moving track of the robot, the first coordinate point can be obtained based on a GPS mode, the second coordinate point is a virtual coordinate point calculated by the sensor, for example, a rectangular coordinate system is established by taking the initial coordinate point as an origin and a direction vertically deviating from the charging base station as an x-axis positive direction, and when the preset running direction of the robot is the x-axis positive direction, after the robot runs for 5 meters, the second coordinate point calculated by the sensor is (5, 0).
Step S30, generating an actual moving line according to the initial coordinate point and the first coordinate point, and generating a virtual moving line according to the initial coordinate point and the second coordinate point;
the connection line between the initial coordinate point and the first coordinate point is an actual moving line, namely, the robot moves along the actual moving line, the connection line between the initial coordinate point and the second coordinate point is a virtual moving line, and the virtual moving line is a moving track preset by a user for the robot.
For example, when the first coordinate point acquired by the GPS is (1.5, 0) and the second coordinate point is (1.48,0.08), it is determined that the posture of the sensor is not aligned when the robot is charged on the charging base station, and an error exists between the actual moving line and the virtual moving line when the robot leaves the charging base station.
Step S40, judging whether the actual moving line and the virtual moving line are parallel or not;
when it is determined that the actual moving line and the virtual moving line are parallel, executing step S50;
it should be noted that, during actual operation, the parallelism may be a non-strict parallelism, and may have a certain error range (for example, 1 °), that is, an error range of 1 ° may be considered as a parallelism between the actual moving line and the virtual moving line.
Step S50, controlling the robot to continue moving;
when the actual moving line and the virtual moving line are judged to be parallel, it is judged that no error exists between the actual moving line and the virtual moving line when the robot leaves the charging base station, namely the running direction of the robot is the same as the preset direction, so that correction of the angle of the sensor is not needed, and at the moment, the accuracy of the map established by the robot is higher.
When it is judged that the actual moving line and the virtual moving line are not parallel, step S60 is performed;
step S60, calculating an error angle between the actual moving line and the virtual moving line, correcting the sensor according to the error angle, and controlling the robot to continue moving;
when the actual moving line and the virtual moving line are judged to be not parallel, an error exists between the actual moving line and the virtual moving line when the robot leaves the charging base station. Specifically, the sensor is corrected by storing an offset according to the error angle, and compensating correspondingly according to the offset in the subsequent calculation process.
According to the method, whether the robot is in a course deviation state is judged by judging whether the actual moving line and the virtual moving line are parallel or not, and the sensor is corrected according to the error angle between the actual moving line and the virtual moving line, so that the sensor stores the offset to realize calculation compensation, and the phenomenon that the map establishment accuracy is low due to angle errors is effectively prevented.
Example two
Referring to fig. 2, a flow chart of a heading correcting method according to a second embodiment of the invention includes the steps of:
step S11, acquiring an initial coordinate point of a robot positioned at a charging base station, and controlling the robot to leave the charging base station;
step S21, when the robot reaches the movement requirement, acquiring at least one first coordinate point of the robot and at least one second coordinate point calculated by a sensor of the robot;
step S31, substituting the initial coordinate point, the first coordinate point and the second coordinate point into a trigonometric function formula to calculate an error angle;
the connecting line between the initial coordinate point and the first coordinate point is an actual moving line, and the connecting line between the initial coordinate point and the second coordinate point is a virtual moving line, so that the calculated error angle is a deflection angle between the actual moving line and the virtual moving line.
For example, referring to fig. 3, when the initial coordinate K1 is (0, 0), the first coordinate point K2 acquired by the GPS is (1.5, 0), and the second coordinate point K3 is (1.48,0.08), the trigonometric function formula is tan x=0.08/1.48, and thus the calculated error angle x is about 3 °.
Preferably, in this embodiment, when acquiring the plurality of first coordinate points and the plurality of second coordinate points, the method further includes:
calculating a first average coordinate point of the first coordinate points and a second average coordinate point of the second coordinate points;
substituting the initial coordinate point, the first average coordinate point and the second average coordinate point into a trigonometric function formula to calculate an error angle between the actual moving line and the virtual moving line;
and the accuracy of the error angle calculation is improved by calculating a first average coordinate point of a plurality of first coordinate points and calculating a second average coordinate point of a plurality of second coordinate points in an averaging mode.
S41, correcting the sensor according to the error angle, and controlling the robot to continue to move;
according to the method, whether the robot is in a course deviation state is judged by judging whether the actual moving line and the virtual moving line are parallel or not, and the sensor is corrected according to the error angle between the actual moving line and the virtual moving line, so that the sensor stores the offset to realize calculation compensation, and the phenomenon that the map establishment accuracy is low due to angle errors is effectively prevented.
Example III
Referring to fig. 4, which is a flowchart of a heading correction method according to a third embodiment of the present invention, referring to fig. 5, a charging base station is provided with an initial wiring, and the heading correction method includes the following steps:
step S12, acquiring an initial coordinate point of a robot positioned at a charging base station;
step S22, a first control moving line parallel to the initial wiring is obtained, and the robot is controlled to leave the charging base station according to the first control moving line;
referring to fig. 5, the charging base station is set to be square or other shapes, so as to ensure that the first control moving line is parallel to the initial wiring, the initial wiring is connected to the positive electrode and the negative electrode of the charging base station, and the length of the initial wiring can be set according to the requirement of a user.
Preferably, the first control moving line is acquired based on the initial coordinate point and the wiring direction of the initial wiring, and the robot is controlled to leave the charging base station according to the first control moving line, so that the actual track of the robot leaving is parallel to the wiring direction of the initial wiring, and the error of the running angle of the robot is prevented.
Step S32, when the robot reaches the movement requirement, acquiring at least one first coordinate point of the robot and at least one second coordinate point calculated by a sensor of the robot;
the robot is provided with an extending wiring, the extending wiring can be used for drawing a working area, an area formed between the extending wiring and the initial wiring is a working area, and the working area is used for controlling the robot to work in a corresponding area so as to prevent the robot from damaging the environment outside the working area.
Preferably, in other embodiments, the line shape of the extended wiring may be set according to a user requirement, a midpoint of the extended wiring is overlapped with an initial coordinate point to obtain a first boundary, a wiring translation direction and a translation distance are obtained according to a direction and a length of the initial wiring, the first boundary is translated according to the wiring translation direction and the translation distance to obtain a second boundary, corresponding endpoints of the first boundary and the second boundary are connected, an area surrounded by the first boundary and the second boundary is the boundary area, and an area formed by the charging base station is deleted in the boundary area to obtain the working area.
Preferably, a first functional relationship exists between the direction of the initial wiring and the translation direction of the wiring, a second functional relationship exists between the length of the initial wiring and the translation distance, and the first functional relationship and the second functional relationship can be set according to the requirement of a user.
For example, in this embodiment, the translation distance is equal to 4 times of the initial wiring length, the initial wiring direction is parallel to the wiring translation direction, please refer to fig. 6, the initial coordinate point is O, the line A1 is the initial wiring, the line B1 is the extension wiring, the line B1 (the first boundary) is translated to the right side by 4 times of the length of the line A1, the line C1 (the second boundary) is obtained, the end points of the line B1 and the line C1 are correspondingly connected to obtain the line D1 and the line E1, the area enclosed between the lines B1, C1, D1 and E1 is a boundary area, and the area formed by the charging base station is deleted in the boundary area, so as to obtain the working area.
The electromagnetic characteristics in the working area are different from those outside the working area, the electromagnetic sensor is arranged on the robot, whether the robot works in the working area or not can be effectively judged according to the electromagnetic sensor, and further, when the robot builds a map, the robot is controlled to run on the line B1, the line C1, the line D1 or the line E1 so as to achieve the effect of building the map.
In the step, when the robot is judged to travel into the working area, the robot is judged to reach the movement requirement, and the first coordinate point and the second coordinate point are acquired.
Step S42, generating an actual moving line according to the initial coordinate point and the first coordinate point, and generating a virtual moving line according to the initial coordinate point and the second coordinate point;
step S52, judging whether the actual moving line and the virtual moving line are parallel or not;
when it is determined that the actual moving line and the virtual moving line are parallel, step S62 is executed;
step S62, controlling the robot to continue moving;
when it is judged that the actual moving line and the virtual moving line are not parallel, step S72 is performed;
step S72, calculating an error angle between the actual moving line and the virtual moving line, correcting the sensor according to the error angle, and controlling the robot to continue moving;
according to the method, whether the robot is in a course deviation state is judged by judging whether the actual moving line and the virtual moving line are parallel or not, and the sensor is corrected according to the error angle between the actual moving line and the virtual moving line, so that the sensor stores the offset to realize calculation compensation, and the phenomenon that the map establishment accuracy is low due to angle errors is effectively prevented.
Example IV
Referring to fig. 7, which is a flowchart of a heading correction method according to a fourth embodiment of the present invention, referring to fig. 8, a charging base station is extended to form a slot, and an initial wiring is disposed in the slot, and the heading correction method includes the following steps:
step S13, acquiring an initial coordinate point of a robot positioned at a charging base station;
step S23, a second control moving line parallel to the initial wiring is obtained, and the robot is controlled to leave the charging base station according to the second control moving line;
the shape of the charging base station can be not limited by the design of the wire slot, so that the second control moving wire is ensured to be parallel to the initial wiring;
step S33, when the robot reaches the movement requirement, acquiring at least one first coordinate point of the robot and at least one second coordinate point calculated by a sensor of the robot;
wherein an extension wiring is preset for the robot, and the extension wiring is used for drawing a working area;
specifically, the line shape of the extension wiring can be set according to the requirement of a user, the side length of the intersection point of the charging base station and the wire slot is taken as a first boundary, the midpoint of the extension wiring is overlapped with the midpoint of the first boundary, the wiring translation direction and the translation distance are obtained according to the direction and the length of the initial wiring, the extension wiring is translated according to the wiring translation direction and the translation distance to obtain a second boundary, the corresponding endpoints of the first boundary and the second boundary are connected, the area surrounded by the first boundary and the second boundary is taken as the boundary area, and the area formed by the charging base station is deleted in the boundary area, so that the working area is obtained.
For example, in this embodiment, the translation distance is equal to 4 times of the initial wiring length, the initial wiring direction is parallel to the wiring translation direction, please refer to fig. 8, the initial coordinate point is O, the line S is the first boundary, the line A2 is the initial wiring, the line B2 is the extension wiring, the line B2 is translated to the right side by 4 times of the length of the line A2 to obtain the line C2 (the second boundary), the end points of the line S and the line C2 are correspondingly connected to obtain the line D2 and the line E2, the area enclosed between the lines S, C2, D2, E2 is the boundary area, and the area formed by the charging base station is deleted in the boundary area to obtain the working area.
In the step, when the robot is judged to travel into the working area, the robot is judged to reach the movement requirement, and the first coordinate point and the second coordinate point are acquired;
step S43, generating an actual moving line according to the initial coordinate point and the first coordinate point, and generating a virtual moving line according to the initial coordinate point and the second coordinate point;
step S53, judging whether the actual moving line and the virtual moving line are parallel;
when it is determined that the actual moving line and the virtual moving line are parallel, step S63 is executed;
step S63, controlling the robot to continue moving;
when it is judged that the actual moving line and the virtual moving line are not parallel, step S73 is performed;
step S73, calculating an error angle between the actual moving line and the virtual moving line, correcting the sensor according to the error angle, and controlling the robot to continue moving;
according to the method, whether the robot is in a course deviation state is judged by judging whether the actual moving line and the virtual moving line are parallel or not, and the sensor is corrected according to the error angle between the actual moving line and the virtual moving line, so that the sensor stores the offset to realize calculation compensation, and the phenomenon that the map establishment accuracy is low due to angle errors is effectively prevented.
Example five
Referring to fig. 9, a schematic structural diagram of a heading correction apparatus 100 according to a fifth embodiment of the invention includes: an initial coordinate point acquisition unit 10, a control departure unit 11, a line calculation unit 12, a judgment unit 13, and an error correction unit 14, wherein:
an initial coordinate point acquisition unit 10 for acquiring an initial coordinate point of the robot located at the charging base station;
a control leaving unit 11 for controlling the robot to leave the charging base station.
Preferably, the charging base station is provided with an initial wiring, the initial wiring and the setting direction of the charging base station are parallel to each other, and the control leaving unit 11 includes:
a first control moving line acquisition module 111 for acquiring a first control moving line parallel to the initial wiring;
a first control departure module 112 for controlling the robot to leave the charging base station according to the first control movement line.
Further, the charging base station extends to form a wire slot, an initial wiring is arranged in the wire slot, and the control leaving unit 11 includes:
a second control moving line acquisition module 113 for acquiring a second control moving line parallel to the initial wiring;
a second control departure module 114 for controlling the robot to leave the charging base station according to the second control movement line.
A line calculation unit 12, configured to obtain at least one first coordinate point of the robot and at least one second coordinate point calculated by a sensor of the robot when the robot meets a movement requirement, generate an actual movement line according to the initial coordinate point and the first coordinate point, and generate a virtual movement line according to the initial coordinate point and the second coordinate point;
a judging unit 13 for judging whether the actual moving line and the virtual moving line are parallel;
and the error correction unit 14 is configured to control the robot to continue moving if the sensor is in the first position, and to calculate an error angle between the actual moving line and the virtual moving line if the sensor is not in the second position, and to correct the sensor according to the error angle, and then to control the robot to continue moving.
Preferably, when acquiring one of the first coordinate points and one of the second coordinate points, the error correction unit 14 includes:
the first error calculation module 141 is configured to directly substitute the initial coordinate point, the first coordinate point, and the second coordinate point into a trigonometric function formula to calculate an error angle between the actual movement line and the virtual movement line.
Further, in acquiring a plurality of the first coordinate points and a plurality of the second coordinate points, the error correction unit 14 includes:
a point calculation module 142, configured to calculate a first average coordinate point of the plurality of first coordinate points, and calculate a second average coordinate point of the plurality of second coordinate points;
and a second error calculation module 143, configured to calculate an error angle between the actual moving line and the virtual moving line by substituting the initial coordinate point, the first average coordinate point, and the second average coordinate point into a trigonometric function formula.
According to the method, whether the robot is in a course deviation state is judged by judging whether the actual moving line and the virtual moving line are parallel or not, and the sensor is corrected according to the error angle between the actual moving line and the virtual moving line, so that the sensor stores the offset to realize calculation compensation, and the phenomenon that the map establishment accuracy is low due to angle errors is effectively prevented.
The embodiment also provides a mobile terminal, which comprises a storage device and a processor, wherein the storage device is used for storing a computer program, and the processor runs the computer program to enable the mobile terminal to execute the course correction method.
The present embodiment also provides a storage medium having stored thereon a computer program for use in the above-described mobile terminal 101, which when executed, comprises the steps of:
acquiring an initial coordinate point of a robot positioned at a charging base station;
controlling the robot to leave the charging base station;
when the robot meets the movement requirement, acquiring at least one first coordinate point of the robot and at least one second coordinate point calculated by a sensor of the robot, generating an actual movement line according to the initial coordinate point and the first coordinate point, and generating a virtual movement line according to the initial coordinate point and the second coordinate point;
judging whether the actual moving line and the virtual moving line are parallel or not;
if so, controlling the robot to continue moving, if not, calculating an error angle between the actual moving line and the virtual moving line, correcting the sensor according to the error angle, and controlling the robot to continue moving. The storage medium includes: ROM/RAM, magnetic disks, optical disks, etc.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional units or modules according to needs, i.e. the internal structure of the storage device is divided into different functional units or modules, so as to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application.
It will be appreciated by those skilled in the art that the constituent structures shown in fig. 9 do not constitute a limitation of the heading correction apparatus of the present invention, and may include more or less components than those illustrated, or may be combined with some components, or may be arranged with different components, while the heading correction method in fig. 1, 2, 4, and 7 may also be implemented with more or less components, or may be combined with some components, or may be arranged with different components, as shown in fig. 9. The units, modules, etc. referred to in the present invention refer to a series of computer programs that can be executed by a processor (not shown) in the target heading correcting apparatus and perform specific functions, and may be stored in a storage device (not shown) of the target heading correcting apparatus.
The invention provides a course correction method, which is characterized in that whether a robot is in a course deviation state is judged by judging whether an actual moving line and a virtual moving line are parallel or not, and a sensor is corrected according to an error angle between the actual moving line and the virtual moving line, so that the sensor is stored with an offset, and corresponding compensation is carried out in a subsequent calculation process, thereby effectively preventing the phenomenon of low accuracy of map establishment caused by angle errors.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (6)
1. A heading correction method, comprising the steps of:
acquiring an initial coordinate point of a robot positioned at a charging base station;
controlling the robot to leave the charging base station;
when the robot meets the movement requirement, acquiring at least one first coordinate point of the robot and at least one second coordinate point calculated by a sensor of the robot, generating an actual movement line according to the initial coordinate point and the first coordinate point, and generating a virtual movement line according to the initial coordinate point and the second coordinate point;
judging whether the actual moving line and the virtual moving line are parallel or not;
if yes, controlling the robot to continue moving, if not, calculating an error angle between the actual moving line and the virtual moving line, storing an offset according to the error angle, realizing calculation compensation to correct the sensor, and controlling the robot to continue moving;
the step of calculating an error angle according to the actual moving line and the virtual moving line when acquiring one first coordinate point and one second coordinate point specifically includes:
directly substituting the initial coordinate point, the first coordinate point and the second coordinate point into a trigonometric function formula to calculate an error angle between the actual moving line and the virtual moving line;
or, the step of calculating an error angle according to the actual moving line and the virtual moving line specifically includes:
calculating a first average coordinate point of the first coordinate points and a second average coordinate point of the second coordinate points;
substituting the initial coordinate point, the first average coordinate point and the second average coordinate point into a trigonometric function formula to calculate an error angle between the actual moving line and the virtual moving line.
2. The heading correction method according to claim 1, wherein the charging base station is provided with an initial wiring, the initial wiring and the setting direction of the charging base station are parallel to each other, and the step of controlling the robot to leave the charging base station specifically comprises:
acquiring a first control moving line parallel to the initial wiring;
and controlling the robot to leave the charging base station according to the first control moving line.
3. The heading correction method as defined in claim 1, wherein the charging base station is extended with a wire slot, an initial wiring is provided in the wire slot, and the step of controlling the robot to leave the charging base station specifically comprises:
acquiring a second control moving line parallel to the initial wiring;
and controlling the robot to leave the charging base station according to the second control moving line.
4. A heading correction apparatus, the apparatus comprising:
an initial coordinate point obtaining unit for obtaining an initial coordinate point of the robot at the charging base station;
a control leaving unit for controlling the robot to leave the charging base station;
the line calculation unit is used for acquiring at least one first coordinate point of the robot and at least one second coordinate point calculated by a sensor of the robot when the robot meets the movement requirement, generating an actual movement line according to the initial coordinate point and the first coordinate point, and generating a virtual movement line according to the initial coordinate point and the second coordinate point;
a judging unit configured to judge whether the actual moving line and the virtual moving line are parallel;
the error correction unit is used for controlling the robot to continue moving if yes, calculating an error angle between the actual moving line and the virtual moving line if no, storing an offset according to the error angle, realizing calculation compensation to correct the sensor, and controlling the robot to continue moving;
the error correction unit, when acquiring one of the first coordinate points and one of the second coordinate points, includes:
the first error calculation module is used for directly substituting the initial coordinate point, the first coordinate point and the second coordinate point into a trigonometric function formula to calculate an error angle between the actual moving line and the virtual moving line;
alternatively, when acquiring the plurality of first coordinate points and the plurality of second coordinate points, the error correction unit includes:
a point calculation module, configured to calculate a first average coordinate point of the plurality of first coordinate points, and calculate a second average coordinate point of the plurality of second coordinate points;
and the second error calculation module is used for substituting the initial coordinate point, the first average coordinate point and the second average coordinate point into a trigonometric function formula to calculate an error angle between the actual movement line and the virtual movement line.
5. The heading correction apparatus according to claim 4, wherein the charging base station is provided with an initial wiring, the initial wiring and a setting direction of the charging base station are parallel to each other, the control leaving unit includes:
a first control moving line acquisition module for acquiring a first control moving line parallel to the initial wiring;
and the first control departure module is used for controlling the robot to leave the charging base station according to the first control moving line.
6. The heading correction apparatus as defined in claim 4, wherein the charging base station is extended with a wire slot, an initial wiring is provided in the wire slot, and the control leaving unit includes:
a second control moving line acquisition module for acquiring a second control moving line parallel to the initial wiring;
and the second control departure module is used for controlling the robot to leave the charging base station according to the second control moving line.
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