Drift control method due to carpet during robot movement, chip and cleaning robot

摘要

A carpet drift control method of robot movement, a chip and a cleaning robot, wherein the control method fusion calculates the robot current position coordinates according to the sensing data of the sensor every first preset time, and then the relative position of the robot current position and the initial position obtaining, by the robot, a drift amount for a preset direction according to the relationship and then accumulating it to obtain drift statistics; After calculating and averaging the number of collections of position coordinates within the second preset time to obtain a drift average value, the situation in which the robot deviates from the preset direction is determined according to the drift average value, and the corresponding PID proportional coefficient is set by setting the robot's and synchronizing the speed of the left and right driving wheels, and also reducing the robot departure angle. The control method effectively controls the robot to maintain a good straight-line running effect by improving the accuracy of the robot detecting the carpet drift.