Patent ID: 11918175
Assignee: AMICRO SEMICONDUCTOR CO., LTD.
Field: Control (Instruments)
Classification: CPC A  G | IPC A  G

Claim 3:
4. The control method according to claim 1, wherein at S2, a process of the fusion calculation comprises:
when the data sensed by the optical flow sensor is reliable, first converting an image displacement acquired by the optical flow sensor in each first preset time into a displacement of a same dimension as the code disks, and accumulating and integrating the data sensed by the optical flow sensor on time dimension to obtain an optical flow drift position coordinate of the optical flow sensor relative to an initial position of the optical flow sensor; then transferring the optical flow drift position coordinate to obtain a machine center coordinate of the current position according to a rigid connection relationship between the optical flow sensor and a robot center, a machine center coordinate of the current position is the current position coordinate of the robot, which corresponds to an actual advancing distance of the drive wheels of the robot on the carpet;
when the data sensed by the optical flow sensor is not reliable, integrating pulse data sensed by the code disks within each first preset time on the time dimension to obtain a calculation result, and using the calculation result to update a machine center coordinate, so that obtaining the current position coordinate of the robot, which corresponds to an actual advancing distance of the drive wheels of the robot on the carpet;
moreover, transferring the machine center coordinate according to a rigid connection relationship between the optical flow sensor and the robot center to obtain a translated coordinate, and using the translated coordinate to update an optical flow drift position coordinate;
wherein a reliability of the data sensed by the optical flow sensor is determined by a built-in drive signal of the optical flow sensor; when an interrupt signal output by the optical flow sensor is at a high level, the data sensed by the optical flow sensor is reliable; and when the interrupt signal output by the optical flow sensor is at a low level, the data sensed by the optical flow sensor is unreliable.