Moving apparatus and method of self-direction testing and self-direction correction thereof

A method of self-direction testing and self-direction correction, applicable for a moving apparatus, comprising:

• (1) changing a current direction of a body of the moving apparatus to a target direction through a pair of wheels of the moving apparatus according to a direction-changing instruction;
• (2) during the process of changing the current direction of the body to the target direction through the pair of the wheels, obtaining a first direction variation of the body in a predetermined cycle through a direction measuring unit of the moving apparatus, and measuring a speed of the pair of the wheels respectively through a pair of encoders of the moving apparatus, so as to obtain a second direction variation of the body in the predetermined cycle;
• (3) comparing the first direction variation with the second direction variation to determine whether the direction measuring unit is temporarily dysfunction, wherein
• if the direction measuring unit is determined to be normal, the current direction of the body is obtained according to direction information provided by the direction measuring unit, and
• if the direction measuring unit is determined to be abnormal, the current direction of the body is obtained according to information of the speed provided by the pair of the encoders;
• (4) if the current direction of the body is obtained according to the direction information provided by the direction measuring unit, determining whether the current direction of the body is changed to the target direction, wherein
• if the current direction of the body has not been changed to the target direction, Steps (2)-(3) are repeated, and
• if the current direction of the body has already been changed to the target direction, the pair of the wheels stop changing the current direction of the body;
• and
• (5) if the current direction of the body is obtained according to information of the speed provided by the pair of the encoders, determining whether the current direction of the body is changed to the target direction, wherein if the current direction of the body has not changed to the target direction, the current direction of the body continues to be obtained according to information of the speed of the encoders, and the pair of the wheels do not stop changing the current direction until the current direction is changed to the target direction.