Automatic navigation system based on camera detection, control method of system and vertical balance car

A technology of automatic navigation and control methods, which is applied in two-dimensional position/channel control and other directions, and can solve problems such as insufficient safety, low calculation accuracy, and low control accuracy

Active Publication Date: 2015-09-23
SOUTH CHINA UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Automatic navigation technology has always been one of the hotspots of people's research. At present, traditional automatic navigation technology systems mostly use 1) GPS system navigation 2) photoelectric sensors 3) electromagnetic sensors; systems using GPS navigation, due to civilian GPS positioning accuracy and data sampling Due to the speed limit, the phenomenon of "drift" often occurs, resulting in control lag, low control accuracy, and poor real-time performance; systems using photoelectric sensors and electromagnetic sensors for navigation have high sampling rates and good measurement accuracy, but photoelectric sensors Compared with the electromagnetic sensor, it is a "line" and "point" measurement, that is, a "single-dimensional" measurement, which cannot measure the overall characteristics of the road surface, resulting in the system only measur

Method used

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  • Automatic navigation system based on camera detection, control method of system and vertical balance car
  • Automatic navigation system based on camera detection, control method of system and vertical balance car
  • Automatic navigation system based on camera detection, control method of system and vertical balance car

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Embodiment 1

[0060] Such as figure 1 As shown, the automatic navigation system of the present embodiment includes an upright balance data acquisition module, a camera data acquisition module, and a signal processing and control module, and the upright balance data acquisition module and the camera data acquisition module are respectively connected with the signal processing and control module;

[0061] The upright balance data acquisition module is used to obtain the current attitude angle data of the upright balance car through the data collected by the IMU sensor;

[0062] The camera data acquisition module is used to collect the grayscale image data of the runway through the camera sensor;

[0063] The signal processing and control module is used to collect, store and process the grayscale image data of the runway, the current attitude angle data of the upright balance car, the current speed and differential speed data of the upright balance car through an embedded computer, and accordi...

Embodiment 2

[0134] This embodiment is an application example, and the automatic navigation system of the above-mentioned embodiment 1 is applied to an upright balance car.

[0135] Such as Figure 8 As shown, the upright balancing car includes a car body 1, a left wheel 2, a right wheel 3, a motor (not shown in the figure) and an automatic navigation system, and the left wheel 2 and the right wheel 3 are arranged at the bottom of the car body 1 On both sides, the motor drives the left wheel 2 and the right wheel 3 to move; wherein, the IMU sensor 4 and the embedded computer 5 are arranged in the car body 1, the camera sensor 6 is arranged on the top of the car body 1, and the embedded The computer 5 is connected with the motor.

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Abstract

The invention discloses an automatic navigation system based on camera detection, a control method of the system and a vertical balance car. The system comprises a vertical balance data collection module, a camera data collection module and a signal processing and control module, wherein the vertical balance data collection module and the camera data collection module are connected with the signal processing and control module, the vertical balance data collection data obtains present attitude angle data of the vertical balance car, the camera data collection module collects gray-level image data of a runway, and the signal processing and control module collects, stores and processes the gray-level image data of the runway, the present attitude angle data of the vertical balance car, and present speed and differential speed data of the vertical balance car, and controls the balance of the vertical balance car according to the present attitude angle data of the vertical balance car. Thus, the road condition in front can be effective predicted, prediction can be controlled more effectively, and the control precision is improved.

Description

technical field [0001] The invention relates to an automatic navigation system, especially an automatic navigation system based on camera detection, a control method and an upright balancing vehicle, belonging to the technical fields of information technology, automation technology, automatic navigation technology, self-balancing technology and the like. Background technique [0002] Automatic navigation technology has always been one of the hotspots of people's research. At present, traditional automatic navigation technology systems mostly use 1) GPS system navigation 2) photoelectric sensors 3) electromagnetic sensors; systems using GPS navigation, due to civilian GPS positioning accuracy and data sampling Due to the speed limit, the phenomenon of "drift" often occurs, resulting in control lag, low control accuracy, and poor real-time performance; systems using photoelectric sensors and electromagnetic sensors for navigation have high sampling rates and good measurement ac...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 刘富春梁伟鹏
Owner SOUTH CHINA UNIV OF TECH
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