Device and method for path correction of balance vehicle based on odometer and grayscale sensor

Abstract

The invention relates to an odometer and grayscale sensor based balance car path correction device and method. The device is arranged on a two-wheel balance car, and comprises a controller and a two-wheel balance car driving mechanism, which are mutually connected, two odometers, two grayscale sensor and a plurality of correction areas, wherein the two odometers and the two grayscale sensors are connected with the controller, both the left wheel and the right wheel of the two-wheel balance car are provided with one odometer and one grayscale sensor, each correction area comprises two colored tapes which are not mutually parallel and not intersected either, and the colored tapes are fixed on the ground and intersected with a standard path of the two-wheel balance car. Compared with the prior art, the position and the attitude of the two-wheel balance car are judged by using the grayscale sensors and the odometers, acquired data is compared with standard data so as to obtain deviation, and path correction is carried out, so that magnetic tracks or colored tapes are not required to be laid on the whole section of a road, and the device is good in timeliness, easy to install, low in cost and not easily to be affected by the environment.

Description

technical field [0001] The invention relates to a path correction method for a two-wheel balance vehicle, in particular to a path correction device and method for a two-wheel balance vehicle based on an odometer and a grayscale sensor. Background technique [0002] In recent years, due to its flexible movement, intelligent control, simple operation, energy saving, green environmental protection and other characteristics, two-wheeled balance vehicles have been more and more widely used in modern transportation tools, such as daily transportation tools, police patrols, advertising Publicity, auxiliary shooting, etc. However, in addition to its manned function, the two-wheeled balance car, as a member of the robot family, can replace patrol robots in many occasions to complete many tasks after being equipped with some sensors on the basis of its basic functions such as automatic walking and attitude adjustment. Tasks, such as power station inspection, community security, daily...

AI Technical Summary

Problems solved by technology

At present, most wheeled patrol robots are mainly designed and developed based on vision sensors, infrared sensors or magnetic navigation sensors. The recognition accuracy of robots based on vision sensors is high, but the visual positioning algorithm is complex, the real-time performance is poor, and it is easily affected by ambient light. , the operation is unstable; based on the low price of infrared sensors, strong anti-interference ability, and fast recognition speed, but the recognition accuracy is not high, it is usually necessary to arrange continuous road color band sign information on the entire road to guide the robot to move forward; magnetic navigation sensors also need Lay magnetic rails or ribbons on the entire road section, but in many practical applications, it is unrealistic to lay guide rails, magnetic rails, ribbon rails, etc. on the entire patrol road section

[0005] In the prior art, stereo vision is used for path correction during the patrol process of mobile robots, which has high cost, poor real-time performance, and is easily affected by the environment. Manufacturers use

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