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

Abstract

The invention relates to a balancing vehicle path correction device and method based on an odometer and a grayscale sensor. The device is arranged on a two-wheeled balancing vehicle and includes an interconnected controller, a two-wheeled balancing vehicle driving mechanism, two odometers, two A grayscale sensor and multiple correction areas. Two odometers and two grayscale sensors are connected to the controller respectively. The left and right wheels of the two-wheeled balancing vehicle are each equipped with an odometer and a grayscale sensor. Each correction area It consists of two ribbons that are neither parallel nor intersecting with each other. The ribbons are fixed on the ground and intersect with the standard path of the two-wheel balancing vehicle. Compared with the existing technology, the present invention uses grayscale sensors and odometers to determine the position and attitude of the two-wheeled balancing vehicle, thereby comparing it with standard data to obtain deviations and perform path correction without the need to lay magnetic tracks or ribbons on the entire road section. , good real-time performance, easy to install, low cost, and not easily 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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