Intelligent line patrol trolley and calibration method thereof

Abstract

The invention discloses an intelligent line patrol trolley and a calibration method thereof. The intelligent line patrol trolley comprises a circuit board, M first sensors, N second sensors and a controller. The M first sensors are arranged at the front end of the circuit board, and the N second sensors are arranged on the two sides of the circuit board; a first sensor is adopted to detect the gray value of the black line and output a corresponding first gray signal, and a second sensor is adopted to detect the gray value of the background and output a corresponding second gray signal; the controller controls the movement direction of the trolley body according to the M first gray level signals and the N second gray level signals, dislocation detection of the black line and the background is achieved, the perception adaptability to other backgrounds beyond the black line is improved, the recognition accuracy in a changeable environment is higher, and the environment adaptability and the line patrol stability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of line patrolling vehicles, and in particular to an intelligent line patrolling vehicle and a calibration method thereof. Background Art

[0002] With the development of intelligent robot technology, smart cars are widely used in education, competition and industry; smart cars are electric vehicles that can drive autonomously, that is, they complete route navigation by following a black line on the ground. However, traditional smart car line patrol technology relies on all sensors to directly contact the line patrol, that is, multiple sensors are placed on the black line, and only perceive and recognize the black line, but have poor adaptability to other backgrounds different from the black line, resulting in low recognition accuracy in changing environments, poor environmental adaptability, and low line patrol stability. Summary of the invention

[0003] The main purpose of the present invention is to provide an intelligent line patrol trolley, aiming to solve the problems of poor adaptability and low line patrol stability of the intelligent line patrol trolley.

[0004] In order to achieve the above object, the present invention proposes an intelligent line patrol car, which includes: A circuit board and a trolley body, wherein the circuit board is arranged at the bottom of the trolley body; M first sensors and N second sensors, the M first sensors are arranged at the front end of the circuit board, the N second sensors are arranged at both sides of the circuit board, each of the first sensors is used to detect the gray value of the black line and output a corresponding first gray signal, and each of the second sensors is used to detect the gray value of the background and output a corresponding second gray signal; A controller is disposed on the circuit board, and the controller is respectively connected to the M first sensors and the N second sensors. The controller is used to control the movement direction of the vehicle body according to the M first grayscale signals and the N second grayscale signals.

[0005] In one embodiment, M is 4 and N is 2.

[0006] In one embodiment, the intelligent line patrol car further includes: A switch component, wherein an output end of the switch component is connected to the controller, and the switch component is used to output a corresponding switch signal when triggered; The controller is used to receive the switch signal and control the vehicle body to enter a calibration mode according to the switch signal.

[0007] In one embodiment, the switch assembly is a toggle switch.

[0008] In one embodiment, the intelligent line patrol car further includes: An indicator light, a controlled end of which is connected to the controller, and the indicator light is used to indicate the operating state of the trolley body during operation; The controller is used to control the indicator light to operate according to the switch signal to indicate that the vehicle body is in a calibration mode or an operating mode.

[0009] The present invention also proposes a calibration method for an intelligent line patrol car, which is applied to the above-mentioned intelligent line patrol car. The calibration method for the intelligent line patrol car comprises the following steps: Place M first sensors on the black line and N second sensors on the background; Toggle switch assembly; Control each of the first sensors to detect the gray value of the black line and output a corresponding first gray signal, and control each of the second sensors to detect the gray value of the background and output a corresponding second gray signal; A reference grayscale signal is output according to the M first grayscale signals and the N second grayscale signals.

[0010] In one embodiment, the step of outputting a reference grayscale signal according to the M first grayscale signals and the N second grayscale signals is specifically: Calculating a black line grayscale mean value according to the M first grayscale signals, and calculating a background grayscale mean value according to the N second grayscale signals; A reference grayscale value is calculated according to the black line grayscale mean value and the background grayscale mean value, and the corresponding reference grayscale signal is output.

[0011] The technical solution of the present invention is to arrange M first sensors at the front end of the circuit board and N second sensors at both sides of the circuit board; the first sensor is used to detect the grayscale value of the black line and output the corresponding first grayscale signal, and the second sensor is used to detect the grayscale value of the background and output the corresponding second grayscale signal; the controller controls the movement direction of the vehicle body according to the M first grayscale signals and the N second grayscale signals, realizes the misalignment detection of the black line and the background, improves the adaptability to the perception of other backgrounds beyond the black line, makes its recognition accuracy higher in a changing environment, and improves the environmental adaptability and line patrol stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is the overall structure diagram of the intelligent line patrol car of the present invention; Figure 2 It is a schematic diagram of the position of the intelligent line patrol car of the present invention relative to the black line and the background; Figure 3 The figure is a flow chart of the calibration method of the intelligent line patrol vehicle of the present invention. DETAILED DESCRIPTION

[0013] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0014] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0015] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0016] In the description of the present invention, it should be understood that the terms "upper", "lower", "inside", "outside", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the product of the invention is usually placed when in use, or are directions or positional relationships commonly understood by those skilled in the art. These directions or positional relationships are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0017] Furthermore, the terms “first”, “second”, etc. are merely used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0018] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms such as "setting" and "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0019] Since the existing intelligent line patrol car places multiple sensors on the black line, it can only recognize the black line and has poor adaptability to other background perception beyond the black line. As a result, its recognition accuracy in a changing environment is low, its environmental adaptability is poor, and its line patrol stability is low.

[0020] In order to solve the above problems, the present invention proposes an intelligent line patrol car. The specific implementation methods of the present invention are described in detail below with reference to the accompanying drawings.

[0021] like Figure 1-3 As shown in the figure, the intelligent line patrol car includes: A circuit board and a trolley body, wherein the circuit board is arranged at the bottom of the trolley body; M first sensors and N second sensors, the M first sensors are arranged at the front end of the circuit board, the N second sensors are arranged at both sides of the circuit board, each of the first sensors is used to detect the gray value of the black line and output a corresponding first gray signal, and each of the second sensors is used to detect the gray value of the background and output a corresponding second gray signal; A controller is disposed on the circuit board, and the controller is respectively connected to the M first sensors and the N second sensors. The controller is used to control the movement direction of the vehicle body according to the M first grayscale signals and the N second grayscale signals.

[0022] In one embodiment, M is 4 and N is 2.

[0023] In this embodiment, the first sensor can be implemented by any grayscale sensor that can detect the grayscale value of the black line, and the second sensor can be implemented by any grayscale sensor that can detect the grayscale value of the background, and its background is usually a white background; the grayscale sensor is a group of analog sensors, consisting of a light-emitting diode and a photosensitive receiving tube, and the two are installed on the same surface. The grayscale sensor uses the principle that different colors of detection backgrounds have different degrees of reflection of light, and at the same time, the photosensitive receiving tube receives light returned from different detection surfaces, and its resistance value is also different to detect the depth of color, that is, when the light received by the photosensitive receiving tube is stronger, its resistance value is smaller, that is, the darker the grayscale of the ground background or the farther the distance from the ground, the greater the resistance value of the photosensitive diode; within the effective detection distance, the light-emitting diode emits white light, which is irradiated on the detection surface, and the detection surface reflects part of the light. The photosensitive receiving tube detects the intensity of this light and converts it into an analog / digital signal through a voltage divider circuit and an operational amplifier comparison circuit, and finally processes it through a controller.

[0024] In this embodiment, the number of M and N can be set according to actual conditions. Preferably, M is set to 4 and N is set to 2. It can be understood that four first sensors are set at the front end of the circuit board, and two second sensors are set on both sides of the circuit board. The position of the second sensor is further back than that of the first sensor, thereby realizing the misalignment detection of the black line and the background, and more accurately judging the boundary between the black line and the background, so that the intelligent line patrol car can adapt to changeable tracks or environments.

[0025] The intelligent line patrol trolley of the present invention arranges M first sensors at the front end of a circuit board and N second sensors at both sides of the circuit board; the first sensor detects the grayscale value of the black line and outputs a corresponding first grayscale signal, and the second sensor detects the grayscale value of the background and outputs a corresponding second grayscale signal; the controller controls the movement direction of the trolley body according to the M first grayscale signals and the N second grayscale signals, realizes the misalignment detection of the black line and the background, improves the adaptability to the perception of other backgrounds beyond the black line, makes the recognition accuracy higher in a changeable environment, and improves the environmental adaptability and line patrol stability.

[0026] In one embodiment, the intelligent line patrol car further includes: A switch component, wherein an output end of the switch component is connected to the controller, and the switch component is used to output a corresponding switch signal when triggered; The controller is used to receive the switch signal and control the intelligent line patrol vehicle to enter a calibration mode according to the switch signal.

[0027] In one embodiment, the switch assembly is a toggle switch.

[0028] In this embodiment, the switch component can be implemented by any switch component that outputs a corresponding switch signal when triggered, such as a toggle switch. The toggle switch connects or disconnects the circuit by toggling the switch handle, thereby achieving the purpose of switching the circuit. It has the characteristics of flexible slider movement and stable and reliable performance, and is widely used in various electronic products such as various instruments / meters, various electric toys, etc.

[0029] It can be understood that when the toggle switch is activated, a corresponding switch signal is output, and the controller controls the trolley body according to the switch signal, that is, when the switch signal is at a low level, the trolley body enters the calibration mode to calibrate the first sensor and the second sensor. Conversely, when the switch signal is at a high level, the trolley body enters the working mode, thereby realizing the switching between the calibration mode and the working mode of the intelligent line patrol trolley by toggling the switch, which is extremely simple.

[0030] In one embodiment, the intelligent line patrol car further includes: An indicator light, a controlled end of which is connected to the controller, and the indicator light is used to indicate the operating state of the trolley body during operation; The controller is used to control the indicator light to operate according to the switch signal to indicate that the vehicle body is in a calibration mode or an operating mode.

[0031] In this embodiment, the indicator light can be implemented by any indicator light that can indicate the operating status of the intelligent line patrol car, such as a red LED light and a green LED light. It can be understood that when the green LED light is on, the intelligent line patrol car is in working mode; when the controller receives a low-level calibration switch signal, the control indicator light changes from green to red, that is, the red LED light is on at this moment, to indicate that the intelligent line patrol car is in calibration mode, so that the staff can more intuitively understand the operating status of the intelligent line patrol car.

[0032] The present invention also proposes a calibration method for an intelligent line patrol car, which is applied to the above-mentioned intelligent line patrol car. The calibration method for the intelligent line patrol car comprises the following steps: Place M first sensors on the black line and N second sensors on the background; Toggle switch assembly; Control each of the first sensors to detect the gray value of the black line and output a corresponding first gray signal, and control each of the second sensors to detect the gray value of the background and output a corresponding second gray signal; A reference grayscale signal is output according to the M first grayscale signals and the N second grayscale signals.

[0033] In one embodiment, the step of outputting a reference grayscale signal according to the M first grayscale signals and the N second grayscale signals is specifically: Calculating a black line grayscale mean value according to the M first grayscale signals, and calculating a background grayscale mean value according to the N second grayscale signals; A reference grayscale value is calculated according to the black line grayscale mean value and the background grayscale mean value, and the corresponding reference grayscale signal is output.

[0034] In this embodiment, the intelligent line patrol car is first placed above the map, and it is ensured that the M first sensors at the front end are placed on the black line and the N second sensors on both sides are placed on the background; then the power switch is turned on, and the switch assembly is toggled to calibrate the intelligent line patrol car, that is, the controller controls each first sensor to detect the grayscale value of the black line and output the corresponding first grayscale signal, and controls each second sensor to detect the grayscale value of the background and output the corresponding second grayscale signal; then, the controller outputs a reference grayscale signal according to the M first grayscale signals and the N second grayscale signals. Specifically, the black line grayscale mean and the background grayscale mean are respectively calculated according to the M first grayscale signals and the N second grayscale signals, and then the background grayscale mean interference is removed to obtain the reference grayscale value, which is used as a reference during the working process of the intelligent line patrol car, so as to accurately judge whether the bottom sensor of the intelligent line patrol car is located on the black line or the background during driving, and the calibration process is simple and more flexible.

[0035] In summary, the calibration method of the intelligent line patrol car of the present invention significantly improves the line patrol performance of the intelligent line patrol car through hardware layout and algorithm innovation, making it more stable and reliable in a changing environment. It not only simplifies the calibration process, but also improves the environmental adaptability and flexibility of the intelligent line patrol car.

[0036] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An intelligent line patrol car, characterized in that: The intelligent line patrol car comprises: A circuit board and a trolley body, wherein the circuit board is arranged at the bottom of the trolley body; M first sensors and N second sensors, the M first sensors are arranged at the front end of the circuit board, the N second sensors are arranged at both sides of the circuit board, each of the first sensors is used to detect the gray value of the black line and output a corresponding first gray signal, and each of the second sensors is used to detect the gray value of the background and output a corresponding second gray signal; A controller is disposed on the circuit board, and the controller is respectively connected to the M first sensors and the N second sensors. The controller is used to output a reference grayscale signal according to the M first grayscale signals and the N second grayscale signals, and control the movement direction of the trolley body according to the reference grayscale signal.

2. The intelligent line patrol vehicle according to claim 1 is characterized in that: The M is 4, and the N is 2.

3. The intelligent line patrol vehicle according to claim 1 is characterized in that: The intelligent line patrol car also includes: A switch component, wherein an output end of the switch component is connected to the controller, and the switch component is used to output a corresponding switch signal when triggered; The controller is used to receive the calibration switch signal and control the vehicle body to enter a calibration mode according to the calibration switch signal.

4. The intelligent line patrol vehicle according to claim 3 is characterized in that: The switch assembly is a toggle switch.

5. The intelligent line patrol vehicle according to claim 3 is characterized in that: The intelligent line patrol car also includes: An indicator light, a controlled end of which is connected to the controller, and the indicator light is used to indicate the operating state of the trolley body during operation; The controller is used to control the indicator light to operate according to the calibration switch signal to indicate that the trolley body is in a calibration mode or an operating mode.

6. A calibration method for an intelligent line patrol vehicle, applied to the intelligent line patrol vehicle as claimed in any one of claims 1 to 5, characterized in that: The calibration method of the intelligent line patrol car comprises the following steps: Place M first sensors on the black line and N second sensors on the background; Toggle switch assembly; Control each of the first sensors to detect the gray value of the black line and output a corresponding first gray signal, and control each of the second sensors to detect the gray value of the background and output a corresponding second gray signal; A reference grayscale signal is output according to the M first grayscale signals and the N second grayscale signals.

7. The calibration method of the intelligent line patrol vehicle according to claim 6 is characterized in that: The step of outputting a reference grayscale signal according to the M first grayscale signals and the N second grayscale signals is specifically as follows: Calculating a black line grayscale mean value according to the M first grayscale signals, and calculating a background grayscale mean value according to the N second grayscale signals; A reference grayscale value is calculated according to the black line grayscale mean value and the background grayscale mean value, and the corresponding reference grayscale signal is output.

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