ROS2-based intelligent trolley control system

Abstract

The utility model discloses an intelligent dolly control system based on ROS2. The control system comprises a host machine, a virtual machine, a control module, a controller and an intelligent trolley, the virtual machine is installed on the host machine, and the control module is installed on the virtual machine; the controller is in communication connection with the control module; the controller is installed on the intelligent trolley. According to the utility model, the intelligent degree is high, each sensor is independent, other sensors of the whole trolley can not be influenced by the failure of a certain sensor, and the functions of automatic tracing, tracking, guard, obstacle avoidance, mapping navigation, communication between trolleys and visual identification can be realized without the help of a Li nux system master control; in addition, pictures of the camera can be independently subjected to a visual identification function in different Li nux systems under the same local area network, and real wireless connection with the Li nux systems can be achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of trolley control, and in particular to an intelligent trolley control system based on ROS2. Background Art

[0002] The smart car is able to realize functions such as automatic tracking, guarding, obstacle avoidance, map navigation, communication between cars, visual recognition, controllable driving speed, accurate positioning and parking, and remote image transmission through laser radar, camera, its own power and control capabilities.

[0003] Most of the existing smart cars consider using expensive Linux system master control to achieve tracking, guarding, obstacle avoidance, map navigation, communication between cars, and visual recognition functions. In addition, the camera cannot share the picture, and it is impossible to give different terminals a separate visual recognition function. If the solution is not used with the Linux system master control, the smart car cannot achieve map navigation, communication between cars, and visual recognition functions. Utility Model Content

[0004] The purpose of the utility model is to overcome the deficiencies of the prior art and provide an intelligent car control system based on ROS2.

[0005] In order to solve the above technical problems, the utility model adopts the following technical solutions:

[0006] An embodiment of the utility model provides a smart car control system based on ROS2, including: a host machine, a virtual machine, a control module, a controller and a smart car; the virtual machine is installed on the host machine, and the control module is installed on the virtual machine; the controller is communicatively connected to the control module; the controller is installed on the smart car, a host operating system is installed on the host machine, and a virtual machine platform is installed on the host operating system; the virtual machine is installed on the virtual machine platform; the virtual machine includes a virtual machine operating system installed on the virtual machine platform, and the control module is installed on the virtual machine operating system; the virtual machine operating system is a ROS2 operating system, and the host operating system is a Linux operating system.

[0007] In a specific embodiment, a camera is installed on the smart car, and the camera communicates with the control module and the controller.

[0008] In a specific embodiment, the smart car includes a body, the controller arranged inside the body, and a visual component and a radar component installed outside the body, the visual component and the radar component are electrically connected to the controller, the visual component includes a first degree of freedom servo, a first bracket, a second degree of freedom servo, a second bracket, and the camera, the first degree of freedom servo is installed on the body, the first bracket is rotatably connected to the first degree of freedom servo, the second degree of freedom servo is installed on the first bracket, the second bracket is rotatably connected to the second degree of freedom servo, the camera is installed on the second bracket, the first degree of freedom servo, the second degree of freedom servo, and the camera are electrically connected to the controller; the first degree of freedom servo drives the first bracket to rotate in the horizontal direction, and the second degree of freedom servo drives the second bracket to rotate in the vertical direction.

[0009] In a specific embodiment, the radar assembly includes a cover body and a radar, the cover body is installed on the vehicle body, the radar is fixed to the cover body, and the radar is electrically connected to the controller.

[0010] In a specific embodiment, an antenna is also installed on the cover, and the antenna is electrically connected to the controller.

[0011] In a specific embodiment, a power supply is also provided inside the vehicle body, and the power supply is electrically connected to the controller.

[0012] In a specific embodiment, the vehicle body is further provided with an LED lamp, and the LED lamp is electrically connected to the controller.

[0013] In a specific embodiment, the vehicle body is further provided with a motor group and a tire, the motor group is electrically connected to the controller, and the tire is transmission-connected to the motor group.

[0014] In a specific embodiment, a mounting column is provided inside the vehicle body, and the controller is fixed to the mounting column via a connecting column.

[0015] In a specific embodiment, a buzzer and a gyroscope are integrated on the controller.

[0016] The intelligent car control system based on ROS2 of the utility model has the following beneficial effects compared with the prior art: the intelligent car has a high degree of intelligence, each sensor is independent, and the failure of a certain sensor will not affect other sensors of the entire car. It can automatically find tracks, track, guard, avoid obstacles, build maps and navigate, communicate between cars, and have visual recognition functions without the help of the Linux system master control, and the camera image can independently perform visual recognition functions on different Linux systems under the same local area network, and can achieve true wireless connection with the Linux system. Compared with the solution with the Linux system master control, the cost is low, and compared with the solution without the Linux system master control, it can realize the functions of map building and navigation, communication between cars, and visual recognition, and has strong practicality.

[0017] The utility model is further described below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 Schematic diagram of the intelligent car control system based on ROS2 provided by the utility model Figure 1 ;

[0020] Figure 2 Schematic diagram of the intelligent car control system based on ROS2 provided by the utility model Figure 2 ;

[0021] Figure 3 A three-dimensional schematic diagram of a trolley provided by the utility model;

[0022] Figure 4 Schematic diagram of the decomposition of the trolley provided by the utility model Figure 1 ;

[0023] Figure 5 Schematic diagram of the decomposition of the trolley provided by the utility model Figure 2 ;

[0024] Figure 6 An exploded schematic diagram of the visual component provided by the utility model;

[0025] Figure 7 A schematic diagram of the driving of the trolley provided by the utility model;

[0026] Figure 8 A schematic diagram of the communication framework between the controller, camera and ROS2 system provided by the utility model;

[0027] Fig. 9 A schematic diagram of a framework link for mutual communication between the trolleys provided by the utility model;

[0028] Fig.10 It is a schematic block diagram of the system structure of the prior art intelligent car;

[0029] Fig.11 This is another schematic block diagram of the structure of the system of the prior art intelligent car. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the utility model more clearly understood, the utility model is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0031] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model.

[0032] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0033] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0034] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be connected, detachably connected, or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between 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.

[0035] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0036] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms should not be understood as necessarily being directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification.

[0037] See also Fig.10 and Fig.11 In the embodiment of the prior art shown, the existing smart car without the Linux system master control cannot realize the functions of visual interaction, map navigation, automatic fixed-point parking, etc. in the camera screen. For the existing smart car equipped with the Linux system master control, the camera needs to be physically connected to the Linux system to realize the visual interaction function. In terms of communication between cars, each car needs to be equipped with a Linux system master control, which greatly increases the cost.

[0038] See also Figures 1 to 9According to the specific embodiment shown, the utility model discloses a smart car control system based on ROS2, including: a host machine, a virtual machine, a control module, a controller and a smart car; the virtual machine is installed on the host machine, and the control module is installed on the virtual machine; the controller is communicatively connected to the control module; the controller is installed on the smart car, a host operating system is installed on the host machine, and a virtual machine platform is installed on the host operating system; the virtual machine is installed on the virtual machine platform; the virtual machine includes a virtual machine operating system installed on the virtual machine platform, and the control module is installed on the virtual machine operating system; the virtual machine operating system is a ROS2 operating system, and the host operating system is a L i nux operating system.

[0039] Specifically, the host machine is a personal computer.

[0040] See also Figure 1 and Figure 2 In the specific embodiment shown, the smart car has greatly improved the existing smart car solution. It can realize visual interaction, map navigation, and automatic fixed-point parking without the main control of the Linux system. For the communication between cars, it is only necessary to build a virtual machine on a personal computer or directly install the Linux system on the computer to realize this function.

[0041] Among them, the intelligent car control system based on ROS2 (Robot Operating System 2) realizes efficient and flexible control of the intelligent car by integrating multiple components such as the host machine, virtual machine, control module, controller and intelligent car. The intelligent car has a high degree of intelligence, and each sensor is independent. There is no failure of one sensor that will affect other sensors of the entire car. It can automatically track, track, guard, avoid obstacles, map navigation, communicate between cars, and visual recognition without the help of the Linux system master control. The camera image can be used for visual recognition independently by different Linux systems in the same local area network, and can be truly wirelessly connected with the Linux system. Compared with the solution with the Linux system master control, it has low cost, and compared with the solution without the Linux system master control, it can realize the functions of map navigation, communication between cars, and visual recognition, and has strong practicality.

[0042] In one embodiment, a camera is installed on the smart car, and the camera communicates with the control module and the controller.

[0043] Specifically, the control module includes a camera image receiving module, a camera image processing module, a car control module, a car sensor receiving module and a car sensor processing module. Among them, the camera can capture the information of the surrounding environment of the smart car in real time, such as road conditions, obstacles, pedestrians, etc., which are crucial for the autonomous navigation, obstacle avoidance and decision-making of the smart car. In addition, the image data captured by the camera can be transmitted to the control module, and the image processing algorithm can be used to perform tasks such as target detection, tracking, recognition and classification; for example, the smart car may need to identify traffic signs, pedestrians, vehicles, etc. on the road, and take corresponding actions accordingly. In addition, through the environmental information captured by the camera, combined with other sensor data, the smart car can achieve more accurate navigation and positioning, and the images captured by the camera can be used in algorithms such as visual odometer and SLAM (simultaneous localization and mapping) to improve the navigation ability of the car in an unknown environment.

[0044] See also Figures 3 to 6 As shown, in one embodiment, the smart car includes: a body 10, the controller 20 arranged inside the body 10, and a visual component 30 and a radar component 40 installed outside the body 10, the visual component 30 and the radar component 40 are electrically connected to the controller 20, the visual component 30 includes a first degree of freedom steering gear 31, a first bracket 32, a second degree of freedom steering gear 33, a second bracket 34, and the camera 35, the first degree of freedom steering gear 31 is installed on the body 10, the first bracket 32 ​​is rotatably connected to the first degree of freedom steering gear 31, the second degree of freedom steering gear 33 is installed on the first bracket 32, the second bracket 34 is rotatably connected to the second degree of freedom steering gear 33, the camera 35 is installed on the second bracket 34, the first degree of freedom steering gear 31, the second degree of freedom steering gear 33, and the camera 35 are electrically connected to the controller 20; the first degree of freedom steering gear 31 drives the first bracket 32 ​​to rotate in the horizontal direction, and the second degree of freedom steering gear 33 drives the second bracket 34 to rotate in the vertical direction.

[0045] Specifically, the visual component 30 and the radar component 40 are electrically connected to the controller 20, so that the components can operate independently, and the problem that the failure of one component affects the inability of other components of the entire car to work is avoided. In addition, through the linkage of two degree of freedom steering gears (i.e., the first degree of freedom steering gear 31 and the second degree of freedom steering gear 33), the camera 35 can be rotated in both horizontal and vertical directions, thereby greatly increasing the field of vision of the car. This design enables the car to perceive the surrounding environment more comprehensively and improve positioning accuracy. In addition, since the camera 35 can be rotated flexibly, the car can more accurately identify and track the target, which is very important in many applications, such as autonomous navigation, object recognition, human-computer interaction, etc. In addition, the entire visual system is electrically connected to the controller 20, so that the car can make autonomous decisions based on visual information. This design enables the car to have a higher level of autonomy and intelligence, and can better complete various tasks.

[0046] In one embodiment, the first bracket 32 ​​is located at the front end of the vehicle body 10 .

[0047] Specifically, the first bracket 32 ​​is located in the front direction of the front end of the vehicle body 10, which can significantly enhance the perception of the vehicle's front environment, which is essential for the vehicle's navigation, obstacle avoidance, and object recognition tasks, especially in environments that require high alertness and rapid response. In addition, the vehicle can more accurately identify road signs, traffic signals, obstacles and other information through the camera 35 at its front end, thereby improving the accuracy and efficiency of navigation, especially in autonomous navigation and unmanned driving systems. This design is particularly important. In addition, installing the camera 35 at the front end of the vehicle body 10 can more conveniently observe the environment in front, including road conditions, pedestrians, vehicles, etc., which is very helpful for the real-time decision-making and response of the vehicle, especially in scenes that require real-time interaction.

[0048] In one embodiment, the radar assembly 40 includes a cover 41 and a radar 42 . The cover 41 is installed on the vehicle body 10 , the radar 42 is fixed to the cover 41 , and the radar 42 is electrically connected to the controller 20 .

[0049] Specifically, the radar 42 is a laser radar, and the radar 42 protrudes from the cover 41. The radar 42 can scan the environment around the car by emitting and receiving electromagnetic waves, and obtain information such as the position, distance, and speed of surrounding objects. This information is essential for the car's autonomous navigation, obstacle avoidance and other functions. In addition, based on the environmental information obtained by the radar 42, the car can detect and avoid obstacles in real time to ensure the safety of the car during movement. Especially in complex or dynamic environments, the obstacle avoidance function of the radar 42 is particularly important.

[0050] In one embodiment, an antenna 43 is further mounted on the cover 41 , and the antenna 43 is electrically connected to the controller 20 .

[0051] Specifically, the antenna 43 is installed at the rear end of the cover body 41. Among them, the antenna 43 can receive and send wireless signals to realize the communication between the car and remote equipment, other cars or operators, which is crucial for the remote control, data transmission, task coordination and other aspects of the car. In addition, through the wireless signal received by the antenna 43, the operator can remotely monitor the status of the car, including position, speed, posture, etc., and perform real-time control, which is of great significance for the application of the car in scenarios such as remote operation and operation in dangerous environments. In addition, the antenna 43 is also responsible for transmitting the data collected by the car (such as sensor data, images, etc.) to the remote device or data center to realize real-time sharing and processing of data, which is very helpful for the data analysis, task planning and other aspects of the car. In addition, the design and installation position of the antenna 43 can optimize the reception and transmission effect of the signal and improve the stability and reliability of communication.

[0052] In one embodiment, a power source 50 is further disposed inside the vehicle body 10 , and the power source 50 is electrically connected to the controller 20 .

[0053] Specifically, the power source 50 is a rechargeable battery, which is installed at the bottom of the vehicle body 10 and fixed to the vehicle body 10 through an acrylic plate. The power source 50 provides power for the entire vehicle system. It is electrically connected to the controller 20 to provide a stable power supply for the controller 20 and various components connected thereto (such as the visual component 30, the radar component 40, etc.), thereby ensuring that the vehicle can operate normally.

[0054] In one embodiment, the vehicle body 10 is further provided with an LED light, and the LED light is electrically connected to the controller 20 .

[0055] Specifically, LED lights can provide lighting functions for the car, especially in dim light or nighttime environments, LED lights can illuminate the environment around the car, helping the car to perform visual perception and navigation. In addition, the bright light and flashing function of LED lights can increase the visibility of the car, especially in complex or busy environments, such as factories, warehouses or roads, which helps other personnel or equipment notice the presence of the car, thereby avoiding potential collisions or accidents and improving the safety of the car. In addition, LED lights can be used to indicate the working status of the car, such as power on, power off, charging, faults, etc. By controlling the on and off, color or flashing frequency of the LED lights, the status information of the car can be conveyed to the operator, which is convenient for monitoring and management. In addition, LED lights can also be used to realize interaction and communication between the car and other devices or personnel. For example, through a specific LED light flashing mode or color change, the car can send instructions or information to other devices to achieve collaborative work or task allocation.

[0056] In one embodiment, the vehicle body 10 is further provided with a motor group 60 and a tire 70 , wherein the motor group 60 is electrically connected to the controller 20 , and the tire 70 is transmission-connected to the motor group 60 .

[0057] Specifically, the front and rear ends of the vehicle body 10 are provided with motor groups 60 and corresponding tires 70. The motor group 60 is used as the power source of the vehicle. It receives instructions from the controller 20 through electrical connection with the controller 20, and then controls the rotation of the tire 70 to achieve the movement and positioning of the vehicle. This design enables the vehicle to flexibly adjust the moving speed and direction according to task requirements and environmental changes. In addition, the tire 70 is used as the moving part of the vehicle. It is connected to the motor group 60 to convert the rotational motion of the motor group 60 into the linear or curved motion of the tire.

[0058] In one embodiment, a mounting column is provided inside the vehicle body 10 , and the controller 20 is fixed to the mounting column via a connecting column 80 .

[0059] Specifically, the four corners of the bottom of the controller 20 are fixed to the mounting column by connecting columns 80, and the connecting columns 80 are preferably copper columns. Among them, the connecting columns 80 firmly mount the controller 20 on the mounting column, ensuring that the controller 20 can remain stable when the car moves or is subjected to external impact, and is not easy to loosen or damage, which helps to maintain the overall stability and reliability of the car. In addition, by using the connecting column 80, the controller 20 can be easily installed on the mounting column, and it can also be easily disassembled, which is very useful for repairing, upgrading or replacing the controller 20, and improves the maintainability and flexibility of the car. In addition, since the connecting column is preferably a copper column, copper has good thermal conductivity, which means that the heat generated by the controller 20 during operation can be effectively conducted to other parts of the vehicle body 10 through the copper column, thereby helping the controller 20 to dissipate heat and prevent overheating damage. In addition, as a connector, the copper column can also play a certain electromagnetic shielding role, reduce the impact of external electromagnetic interference on the controller 20, and ensure that the controller works stably and reliably. In addition, by fixing the controller 20 at the four bottom corners using connecting columns 80, the accurate position of the controller 20 in the vehicle body 10 can be ensured, which is conducive to the accurate connection and wiring between other components (such as power supply, sensors, etc.) and the controller 20.

[0060] In one embodiment, a buzzer is integrated on the controller 20 .

[0061] Specifically, the buzzer can emit a continuous and sharp sound signal to sound an alarm when a specific event or fault occurs; for example, when the car detects an abnormal state, encounters an obstacle, or the battery is too low, the buzzer will sound to alert the operator or user. In addition, the buzzer can also be used to indicate the working status of the car. By emitting different sound patterns or frequencies, different working states of the car can be indicated, such as starting, running, standby, fault, etc., which provides intuitive feedback and prompts for operators, helping them to better understand and control the operation of the car. In addition, when the car fails, the sound of the buzzer can be used as one of the bases for fault diagnosis. Through the specific characteristics of the sound, technicians can preliminarily determine the type and location of the fault, so as to locate and solve the problem more quickly. In addition, in some cases, the buzzer can also be used to interact with the user; for example, when the car completes a task or arrives at a specified location, the buzzer can make a sound to notify the user.

[0062] In one embodiment, a gyroscope is integrated on the controller 20 .

[0063] Specifically, the gyroscope, as a sensor, can sense the rotation speed of the car in three axes, that is, the angular velocity. It helps the car understand its current posture and angle by measuring the change in the direction of the rotating axis. Specifically, the working principle of the gyroscope is based on the law of conservation of angular momentum and the gyroscopic effect. It uses the angular momentum generated by the rotation of the rotor to maintain the stability of the rotating axis, and calculates the angular velocity and direction by measuring the offset of the rotor. In addition, in the car technology, the role of the gyroscope is crucial; first, it can help the car achieve precise attitude control, so that the car can maintain a stable posture, especially when moving or performing complex tasks; secondly, the gyroscope can also be used to realize the car's automatic stabilization, automatic driving and other functions, and improve the car's autonomy and intelligence level; in addition, the gyroscope can also be used in conjunction with other sensors such as accelerometers, magnetoresistive chips, GPS, etc. to form an inertial navigation control system, providing the car with more comprehensive and accurate navigation and positioning information.

[0064] See also Figure 7 In the specific embodiment shown, the controller 20 uses the ESP32-S3 single-chip microcomputer chip and uses the C language to realize the basic motion control of the car, including driving LED lights, buzzers, Hall encoder motors (i.e., motor group 60), ICM-42670P gyroscopes, PWM steering gear pan / tilts (i.e., visual components 30), and laser radars. The controller 20 controls various module design schemes through I2C protocol, USRT protocol, PID algorithm control, PWM steering gear angle control, and GPIO pins; the laser radar is used for real-time monitoring of the path and map construction, and the visual component 30 is used to view the driving status of the car and scan the object contour to establish a model. Among them, the I2C protocol, USRT protocol, PID algorithm control, PWM steering gear angle control, and GPIO pins all use existing public technologies and are not described in detail here.

[0065] See also Figure 8 In the specific embodiment shown, the camera and the car communicate in a node-based manner through the microROS framework and different hosts with ROS2 systems, so as to control the car, receive sensor data, and share images with the camera at the same time, so that each individual ROS2 system can realize its own visual recognition. Among them, microROS is a set of software libraries that can deploy the development of car applications to microcontrollers that usually have limited computing resources. It is designed for use with ROS2 and can be used for two-way communication between ROS2 nodes running on separate computers and M icro-ROS applications running on microcontrollers.

[0066] See also Fig. 9In the specific embodiment shown, the communication between the cars can also be carried out through the udp wireless communication of the microROS framework to achieve data transmission. The ROS2 system can also control multiple cars and receive sensor data at the same time through nodes. Among them, udp (User Datagram Protocol) is a connectionless transport layer protocol, which plays an important role in wireless communication. The main feature of the udp protocol is high transmission efficiency, which is more suitable for data transmission occasions with high real-time requirements.

[0067] Specifically, the car uses microROS to send the information of the car sensor and the interface for controlling the movement of the car in the form of ROS2 nodes. For the camera, the ESP32-S3 single-chip microcomputer chip is also used to drive the GC2145 camera in the C language to obtain each frame of the camera, and each frame of the obtained picture is sent out in the form of nodes through the microROS method. Among them, the controller and the camera are mounted on a Linux system with docker through the proxy method of docker. It is only necessary to ensure that the controller, camera, and Linux system master are in the same local area network. For setting the controller and camera to be connected to the same local area network, the serial port configuration method is used for setting. Among them, the Linux system with ROS2 is used to access the camera and connect the controller, as long as the controller and the camera are in the same local area network and the Domain ID (DDS) of ROS2 are consistent. For the communication between cars, the node principle of ROS2 is used for communication, as long as the car and the car are in the same local area network and the Domain ID (DDS) of ROS2 are consistent.

[0068] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the present technical solution is within the protection scope of the present invention.

Claims

1. A smart car control system based on ROS2, characterized in that: include: A host machine, a virtual machine, a control module, a controller and an intelligent car; the virtual machine is installed on the host machine, the control module is installed on the virtual machine; the controller is communicatively connected to the control module; the controller is installed on the intelligent car, a host operating system is installed on the host machine, and a virtual machine platform is installed on the host operating system; the virtual machine is installed on the virtual machine platform; the virtual machine includes a virtual machine operating system installed on the virtual machine platform, and the control module is installed on the virtual machine operating system; the virtual machine operating system is a ROS2 operating system, and the host operating system is a Linux operating system.

2. The ROS2-based intelligent car control system according to claim 1 is characterized in that: A camera is installed on the smart car, and the camera communicates with the control module and the controller.

3. The ROS2-based intelligent car control system according to claim 2 is characterized in that: The smart car includes a body, the controller arranged inside the body, and a visual component and a radar component installed outside the body, the visual component and the radar component are electrically connected to the controller, the visual component includes a first degree of freedom servo, a first bracket, a second degree of freedom servo, a second bracket, and the camera, the first degree of freedom servo is installed on the body, the first bracket is rotatably connected to the first degree of freedom servo, the second degree of freedom servo is installed on the first bracket, the second bracket is rotatably connected to the second degree of freedom servo, the camera is installed on the second bracket, the first degree of freedom servo, the second degree of freedom servo, and the camera are electrically connected to the controller; the first degree of freedom servo drives the first bracket to rotate in the horizontal direction, and the second degree of freedom servo drives the second bracket to rotate in the vertical direction.

4. The ROS2-based intelligent car control system according to claim 3 is characterized in that: The radar assembly includes a cover body and a radar, wherein the cover body is installed on the vehicle body, the radar is fixed to the cover body, and the radar is electrically connected to the controller.

5. The ROS2-based intelligent car control system according to claim 4 is characterized in that: An antenna is also installed on the cover, and the antenna is electrically connected to the controller.

6. The ROS2-based intelligent car control system according to claim 3 is characterized in that: A power source is also provided inside the vehicle body, and the power source is electrically connected to the controller.

7. The ROS2-based intelligent car control system according to claim 3 is characterized in that: The vehicle body is also provided with an LED lamp, and the LED lamp is electrically connected to the controller.

8. The ROS2-based intelligent car control system according to claim 3 is characterized in that: The vehicle body is also provided with a motor group and a tire, wherein the motor group is electrically connected to the controller, and the tire is transmission-connected to the motor group.

9. The ROS2-based intelligent car control system according to claim 3 is characterized in that: A mounting column is provided inside the vehicle body, and the controller is fixed to the mounting column via a connecting column.

10. The ROS2-based intelligent car control system according to claim 3 is characterized in that: The controller is integrated with a buzzer and a gyroscope.

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