Balance car based on MicroROS

Abstract

The utility model discloses a balance car based on a MicroROS. The balance car comprises a laser radar used for scanning terrain to obtain surveying and mapping information and transmitting the surveying and mapping information to a MicroROS communication board, an image transmission module used for shooting and identifying to obtain image information and transmitting the image information to a server through WiFi wireless communication, and a balance car driving board used for analyzing a wheel type odometer and controlling balance car movement information to be transmitted to the MicroROS communication board. The MicroROS communication board is used for integrating laser radar surveying and mapping information, the wheel type odometer and balance car movement control information and transmitting the information to a server through WiFi wireless communication. The balance car driving board and the MicroROS communication board are adopted to replace a high-cost Linux system master controller, so that the comprehensiveness of functions is ensured, and meanwhile, the cost of hardware purchase and system integration is greatly reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of balance car, especially a balance car based on MicroROS. BACKGROUND

[0002] In the current intelligent balance car technical field, with the increasing demand of consumers for product intelligence and multifunction, the design and development of balance car are developing towards the direction of integrating more advanced functions. These advanced functions include but are not limited to tracking, guarding, obstacle avoidance, environmental mapping navigation, wireless communication between balance cars and visual recognition. The realization of these functions is of great significance to improve user experience and enhance the market competitiveness of products.

[0003] At present, most of the mainstream balance cars on the market only have simple body balance and Bluetooth remote control function, or use core processors. Linux system has been widely used in high-end intelligent devices due to its powerful multitasking processing capability, rich open source resources and good stability. On balance car, Linux system host can effectively support the running of complex algorithms, which is an indispensable technical basis for realizing the above-mentioned advanced functions. However, the scheme of using Linux system host is accompanied by high cost investment, including hardware procurement, software development, system maintenance and other aspects, which undoubtedly increases the overall manufacturing cost and market price of balance car.

[0004] In addition, although the existing technology can realize the intelligent function of balance car to a certain extent, there are still some limitations. For example, most balance cars are limited to the independent operation of single terminal when realizing visual recognition and other advanced functions, lacking the picture sharing capability among multiple terminals. This means that in the same application scenario, it is difficult to realize the real-time exchange and collaborative processing of visual information between different balance cars or balance cars and other intelligent devices, limiting the adaptability and flexibility of the product in complex environment.

[0005] In summary, how to reduce production cost, simplify operation process and further improve the intelligent level and multi-device collaboration capability of the product while ensuring that the balance car has real-time positioning, environmental mapping and other core performance through technical innovation is a key problem to be solved in the current balance car technical field. Therefore, it is of great practical significance and market value to develop a new type of balance car system that can meet the high performance demand and has the characteristics of low cost and easy operation. CONTENT OF UTILITY MODEL

[0006] The utility model aims at overcoming the insufficient of prior art, provides a balance car based on MicroROS.

[0007] In order to solve the above technical problems, the utility model adopts the following technical scheme:

[0008] The utility model discloses an embodiment provides a kind of balance car based on MicroROS, comprising: chassis, wheel assembly, battery pack, balance car drive board, MicroROS communication board, box, image transmission module and laser radar, the wheel assembly and the image transmission module are connected to the chassis, the battery pack is installed in the inside of the box, the laser radar, the MicroROS communication board and the balance car drive board are connected to the box, the wheel assembly, the battery pack, the MicroROS communication board and the image transmission module are electrically connected to the balance car drive board, the laser radar is electrically connected to the MicroROS communication board, the laser radar is used to scan topography to obtain surveying and mapping information and transmit to the MicroROS communication board, the image transmission module is used to shoot identification to obtain picture information and transmit to server by WiFi wireless communication, the balance car drive board is used to parse wheeled odometer and control balance car movement information transmission to the MicroROS communication board, the MicroROS communication board is used to integrate laser radar surveying and mapping information, wheeled odometer and control balance car movement information and transmit to server by WiFi wireless communication.

[0009] In a specific embodiment, the wheel assembly includes a wheel, a motor and a coupling, the motor is fixed to the chassis, one end of the coupling is drivingly connected to the motor, and the other end is drivingly connected to the wheel, and the motor is electrically connected to the balance car drive board.

[0010] In a specific embodiment, the chassis is further connected with a hinge, and the image transmission module is connected to the hinge to adjust the shooting angle of the image transmission module.

[0011] In a specific embodiment, the balance car drive board is further connected with an ultrasonic module.

[0012] In a specific embodiment, the balance car drive board is further connected with an IMU gyroscope, an on-board LED lamp and a buzzer.

[0013] In a specific embodiment, the MicroROS communication board is further connected with an OLED screen.

[0014] In a specific embodiment, the balance car drive board is connected to the upper surface of the box through a lower copper column.

[0015] In a specific embodiment, the MicroROS communication board is located above the balance car drive board and is connected to the lower copper column through an upper copper column.

[0016] In a specific embodiment, the top of the upper copper column is further connected with a mounting plate, and the laser radar is connected to the mounting plate.

[0017] In a specific embodiment, the ultrasonic module back is provided with a limiting fixing plate, the limiting fixing plate is inserted into the mounting plate to prevent the ultrasonic module from being angularly deviated due to collision.

[0018] Compared with the prior art, the balance car based on MicroROS has the beneficial effects that: by adopting the balance car driving board and the MicroROS communication board to replace the high-cost Linux system master control, the cost of hardware procurement and system integration is greatly reduced while the function comprehensiveness is ensured; in addition, as a lightweight version of ROS2, MicroROS is designed for resource-limited devices, and the modular and configurable characteristics make the balance car system more flexible; in addition, the compatibility of MicroROS with the ROS2 ecosystem enables the balance car to easily integrate into a wider network of robots and intelligent devices, realizing seamless communication and cooperation across platforms and systems; in addition, the efficient integration of the MicroROS communication board with the balance car driving board, laser radar, image transmission module and other components ensures the real-time transmission and processing of key data such as surveying and mapping information and picture information, which not only improves the response speed of the balance car in complex environments, but also enhances the overall stability and reliability of the system.

[0019] The utility model will be further described below in combination with the drawings and specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical scheme in the embodiment of the utility model, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and those skilled in the art can obtain other drawings according to these drawings without creating creative labor.

[0021] Figure 1 The structure schematic diagram of the balance car based on MicroROS provided by the utility model is shown in the figure.

[0022] Figure 2 The exploded schematic diagram of the balance car based on MicroROS provided by the utility model is shown in the figure. Figure 1 ;

[0023] Figure 3 The exploded schematic diagram of the balance car based on MicroROS provided by the utility model is shown in the figure. Figure 2 ;

[0024] Figure 4 The bottom drive framework diagram of the balance car based on MicroROS provided by the utility model is shown in the figure.

[0025] Figure 5The utility model provides a communication framework graph between balance car and camera and ROS2 system based on MicroROS is provided;

[0026] Figure 6 The utility model provides a communication framework link graph between balance cars based on MicroROS is provided;

[0027] Figure 7 The utility model provides a application system framework graph of balance car based on MicroROS is provided. DETAILED DESCRIPTION

[0028] In order to make the utility model's purpose, technical scheme and advantage clearer, the utility model is further detailed below with the specific embodiment and the accompanying drawings.

[0029] The technical scheme in the embodiments of the utility model will be described clearly and completely below in conjunction with the drawings in the embodiments of the utility model, and obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor belong to the protection scope of the utility model.

[0030] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0031] In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more of the features. In the description of the utility model, the meaning of "multiple" is two or more than two, unless otherwise specifically limited.

[0032] In the utility model, unless another definite provision and limitation, the term " install ", " link ", " connect ", " fixed " and so on term should do broad sense understanding, for example, can be connection, also can be detachable connection, or be integrated; can be mechanical connection, also can be electrical connection; can be direct connection, also can be indirectly connected through intermediate medium, can be the communication of two elements or the interaction of two elements. For ordinary skilled in the art, the above-mentioned terms can be understood according to the specific meaning of the utility model.

[0033] In the utility model, unless another definite provision and limitation, the first feature is " on " or " below " the second feature can include that the first and second features are in direct contact, or the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature " above ", " above " and " on " the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature " below ", " below " and " below " the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0034] In the description of the specification, the description of the terms " one embodiment ", " some embodiments ", " example ", " specific example " or " some examples " 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 the specification, the illustrative description of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in the specification.

[0035] Referring to Figures 1 to 7The utility model discloses a kind of balance car based on MicroROS, including: chassis 10, wheel assembly 20, battery pack 30, balance car drive board 40, MicroROS communication board 50, box body 60, image transmission module 70 and laser radar 80, the wheel assembly 20 and the image transmission module 70 are connected to the chassis 10, the battery pack 30 is installed in the inside of the box body 60, the laser radar 80, the MicroROS communication board 50 and the balance car drive board 40 are connected to the box body 60, the wheel assembly 20, the battery pack 30, the MicroROS communication board 50 and the image transmission module 70 are electrically connected to the balance car drive board 40, the laser radar 80 is electrically connected to the MicroROS communication board 50, the laser radar 80 is used to scan topography to obtain surveying and mapping information and transmit to the MicroROS communication board 50, the image transmission module 70 is used to shoot identification to obtain picture information and transmit to server by WiFi wireless communication, the balance car drive board 40 is used to parse wheeled odometer and control balance car motion information transmission to MicroROS communication board 50, the MicroROS communication board 50 integrates laser radar surveying and mapping information, wheeled odometer and control balance car motion information transmission to server by WiFi wireless communication.

[0036] Specifically, by replacing the high-cost Linux system host with the balance car driving board 40 and the MicroROS communication board 50, the cost of hardware procurement and system integration can be greatly reduced while ensuring comprehensive functionality, which not only makes the market price of the balance car more competitive, but also provides the possibility for large-scale commercial applications. In addition, as a lightweight version of ROS2 (Robot Operating System 2), MicroROS is designed for resource-constrained devices, and its modular and configurable features make the balance car system more flexible. Furthermore, the compatibility of MicroROS with the ROS2 ecosystem enables the balance car to easily integrate into a wider network of robots and intelligent devices, enabling seamless communication and collaboration across platforms and systems. In addition, the efficient integration of the MicroROS communication board 50 with the balance car driving board 40, laser radar 80, and image transmission module 70 ensures real-time transmission and processing of key data such as mapping information and image information, which not only improves the response speed of the balance car in complex environments, but also enhances the overall stability and reliability of the system. In addition, the image transmission module 70 can support independent visual recognition processing of camera images by different ROS2 systems under the same local area network, which not only enriches the intelligent application scenarios of the balance car, such as multi-car cooperative monitoring and remote visual assistance, but also enables wireless connection and information sharing with Linux systems or other intelligent devices, greatly expanding the functional boundaries of the balance car. In addition, the balance car has a high degree of intelligence, and each module works independently, so that the failure of one module will not affect the functionality of other modules.

[0037] Referring to Figure 4 As shown, the balance car driving board 40 is also connected with an ultrasonic module 100, a board-mounted LED light, a buzzer, a positioning module, and an IMU gyroscope 110.

[0038] Specifically, the image transmission module 70 uses an ESP32 camera, and the balance car driving board 40 uses an STM32 microcontroller chip. C language is used to drive peripherals, and various module design schemes are controlled through I2C protocol, USRT protocol, PID algorithm control, and GPIO pin control, including board-mounted LED light, buzzer, IMU gyroscope 110, positioning module, motor 22, camera, and MicroROS communication board 50 (i.e. control board in Figure 7 The ultrasonic module 100 is used for obstacle avoidance, and the IMU gyroscope 110 is used for debugging the balance state of the balance car.

[0039] More specifically, the IMU gyroscope 110 communicates with the STM32 microcontroller through the I2C protocol, obtaining real-time attitude information of the balance car, such as inclination angle, angular velocity, etc. The on-board LED light is directly controlled through the GPIO pin, which is used to indicate the working state of the balance car, such as power on, charging, fault, etc. The buzzer is also controlled through the GPIO pin, which is used to issue sound prompts, such as low battery alarm, operation success feedback, etc. The positioning module (such as GPS / Beidou) communicates with the STM32 microcontroller through the USART protocol, providing geographic location information of the balance car. The ultrasonic module 100 is connected with the STM32 microcontroller through I2C or GPIO pin, which is used to detect the distance of the front obstacle and realize the obstacle avoidance function. The ESP32 camera as the core of the image transmission module 70, communicates directly with the server through Wi-Fi, transmits real-time video pictures, and the ESP32 camera has the characteristics of low power consumption and high performance, which is suitable for visual recognition tasks of the balance car. The STM32 microcontroller as the core processor of the balance car driving board 40, is responsible for receiving and processing data from various sensors, executing control algorithms (such as PID algorithm), and controlling peripherals such as motors 22, LED lights, buzzers, cameras through GPIO pins, I2C protocol, USART protocol, etc.

[0040] That is, through the highly integrated design scheme, the IMU gyroscope 110, LED light, buzzer, positioning module, ultrasonic module 100, etc. are arranged on the balance car driving board 40, reducing the number of external connection lines and interfaces, reducing system complexity and manufacturing cost. In addition, the STM32 microcontroller is used as the core processor, combined with high-speed communication protocols such as I2C and USART, ensuring real-time transmission and processing of data; at the same time, the application of PID algorithm improves the control accuracy and stability of the balance car. In addition, the balance car driving board 40 integrates multiple sensors and modules, so that the balance car has functions such as obstacle avoidance, positioning, visual recognition, etc.; in addition, since standard communication protocols and interfaces are used, it is convenient for subsequent function expansion and upgrading. In addition, through the design of on-board LED light and buzzer, users are provided with intuitive visual and auditory feedback, enhancing user experience; at the same time, the obstacle avoidance function of the ultrasonic module 100 improves the safety and reliability of the balance car. In addition, the introduction of the ESP32 camera enables the balance car to have the ability of visual recognition, providing a basis for subsequent intelligent applications; at the same time, the ESP32 camera directly communicates with the server, and the balance car can access a wider network of intelligent devices, realizing cross-platform collaboration.

[0041] Referring to Figure 5As shown, the camera and the balance car communicate through the framework of MicroROS and different host implementation nodes with the ROS2 system, realizing the control of the car (i.e., the balance car), the reception of sensor data, and the sharing of pictures by the camera, so that each individual ROS2 system can realize its own visual recognition.

[0042] Specifically, the camera communicates with the server through WiFi wireless communication via the MicroROS framework. MicroROS is a ROS2 version optimized for resource-constrained devices such as embedded systems, which provides the core functions of ROS2 but occupies less memory and computing resources. The balance car is equipped with an STM32 microcontroller as the main control chip, which is responsible for receiving instructions from the MicroROS communication board 50, other sensor data (such as IMU gyroscope 110, ultrasonic module 100, etc.), and executing control algorithms (such as PID) to maintain balance and movement. The server runs a complete ROS2 system with stronger computing power and richer software resources, and the server communicates with the balance car and the camera module through the MicroROS bridge, realizing the reception and sending of data. By creating MicroROS nodes in the camera module and the MicroROS communication board 50 respectively, the camera node is responsible for collecting image data and sending image data to the server or other interested nodes through the publish / subscribe mechanism of MicroROS. The STM32 microcontroller node is responsible for receiving these data and data from other sensors, executing control algorithms, and possibly feeding back status information to the server. The ROS2 system running on the server communicates with the MicroROS nodes through the bridge, which is responsible for converting ROS2 messages into formats that MicroROS can understand, and vice versa. In this way, the server can communicate with MicroROS nodes as with any other ROS2 node. On the server, the image data returned by the camera can be processed using the rich computer vision libraries (such as OpenCV, PCL, etc.) of ROS2 to realize target detection, tracking, and other visual recognition functions. The server or STM32 microcontroller itself can send control instructions such as adjusting speed, steering, etc. to the STM32 microcontroller based on the visual recognition results and other sensor data through the MicroROS framework. Since all components communicate through the ROS2 / MicroROS framework, data sharing can be easily realized. For example, image data collected by the camera can be used for visual recognition and control algorithms at the same time.

[0043] More specifically, through the MicroROS framework, the camera, STM32 microcontroller and server are encapsulated as independent modules, each of which can be developed and upgraded independently without affecting other modules. This greatly improves the scalability and flexibility of the system. In addition, MicroROS is optimized for resource-constrained devices, enabling embedded systems such as cameras and balance cars to run the core functions of ROS2 under limited computing resources, which reduces the hardware cost of the system and improves the energy efficiency of the system. In addition, the ROS2 / MicroROS framework provides a powerful publish / subscribe mechanism and service invocation mechanism, ensuring real-time transmission and processing of data between components; at the same time, through reasonable node design and message filtering strategy, the reliability and stability of the system can be further improved. In addition, through the combination of visual recognition algorithms on the server and control algorithms on the balance car, a closed-loop control from perception to action is realized, which enables the balance car to make intelligent decisions based on environmental information, improving the autonomy and adaptability of the system.

[0044] Referring to Figure 6 As shown, the communication between the balance car and the balance car is also udp wireless communication through the MicroROS framework, realizing mutual transmission of data, and the ROS2 system can also control multiple balance cars and receive sensor data through the node mode.

[0045] Specifically, MicroROS nodes are deployed on each balance car, and these nodes communicate through the UDP protocol. UDP protocol is a connectionless and unreliable transport protocol, but due to its low latency and efficient characteristics, it is very suitable for robot communication scenarios with high real-time requirements. In addition, each balance car is assigned a unique IP address and port number to ensure the accuracy and reliability of communication. Through the configuration file of MicroROS, relevant parameters of UDP communication are set, such as target IP address, port number, packet size, etc. When sending data, sensor data, control instructions and other information are encapsulated into MicroROS messages and sent through the UDP protocol. The receiving balance car then parses the received UDP data packet, extracts the MicroROS message, and processes it according to the message type. In the ROS2 system (the server contains several ROS2 systems), the MicroROS bridge communicates with the MicroROS nodes on the balance car. The bridge is responsible for converting ROS2 messages into MicroROS messages and sending them to the target balance car. At the same time, it also converts the received MicroROS messages from the balance car into ROS2 messages for processing by the ROS2 system. In the ROS2 system, multiple nodes can be created to control different balance cars. Each node communicates with the corresponding balance car through the bridge, sends control instructions and receives sensor data. In addition, a central control node can be created to coordinate the movement of each balance car and implement more complex collaborative tasks. The ROS2 system can receive sensor data from multiple balance cars in real time and process it synchronously. Through the message passing mechanism of ROS2, these data can be passed to different nodes for further analysis, decision-making or storage.

[0046] More specifically, the wireless communication between the balance cars adopts the UDP protocol, which reduces the communication delay and improves the efficiency of data transmission. At the same time, through reasonable network configuration and data encapsulation strategy, the reliability and stability of the communication are ensured. In addition, the ROS2 system controls multiple balance cars through nodes, realizing the flexibility and scalability of the control system. Control nodes can be added or deleted according to actual needs, and control strategies can be adjusted to adapt to different application scenarios and task requirements. In addition, the ROS2 system can receive and process sensor data from multiple balance cars in real time, realizing synchronous and collaborative processing of data, which helps to improve the overall performance and decision-making ability of the system, and provides the possibility for more complex collaborative tasks. In addition, the MicroROS framework and UDP protocol are used for communication, which reduces the hardware cost and communication complexity of the system; at the same time, through reasonable system design and optimization, the reliability and stability of the system are ensured, and the usability and life of the system are improved. In addition, the MicroROS framework and the ROS2 system provide rich interfaces and tools, making the integration and expansion of the system easy, and new sensors, actuators or control algorithms can be easily added to adapt to changing application requirements and technological development.

[0047] Referring to Figure 7 As shown in the figure, without the Linux system host, only a virtual machine needs to be built on the personal computer or the Linux system needs to be installed directly on the computer to realize visual interaction, mapping navigation and other functions.

[0048] Specifically, by building a Linux environment on a personal computer, communication between balance cars and functional expansion can be flexibly realized without hardware modification or software customization of the balance car host, reducing development cost and time. In addition, on the Linux system of the personal computer, the state information of the balance car, the mapping result, etc. can be intuitively displayed, improving the visualization of the system and facilitating developers to debug and optimize. In addition, the powerful computing power of the personal computer can efficiently process the data uploaded by the balance car, realizing real-time visual interaction and mapping navigation function. At the same time, the Linux system itself also has good stability and performance.

[0049] Referring to Figure 3 , Figure 4 and Figure 7 As shown in the figure, in an embodiment, the MicroROS communication board 50 is also connected with an OLED screen 120 (i.e. OLED screen).

[0050] Specifically, the OLED screen 120 is used to display the trolley type, WiFi connection information, and ROS agent IP address, so that the user can quickly understand the current state of the trolley and the network connection. In addition, through the real-time display function of the OLED screen 120, the user can more conveniently perform the configuration and debugging work of the trolley; at the same time, the clear display information is also helpful to improve the user's perception and understanding of the running state of the trolley. In addition, the integration of the OLED screen 120 makes the state information and network connection of the trolley visible in real time, thereby reducing the troubleshooting and maintenance cost caused by unclear information. In addition, through the close integration and efficient communication of the MicroROS communication board 50 and the OLED screen 120, the accuracy and real-time performance of the display information can be ensured, thereby enhancing the reliability and stability of the entire system.

[0051] Referring to Figures 1 to 3 As shown in the figure, in an embodiment, the wheel assembly 20 includes a wheel 21, a motor 22, and a coupling 23, the motor 22 is fixed to the chassis 10, one end of the coupling 23 is drivingly connected to the motor 22, and the other end is drivingly connected to the wheel 21, and the motor 22 is electrically connected to the balance car driving board 40.

[0052] Specifically, the motor 22 adopts a Hall coded motor (i.e. Figure 7 the Hall motor module in the figure). During the driving of the balance car, the balance car driving board 40 dynamically adjusts the control parameters of the motor 22 according to the real-time state of the balance car (such as speed, acceleration, steering angle, etc.) and the external environment (such as road conditions, weather, etc.), to ensure the stability and safety of the balance car. In addition, the balance car driving board 40 also has a fault detection and protection function, when the motor 22 or the coupling 23 and other components fail, the balance car driving board 40 can quickly detect and take appropriate protective measures (such as cutting off the power supply, stopping the motor 22 from running, etc.), to prevent the fault from further expanding. In addition, the motor 22 and the wheel 21 are drivingly connected through the coupling 23, realizing efficient transmission of power. This connection method reduces energy loss and improves the driving efficiency and performance of the balance car.

[0053] More specifically, the number of wheels 21 is two, and compared with four wheels, two-wheel design has higher mobility and flexibility, and can be more easily steered and operated.

[0054] Referring to Figures 2 to 3 As shown in the figure, in an embodiment, the chassis 10 is also connected with a hinge 90, and the image transmission module 70 is connected to the hinge 90 to adjust the shooting angle of the image transmission module 70.

[0055] Specifically, the hinge 90 is installed on the chassis 10 through a fixing plate, and the image transmission module 70 is installed on the hinge 90 through a connecting plate. Wherein, by rotating the hinge 90, the shooting angle of the image transmission module 70 can be changed. This adjustment mode is suitable for scenes that need to track moving targets or change the shooting direction, so as to meet the shooting requirements in different scenes, and the flexibility improves the shooting quality and user experience.

[0056] Referring to Figures 2 to 3 As shown in the embodiment, the balance car driving board 40 is connected to the upper surface of the box body 60 through a lower copper column 130.

[0057] Specifically, the upper surface of the box body 60 is provided with a fixing column, and the lower end of the lower copper column 130 penetrates the balance car driving board 40 and is connected to the fixing column, so as to form the fixation of the balance car driving board 40. Wherein, through the connection mode of the lower copper column 130 and the fixing column, the balance car driving board 40 can be firmly fixed above the box body 60, and this fixation mode has the advantages of simple structure, reliable connection and good shock resistance, which can ensure the stability and reliability of the balance car driving board 40 in the working process. In addition, the connection mode of the lower copper column 130 and the fixing column facilitates the installation and disassembly of the balance car driving board 40. When the balance car driving board 40 needs to be repaired or replaced, the balance car driving board 40 can be easily disassembled by loosening the lower copper column 130, which reduces the maintenance cost and workload.

[0058] Referring to Figures 2 to 3 As shown in the embodiment, the MicroROS communication board 50 is located above the balance car driving board 40 and is connected to the lower copper column 130 through an upper copper column 140.

[0059] Specifically, the lower end of the upper copper column 140 penetrates the MicroROS communication board 50 and is connected to the lower copper column 130, so as to form the fixation of the MicroROS communication board 50. Wherein, through the connection mode of the upper copper column 140 and the lower copper column 130, the MicroROS communication board 50 can be firmly fixed above the balance car driving board 40, and this fixation mode has the advantages of simple structure, reliable connection and good shock resistance, which can ensure the stability and reliability of the MicroROS communication board 50 in the working process. In addition, the connection mode of the upper copper column 140 and the lower copper column 130 facilitates the installation and disassembly of the MicroROS communication board 50. When the MicroROS communication board 50 needs to be repaired or replaced, the MicroROS communication board 50 can be easily disassembled by loosening the upper copper column 140, which reduces the maintenance cost and workload. In addition, by adopting the modular design, the MicroROS communication board 50 and the balance car driving board 40 can be installed and debugged respectively, and this modular design improves the flexibility and scalability of the system, which is convenient for configuration and upgrading according to actual needs.

[0060] Referring to Figures 2 to 3 As shown, in an embodiment, the top of the upper copper pillar 140 is also connected with a mounting plate 150, and the laser radar 80 is connected to the mounting plate 150.

[0061] Specifically, through the connection mode of the mounting plate 150 and the upper copper pillar 140, the laser radar 80 can be firmly fixed at a predetermined position, and this fixing mode has the advantages of simple structure, reliable connection, and good shock resistance, which can ensure the stability and reliability of the laser radar 80 during operation. In addition, the design of the mounting plate 150 makes the installation and removal of the laser radar 80 more convenient. When the laser radar 80 needs to be repaired or replaced, the laser radar 80 can be easily removed by loosening the fasteners, reducing maintenance cost and workload.

[0062] Referring to Figures 1 to 3 As shown, the ultrasonic module 100 is provided with a limiting fixing plate at the back, and the limiting fixing plate is inserted into the mounting plate 150 to prevent the ultrasonic module 100 from being angularly offset due to collision.

[0063] Specifically, the top of the limiting fixing plate extends a clamping protrusion, and the mounting plate 150 is provided with a clamping groove corresponding to the clamping protrusion. Through the cooperation of the clamping protrusion and the clamping groove, the limiting fixing plate and the mounting plate 150 are fixedly connected to prevent the ultrasonic module 100 from being angularly offset due to collision.

[0064] Referring to Figure 3 As shown, in an embodiment, the battery pack 30 is fixed inside the box body 60 by a magic tape.

[0065] Specifically, the battery pack 30 is fixed inside the box body 60 by the magic tape, and the user can easily and quickly complete the installation and removal of the battery pack 30. The design of the magic tape makes the fixing process not need to use complex tools or screws, and can be completed by simply pressing, thereby greatly saving the installation time. At the same time, the disassembly process is also simple, and the battery pack 30 can be taken out by simply tearing off the magic tape, which is convenient for replacement or maintenance. In addition, the magic tape is made of high-strength and high-adhesion material, which can firmly fix the battery pack 30 inside the box body 60, preventing it from shaking or shifting during device use. This stable fixing mode not only ensures good contact between the battery pack 30 and the device, but also ensures the safety and reliability of the battery pack 30 in various use scenarios. In addition, the use of the magic tape makes the installation position of the battery pack 30 more flexible, which can be freely adjusted according to the internal structure and space layout of the box body 60. This flexibility not only helps to optimize the overall design of the device and improve the space utilization, but also provides more possibilities for the arrangement of other components, thereby improving the overall performance and user experience of the balance car.

[0066] The above embodiment is a preferred implementation scheme of the present application, in addition to this, the present application can be implemented in other ways, and any obvious replacement without departing from the technical scheme concept is within the protection scope of the present application.

Claims

1. A balance car based on MicroROS, characterized in that, It includes: The chassis, wheel assembly, battery pack, balance car drive board, MicroROS communication board, box body, image transmission module and laser radar, the wheel assembly and the image transmission module are connected to the chassis, the battery pack is installed in the inside of the box body, the laser radar, the MicroROS communication board and the balance car drive board are connected to the box body, the wheel assembly, the battery pack, the MicroROS communication board and the image transmission module are electrically connected to the balance car drive board, the laser radar is electrically connected to the MicroROS communication board, the laser radar is used to scan the terrain to obtain surveying and mapping information and transmit to the MicroROS communication board, the image transmission module is used to take pictures to obtain picture information and transmit to the server through WiFi wireless communication, the balance car drive board is used to analyze the wheeled odometer and control the balance car motion information transmission to the MicroROS communication board, the MicroROS communication board is used to integrate laser radar surveying and mapping information, wheeled odometer and control balance car motion information and transmit to the server through WiFi wireless communication.

2. The MicroROS-based balance car according to claim 1, wherein, The wheel assembly includes a wheel, a motor and a coupling, the motor is fixed to the chassis, one end of the coupling is drivingly connected to the motor, the other end is drivingly connected to the wheel, the motor is electrically connected to the balance car drive board.

3. The MicroROS-based balance car of claim 1, wherein, The chassis is also connected with a hinge, the image transmission module is connected to the hinge to adjust the shooting angle of the image transmission module.

4. The MicroROS-based balance car of claim 1, wherein, The balance car drive board is also connected with an ultrasonic module.

5. The MicroROS-based balance car of claim 1, wherein, The balance car drive board is also connected with an IMU gyroscope, a board-mounted LED lamp and a buzzer.

6. The MicroROS-based balance car of claim 1, wherein, The MicroROS communication board is also connected with an OLED screen.

7. The MicroROS-based balance car of claim 4, wherein, The balance car drive board is connected to the upper surface of the box body through a lower copper column.

8. The MicroROS-based balance car according to claim 7, wherein, The MicroROS communication board is located above the balance car drive board and is connected to the lower copper column through an upper copper column.

9. The MicroROS-based balance car of claim 8, wherein, The top of the upper copper column is also connected with a mounting plate, and the laser radar is connected to the mounting plate.

10. The MicroROS-based balance car of claim 9, wherein, The ultrasonic module is installed with a limiting fixed plate at the back, the limiting fixed plate is inserted into the mounting plate to prevent the ultrasonic module from angle deviation due to collision.

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