A two-wheeled self-balancing vehicle autonomous patrol method that realizes automatic path memory and reappearance

Abstract

The invention relates to a two-wheeled balance car autonomous patrol method for automatically recording and reappearing a path. The balance car is provided with a controller and a mileage metering device. The method comprises the following steps of selecting a patrol mode after initializing the controller; in the path recording mode, driving the balance car from a starting point and sampling the data of the mileages of the left and right wheels of the balance car respectively by the mileage metering device; generating path recording data according to the above mileage sampling data by the controller; writing the data in an external memory till the driving is finished; in the path reappearing mode, reading the path recording data by the controller from the external memory so as to enable the balance car to run along the path. Compared with the prior art, the data of a middle section of a linear motion or a circular motion, and the data obtained during the pause time, are abandoned. Therefore, the defect of the large data volume caused by the high local repeatability of the path information is overcome, and only effective data are recorded. The redundant path information is abandoned, and the operation is convenient. The stability is good, and the real-time performance is high.

Description

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

AI Technical Summary

Problems solved by technology

For a two-wheeled balance car equipped with an odometer, the memory path information is to record the mileage, speed and other information of the left and right wheels through a preset time period (such as every 10ms). When the patrol path distance is long or it needs to be stored When there are many paths, the amount of data is huge, which will occupy a large amount of storage space. In fact, many data recorded by the self-balancing vehicle during the driving process are redundant data, which are not necessary for reproducing the path. Therefore, it is necessary to provide a A path memory and reappearance method for a two-wheeled self-balancing vehicle, which can greatly save the amount of data stored when the self-balancing vehicle memorizes the path

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