Device and method for path correction of two-wheel balance vehicle based on odometer and magnetic sensor

Abstract

The invention relates to a mileometer and magnetic sensor-based two wheel balance vehicle path correcting device and method. The device comprises a controller, a two wheel balance vehicle driving mechanism, two mileometers, two magnetic sensors and a plurality of correction zones that are all interconnected; the two mileometers and the two magnetic sensors are respectively connected with the controller; a mileometer and a magnetic sensor are respectively mounted on a left wheel and a right wheel of the two wheel balance vehicle, and each correction zone comprises two magnetic stripes that are not parallel to each other and do not intersect with each other; the magnetic stripes are fixed on the ground and intersect with a standard path of the two-wheel balance vehicle. Compared with technologies of the prior art, the magnetic sensor s and the mileometers are adopted in the mileometer and magnetic sensor-based two wheel balance vehicle path correcting device for determining a position and a posture of the two-wheel balance vehicle, deviation can be obtained via comparison with standard data, path correcting operation can be performed, and magnetic rails or magnetic stripes do not need to be laid on a full road segment; the two wheel balance vehicle path correcting device which is high in real-time property and low in cost is easy to install and cannot be easily affected by environment.

Description

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

AI Technical Summary

Problems solved by technology

At present, most wheeled patrol robots are mainly designed and developed based on vision sensors, infrared sensors or magnetic navigation sensors. The recognition accuracy of robots based on vision sensors is high, but the visual positioning algorithm is complex, the real-time performance is poor, and it is easily affected by ambient light. , the operation is unstable; based on the low price of infrared sensors, strong anti-interference ability, and fast recognition speed, but the recognition accuracy is not high, it is usually necessary to arrange continuous road color band sign information on the entire road to guide the robot to move forward; magnetic navigation sensors also need Lay magnetic rails or magnetic strips on the entire road section, but in many practical applications, it is unrealistic to lay guide rails, magnetic rails, ribbon rails, etc. on the entire patrol road section

[0005] In the prior art, stereo vision is used for path correction during the patrol process of mobile robots, which has high cost, poor real-time performance, and is easily affected by the environment. Manufacturers use

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