Balance car indoor positioning and navigation system based on single-line laser radar

Abstract

The invention discloses a balance car indoor positioning and navigation itinerant system based on a single-line laser radar. The balance car indoor positioning and navigation itinerant system comprises a server, an upper computer, a sensor, a motion controller and a motion actuator. Firstly, an operator inputs coordinates of a target point in the server; the server sends the coordinates of the target point to the upper computer, the upper computer uses sensor information to complete self-positioning and path planning of the balance car, and the upper computer sends the expected angular velocity and the expected linear velocity planned by the path to the motion controller; the motion controller receives information sent by the upper computer, collects sensor information at the same time, calculates a PWM wave duty ratio required by the motion actuator by using the information in combination with an active disturbance rejection control method, and then sends the PWM wave to the motion actuator; after the motion actuator receives the PWM waves, the balance car is driven to run to a target point while self-balancing of the balance car is completed; finally, the operator can see the real-time position and state information of the map and the balance car on the server.

Description

technical field [0001] The invention relates to a service and logistics scene system of an indoor mobile robot, in particular to a positioning and navigation system of a balance car based on a single-line laser radar. Background technique [0002] In recent years, with the rapid development of robot technology, robots have been able to replace people in many dangerous workplaces to complete work, and can also help people complete many repetitive tasks. For example, in current medical, firefighting, logistics and other application scenarios, the robot is often guided to its destination by setting the robot's track in advance (placement of markers such as magnetic guide leads, QR codes, etc.). Although this is the most simple, effective and low-cost method, this method ignores the problems that often occur in practice, such as obstacles on the pre-set track and the inability to fully utilize the robot resources. Therefore, the sensor carried by the robot is used to perceive i...

AI Technical Summary

Problems solved by technology

Liao Lunjia proposed an indoor navigation vehicle based on laser SLAM (Liao Lunjia. An indoor navigation vehicle based on laser SLAM [P]. Chinese patent: CN110207705A, 2019-09-06) uses the mecanum wheel as the car chassis, but due to Due to terrain restrictions, the mecanum-wheeled car will not be able to decompose the speed when it encounters rough ground, so it will not be able to move laterally. Therefore, the mecanum-wheeled chassis has high requirements on the road surface, so this method has certain limitations

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