The invention relates to the technical field of control, in particular to a trolley escape system and method.The trolley escape system is provided with an infrared module, an inertial navigation module, a mapping module and an obstacle avoidance module, and the mapping module calculates the movement path of a trolley according to trolley movement data collected by the inertial navigation module in real time; a local map is constructed by combining an infrared signal received by the infrared receiving module and a judgment result which is output by the inertial navigation module and is used for judging whether the trolley is trapped or not, so that the obstacle avoidance module executes a first obstacle avoidance task according to the local map when the trolley is trapped so as to help the trolley to escape without depending on a high-precision global map and a high-precision sensor; the difficulty of map construction and consumed computing resources are reduced, and meanwhile, the hardware cost is also reduced; besides, the data for constructing the local map and the data for executing the obstacle avoidance task are acquired in real time, so that the escape modes of the method are higher in flexibility and diversified, and can cope with complex, unknown or unpredictable environments.
本发明涉及控制技术领域,具体涉及一种小车脱困系统及方法,小车脱困系统通过设置红外模块、惯导模块、建图模块和避障模块,建图模块根据惯导模块实时采集的小车运动数据计算小车的运动路径,并结合红外接收模块接收到的红外信号、惯导模块输出的小车是否受困的判断结果构建局部地图,进而避障模块在小车受困时根据局部地图执行第一避障任务以帮助小车脱困,无需依赖高精度的全局地图以及高精传感器,降低了地图构建的难度以及耗费的计算资源,同时也降低了硬件成本;此外,由于构建局部地图的数据以及执行避障任务的数据是实时采集的,本发明的脱困模式灵活性更高,脱困模式多样,能够应对复杂、未知或不可预测的环境。
Trolley escape system and method
一种小车脱困系统及方法
2023-11-24
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / G01S RADIO DIRECTION-FINDING , Funkpeilung |