CN101612950B - Intelligent tracking assisting luggage rack - Google Patents
Intelligent tracking assisting luggage rack Download PDFInfo
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- CN101612950B CN101612950B CN2009100175486A CN200910017548A CN101612950B CN 101612950 B CN101612950 B CN 101612950B CN 2009100175486 A CN2009100175486 A CN 2009100175486A CN 200910017548 A CN200910017548 A CN 200910017548A CN 101612950 B CN101612950 B CN 101612950B
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Abstract
The invention provides an intelligent tracking assisting luggage rack which comprises a luggage rack body and a hand-held device; the luggage rack body is provided with an infrared receiving module, an ultrasonic ranging module, a wireless receiving module, a motor rive module, an alarm and state display module, a manual adjustment potentiometer, a singlechip and a walking mechanism, wherein the hand-held device is provided with an infrared transmitting module, a wireless transmitting module and keys. The invention realizes the intelligent tracking and the automatic walking of the luggage rack through automatically controlling the singlechip and transmitting and receiving infrared signals, can recognize special personnel and realize the automatic tracking under the tracking mode and can be applied to crowd or environment complex conditions under the assisting mode.
Description
Technical field
The present invention relates to the baggage rack that a kind of automatically controlled can drag the luggage walking, belong to the baggage rack technical field.
Background technology
When people travelled outdoors, required articles for use were placed on the baggage rack usually and consign, and used various baggage racks or baggage container all must tow by manpower, effort and inconvenient, especially more inconvenient concerning old man and physical disabilities.Along with the development of society and constantly progress, people's quality of life is also more and more higher, and intellectuality is a megatrend.
Summary of the invention
The present invention is directed to that existing baggage rack exists by manpower tow, the require great effort problem of inconvenience, provide a kind of can intelligent-tracking, walk automatically, intelligent tracking assisting luggage rack easy to use.This intelligent tracking assisting luggage rack can be discerned the specific people and realize autonomous the tracking under tracing mode, can be applicable under assistant mode under crowded or the circumstance complication situation.
Intelligent tracking assisting luggage rack of the present invention is by the following technical solutions:
This intelligent tracking assisting luggage rack, comprise baggage rack body and hand-held device two large divisions, infrared receiving module, ultrasonic distance measuring module, wireless receiving module, motor drive module, warning and state display module, hand adjustment potential device, micro controller system and traveling gear are installed on the baggage rack body; Hand-held device is provided with infrared transmission module, wireless transmitter module and button;
Infrared receiving module: be connected with micro controller system, receive the infrared emission source signal that infrared transmission module sends in the hand-held device, determine that the user departs from the angle of luggage support body;
Ultrasonic distance measuring module: be connected with micro controller system, measure the distance of baggage rack body and the place ahead user or obstacle, to determine the action of baggage rack;
Wireless receiving module: be connected with micro controller system, receive the signal of the wireless transmitter module transmission of hand-held device, signal is passed to micro controller system, with the mode of operation of change baggage rack;
Motor drive module: be connected with micro controller system, receive the data-signal that micro controller system sends, the action of controlling and driving motor;
Report to the police and the state display module: when tracing mode, when baggage rack does not receive the infrared emission source signal Times police that hand-held device sends; And there is LED (light-emitting diode) to show the mode of operation of present baggage rack;
Hand adjustment potential device: be installed on the telescopic lever of baggage rack body portion, be connected, when assistant mode,, voltage signal is imported micro controller system, to regulate the rotating speed of drive motor by the knob of regulator potentiometer with micro controller system;
Micro controller system: the data-signal that processes sensor receives, control motor and other execution units are realized the function of tracking assisting;
Traveling gear: comprise two driving wheels and two flower wheels of being installed in baggage rack body front and rear part, each driving wheel is by a motor-driven, and drive motor is installed in the bottom of baggage rack body, and motor directly drives the driving wheel motion;
Infrared transmission module: the infrared signal after the emission modulation, receive for infrared receiving module on the luggage support body, reach the purpose of following the tracks of emissive source;
Wireless transmitter module: the information on the button is sent to wireless receiving module on the luggage support body by transmission over radio;
Button: be connected with wireless transmitter module, mode of operation and the realization by button change baggage rack stops, the hand adjustment function.
Above-mentioned baggage rack has tracing mode and two kinds of mode of operations of assistant mode, wherein the tracing mode person of being to use hands or waist extension hand-held device, send the infrared signal of the 56.9k after modulation by infrared transmission module in the hand-held device, shine on the infrared receiving device that is installed in luggage support body the place ahead, infrared receiving device is passed to micro controller system with the signal that receives, micro controller system is according to the situation that receives signal, according to certain algorithm, determine that the user departs from the angle of luggage support body, micro controller system transmits control signal to motor drive module, the motion of two motors of motor drive module control, thus the luggage support body is kept over against the infrared signal emissive source.Simultaneously, ultrasonic distance measuring module on the baggage rack is measured the distance of luggage support body and its place ahead user or obstacle, when the distance with the user reached certain value, the luggage support body will stop to advance, and baggage rack is maintained a certain distance when following the tracks of the user.The baggage rack body can remain certain apart from the automatic tracking user and the function of keeping away barrier is arranged, when running into unforeseen circumstances generation signal source and lose, and can be by reporting to the police and state display module auto alarm.Under assistant mode, the user pulls the scalable pull bar of luggage support body front portion, the hand adjustment potential device is installed on the scalable pull bar, rotate the speed governing knob on the hand adjustment potential device, the speed that can regulate drive motor freely according to the speed of travel of oneself, not only can walk on the level land, walking also can be taked this pattern on stair.Two kinds of patterns are fit to different environment, can according to circumstances suitably switch, and have strengthened its adaptive capacity to environment.The replacing of pattern is that the button that armrest is held in the device comes radio operation, and is convenient and simple.The information of button sends by wireless transmitter module in user's hand, wireless receiving module on the baggage rack receives information, passes to micro controller system, and micro controller system is according to information state, change the mode of operation of baggage rack, comprise tracing mode, assistant mode and stop, manual regulation.
Determine that the track algorithm that the user departs from the angle of luggage support body has adopted data fusion method, detailed process is as follows:
At first, the distance of three ultrasonic measurements if having any one less than 550mm then baggage rack stop, main like this is to maintain a certain distance in order to make between baggage rack and the user, reaching this distance should stop, keep away the function of barrier in addition in addition, have obstacle also can stop, so just produced a problem, can come manual regulation to recover normal condition this moment by button s4.Certainly, this unforeseen circumstances is rare.
Secondly, as if no above-mentioned situation, consider the deviation angle of measurement again, (15 ° ~ 15 °) are provided with within the scope in the dead band as if deviation angle, and then baggage rack is kept straight on.The purpose that the dead band is set is the vibration of elimination system, in experiment, find, deviation angle hour, baggage rack is easy to swing.When keeping straight on, also considered the data of distance, reference this moment be the data of midway location sonar s because it is over against the place ahead.Distance is big, and the speed of then keeping straight on is big; The little speed of then keeping straight on of distance is little.Like this, make baggage rack follow the tracks of the user as early as possible.
Once more, if no above-mentioned two kinds of situations are just considered deviation angle, allow baggage rack turn.Be linear relationship between deviation angle and the turning speed, deviation angle is big more, and turning speed is big more.
The present invention is by the emission and the reception of infrared signal, and the automatic guidance of micro controller system has been realized the intelligent-tracking of baggage rack and walking automatically, under tracing mode, can discern the specific people and realize autonomous the tracking, under assistant mode, can be applicable under crowded or the circumstance complication situation.
Description of drawings
Fig. 1 is the structural representation of baggage rack of the present invention.
Fig. 2 is the baggage rack main body structure block diagram among the present invention.
Fig. 3 is the structured flowchart of the hand-held device among the present invention.
Fig. 4 is the schematic circuit diagram of infrared receiving module among the present invention.
Fig. 5 is the distribution schematic diagram of infrared receiving terminal on the infrared receiving module.
Fig. 6 is the circuit catenation principle figure of ultrasonic distance measuring module and micro controller system among the present invention.
Fig. 7 is the installation site scheme drawing of ultrasonic transducer.
Fig. 8 is the schematic circuit diagram of infrared transmission module on the hand-held device of the present invention.
Fig. 9 is the junction circuit schematic diagram of wireless transmitter module and button on the hand-held device of the present invention.
Figure 10 is the algorithm scheme drawing that deviation angle is determined in infrared reception of the present invention.
Figure 11 is an overall control operation procedure diagram of circuit of the present invention.
Among the figure: 1, infrared receiving module, 2, ultrasonic distance measuring module, 3, wireless receiving module, 4, motor drive module, 5, warning and state display module, 6, the hand adjustment potential device, 7, micro controller system, 8, infrared transmission module, 9, wireless transmitter module, 10, button, 11, driving wheel, 12, flower wheel, 13, telescopic lever.
Intelligent tracking assisting luggage rack of the present invention mainly comprises baggage rack body and hand-held device two large divisions, the spatial structure of baggage rack body as shown in Figure 1, its structured flowchart as shown in Figure 2, the structured flowchart of hand-held device is as shown in Figure 3.
As depicted in figs. 1 and 2, infrared receiving module 1, ultrasonic distance measuring module 2, wireless receiving module 3, motor drive module 4, warning and state display module 5, hand adjustment potential device 6 and micro controller system 7 are installed on the baggage rack body, and the bottom of baggage rack body also is equipped with traveling gear in addition.Traveling gear adopts four-wheel structure (referring to Fig. 1), and two driving wheels 11 are installed in the front portion of baggage rack body, and two flower wheels 12 are installed in the rear portion of baggage rack body, have both increased stability, is convenient to again turn.Each driving wheel 11 is by a motor-driven, and drive motor is installed in the bottom of baggage rack body, and drive motor directly drives driving wheel 11 motions.The rear portion of baggage rack body is provided with telescopic lever 13.Wherein the fore-end of baggage rack body can be the center rotation with the junction with base plate, but manual regulation makes better effects if like this.The data that micro controller system 7 is gathered wireless receiving module 3 are carried out model selection.If the words of tracing mode, the data that micro controller system 7 is gathered infrared receiving module 1, and the distance of utilizing ultrasonic distance measuring module 2 to measure, both data are merged, and the algorithm according to certain draws the order of issuing motor drive module 4, the drive motor motion, reach the purpose of tracking, according to the situation of signal, have alarm simultaneously.If assistant mode, micro controller system 7 is gathered the magnitude of voltage of hand adjustment potential device 6, is converted to digital quantity, according to the size of digital quantity, sends and orders accordingly to motor drive module 4, and the drive motor motion reaches power-assisted purpose.
The structure of hand-held device which is provided with infrared transmission module 8, wireless transmitter module 9 and button 10 as shown in Figure 3.Infrared transmission module 8 is being launched the infrared signal after the modulation always, makes the baggage rack body can trace into the infrared signal emissive source.When certain button was pressed, wireless transmitter module 9 will send corresponding information.
Fig. 4 has provided the schematic circuit diagram of infrared receiving module 1, and integrated infrared receiving terminal PNA4614M is adopted in infrared reception, the receiving sensitivity height, and the infrared frequency of reception is 56.9k.It has three pins, ground, power supply, output.Employing+5v power supply, mouth is a digital signal, directly is connected with the I/O mouth of micro controller system 7.The present invention has adopted 13 infrared receiving terminals altogether, and the mouth of each infrared receiving terminal has also connected light-emitting diode, is mainly used in the demonstration of signal.As shown in Figure 5,13 infrared receiving terminals are distributed in by even angle in the arc scope of baggage rack body portion 180 degree, to accept the signal from a plurality of directions.
Fig. 6 has provided the circuit catenation principle figure of ultrasonic distance measuring module 2 and micro controller system 7 on the luggage support body, that ultrasonic distance measuring module 2 uses is senscomp 6500, + 5v power supply, the chemical capacitor of 470uf between ground and the v+ is the saltus step of buffering power up, and the ceramic condenser of 1uf is jamproof.Because the signal end ECHO of ultrasonic distance measuring module 2 output is open collector output, thus on draw the resistance of 4.7k to hold to v+.Each ultrasonic distance measuring module 2 takies two ports of micro controller system 7.Port for the startup range finding, another is the port that receives return signal.The port of return signal is the port bonded assembly with external interrupt with micro controller system 7, utilizes the timer of micro controller system 7, when receiving return signal, enters interruption, computing time, and then calculate distance.Provide super sonic by the ultrasonic transducer that is installed on the baggage rack body, the installation site of ultrasonic transducer as shown in Figure 7, because each transducer all has the beam angle of 30 degree, so the present invention uses three ultrasonic distance measuring modules altogether, to increase the range of ultrasonic ranging.Polling mode has been taked in three ultrasonic rangings, and each ultrasonic measurement distance takies 30ms, at a time has only a ultrasonic wave module in range finding, has eliminated interference like this.
Fig. 8 has provided the schematic circuit diagram of the infrared transmission module 8 on the hand-held device.Adopt NE555N to produce the pulse wave of certain frequency, but electric current is less, thus after connect amplifying circuit signal amplified the rear drive infrarede emitting diode, Fa She distance will be more like this.
Fig. 9 has provided the junction circuit schematic diagram of the wireless transmitter module 9 on the hand-held device with button 10.Wireless transmitter module 9 adopts FSK-2A, and six pin: GND, VCC, 10,11,12,13 are arranged.Signal port is 10,11,12,13.Signal port joins by button and 5v by the resistance eutral grounding of 10k again.When certain button was pressed, the port level was drawn high, and then wireless transmitter module will send the information of button 10.
S1---starts tracing mode, press this key after, the baggage rack mode of operation is a tracing mode, will independently follow the tracks of the user and maintains a certain distance.
S2---starts assistant mode, press this key after, the baggage rack mode of operation is an assistant mode, at this moment, the knob on the compensation linkage is regulated the speed of motor.
The S3---stop key, press this key after, baggage rack stops, unexpected and need in, can suddenly stop.
S4---manual regulation baggage rack button.When unexpected situation takes place, but manual regulation makes baggage rack recover normal condition.The manual regulation specific practice is: by for the first time, baggage rack retreats with certain speed, press a baggage rack again with certain speed flicker, press a baggage rack again with certain speed flicker, press afterwards, baggage rack switches between will and turning left in right-hand rotation, like this when baggage rack is adjusted to suitable position and angle again, just can press the S1 key and start tracing mode, baggage rack is returned to normal condition.
The algorithm that the present invention determines deviation angle by infrared reception as shown in figure 10.Infrared receiving terminal has a Vout mouth, is output as digital quantity, and when not receiving the infrared signal of 56.9k, the output high level when receiving, is output as low level.Because output is digital quantity, so the Vout end directly is connected with the I/O mouth of micro controller system.To its negate, a reception situation that then receives signal is 1 in the program that reads 13 infrared receiving terminal signals.These states are accessed in array Port[13] in.The present invention is distributed in 13 infrared receiving terminal HJ1-HJ13 on the aluminum strip of circular arc of one 180 degree and reaches the purpose of looking for source position.Each signal that receives head extracted to receive on the circuit card handle so that import in the micro controller system.Aspect location that receives and algorithm, the number of degrees with HJ1---HJ13 are defined as-90 ,-75 ,-60 ,-45 ,-30 ,-15,0,15,30,45,60,75,90 respectively, be accessed in array TabAngle[13] in, give the weights that each receives first angle, calculate according to receiving a situation that receives signal then
Each receive a received signal situation (0 or 1) * each receive the angle weights of head)/receive a reception quantity of signal.
As shown in Figure 10, the infrared ray of infrared emitter emission presents a taper shape, and the situation on the infrared receiving terminal of being radiated at is shown in A, B among Figure 10.In this case, the actual angle that departs from baggage rack itself of object just can be calculated with above-mentioned algorithm.For example, the situation that B is ordered among the figure, Port[13]={ 0,0,0,0,1,1,1,1,1,1,1,0,0}, TabAngle[13]={ 90 ,-75 ,-60 ,-45 ,-30,-15,0,15,30,45,60,75,90} fixes, the angle that then departs from=(90*0+ (75) * 0+ (60) * 0+ (45) * 0+ (30) * 1+ (15) * 1+0*1+15*1+30*1+45*1+60*1+75*0+90*0)/7=15 (degree), i.e. deviation angle of HJ8 position.
In addition, because system is higher to the real-time requirement of angle, the sampling time to deviation angle in the program is 90ms, through experimental verification, satisfies the requirement of system to real-time.Infrared ray easily reflects, but there are certain filter capacity in the hardware design of circular arc and the above-mentioned algorithm system that makes.
Overall operation control program flow process of the present invention as shown in figure 11. The present invention has following characteristics:
(1) method for tracking target adopts the infrared signal after modulating, and cost is low, and is simple and reliable, anti-interference except ordinary ray.
(2) method that adopts infrared ray and ultrasound data to merge realizes following the tracks of, to some extent innovation.
(3) the change mode of operation is by controlled in wireless, conveniently, simply.
(4) have anxious stopping, the functions such as warning make luggage carrier at any time within user's control, can not meet accident.
Claims (1)
1. intelligent tracking assisting luggage rack, it is characterized in that: comprise baggage rack body and hand-held device two large divisions, infrared receiving module, ultrasonic distance measuring module, wireless receiving module, motor drive module, warning and state display module, hand adjustment potential device, micro controller system and traveling gear are installed on the baggage rack body; Hand-held device is provided with infrared transmission module, wireless transmitter module and button;
Infrared receiving module: be connected with micro controller system, receive the infrared emission source signal that infrared transmission module sends in the hand-held device, determine that the user departs from the angle of luggage support body;
Ultrasonic distance measuring module: be connected with micro controller system, measure the distance of baggage rack body and the place ahead user or obstacle, to determine the action of baggage rack;
Wireless receiving module: be connected with micro controller system, receive the signal of the wireless transmitter module transmission of hand-held device, signal is passed to micro controller system, with the mode of operation of change baggage rack;
Motor drive module: be connected with micro controller system, receive the data-signal that micro controller system sends, the action of controlling and driving motor;
Report to the police and the state display module: when tracing mode, when baggage rack does not receive the infrared emission source signal Times police that hand-held device sends;
Hand adjustment potential device: be installed on the telescopic lever of baggage rack body portion, be connected, when assistant mode,, voltage signal is imported micro controller system, to regulate the rotating speed of drive motor by the knob of regulator potentiometer with micro controller system;
Micro controller system: the data-signal that processes sensor receives, control motor and other execution units are realized the function of tracking assisting;
Traveling gear: comprise two driving wheels and two flower wheels of being installed in baggage rack body front and rear part, each driving wheel is by a motor-driven, and drive motor is installed in the bottom of baggage rack body, and motor directly drives the driving wheel motion;
Infrared transmission module: the infrared signal after the emission modulation, receive for infrared receiving module on the luggage support body, reach the purpose of following the tracks of emissive source;
Wireless transmitter module: the information on the button is sent to wireless receiving module on the luggage support body by transmission over radio;
Button: be connected with wireless transmitter module, mode of operation and the realization by button change baggage rack stops, the hand adjustment function.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009100175486A CN101612950B (en) | 2009-08-05 | 2009-08-05 | Intelligent tracking assisting luggage rack |
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| CN2009100175486A CN101612950B (en) | 2009-08-05 | 2009-08-05 | Intelligent tracking assisting luggage rack |
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| CN101612950A CN101612950A (en) | 2009-12-30 |
| CN101612950B true CN101612950B (en) | 2010-11-10 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102085875A (en) * | 2010-11-25 | 2011-06-08 | 中国民航大学 | Intelligent baggage car and control method thereof |
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| CN102862592A (en) * | 2012-08-27 | 2013-01-09 | 张美玲 | Automatic travelling and lifting carrier |
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| CN111595944A (en) * | 2020-06-02 | 2020-08-28 | 中国铁建重工集团股份有限公司 | Real-time detection method for compactness of perfusion vault |
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2009
- 2009-08-05 CN CN2009100175486A patent/CN101612950B/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102085875A (en) * | 2010-11-25 | 2011-06-08 | 中国民航大学 | Intelligent baggage car and control method thereof |
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