CN102692929A - Mobile object automatic tracking system and trolley and lifting clothes hanger applying same - Google Patents
Mobile object automatic tracking system and trolley and lifting clothes hanger applying same Download PDFInfo
- Publication number
- CN102692929A CN102692929A CN2012102009783A CN201210200978A CN102692929A CN 102692929 A CN102692929 A CN 102692929A CN 2012102009783 A CN2012102009783 A CN 2012102009783A CN 201210200978 A CN201210200978 A CN 201210200978A CN 102692929 A CN102692929 A CN 102692929A
- Authority
- CN
- China
- Prior art keywords
- module
- tracking system
- automatic tracking
- moving object
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention discloses a mobile object automatic tracking system and a trolley and a lifting clothes hanger which are provided with same. The mobile object automatic tracking system provided by the invention comprises an ultrasonic sensor module, a singlechip processing module, a power supply module, a motor driving module and a motor; the output end of the ultrasonic sensor module is connected with the input end of the singlechip processing module; the output end of the singlechip processing module is connected with the motor driving module; the motor driving module is connected with the motor; and the power supply module is respectively connected with the singlechip processing module and the motor. The mobile object automatic tracking system provided by the invention has dual functions of tracking and guiding, is simple in structure, and is convenient to use.
Description
Technical field
The present invention relates to a kind of moving object automatic tracking system, be specifically related to dolly and hoisting clothes-horse that a kind of guide is kept away the tracker of barrier and used this system.
Background technology
Traditional blind person goes on a journey and generally adopts aid crutch, some intelligence tool is guiding dog and animal dog.But these instruments all have some drawbacks, such as, has crutch fallen what if? Have on every side mobile object near, the blind person can not make a response timely; The dog of leading in addition can only be led, and but can not follow the tracks of the blind person, and the blind person wants to turn, and it does not but directly oppositely advance to there being barrier; Also have the animal dog, will give their feedings every day, cleans, and also will lead, and also sometimes walks not according to blind person's purpose.
Summary of the invention
The objective of the invention is provides a kind of moving object automatic tracking system that can lead and can follow the tracks of in order to overcome the defective of traditional aid and some intelligence tools.
In order to achieve the above object, the invention provides a kind of moving object automatic tracking system, comprise ultrasonic sensor module, single chip processing module, power module, motor drive module and motor; The output terminal of ultrasonic sensor module links to each other with the input end of single chip processing module; The output terminal of single chip processing module links to each other with motor drive module; Motor drive module links to each other with motor; Power module links to each other with motor with single chip processing module respectively; The ultrasonic sensor module is gathered the signal of moving object, and sends single chip processing module to; After single chip processing module receives the signal of moving object, confirm the position of moving object, output order is to motor drive module; Motor drive module control driven by motor automatic tracking system pursuit movement object.
Further improvement of the present invention is: the ultrasonic sensor module comprises 6 ultrasonic sensors; 6 ultrasonic sensors are the center with the automatic tracking system, and ultrasound wave transmission and echo reception are carried out in 6 different orientation towards periphery respectively; Frequency of ultrasonic is 40kHz.After single chip processing module receives the signal of moving object, confirm the position of moving object through the positioning control algorithm.Single chip processing module adopts the STC12C5410AD single-chip microcomputer.Motor drive module is provided with buffer circuit.
The present invention also provides a kind of dolly, and this dolly is provided with above-mentioned automatic tracking system, and passes through the motor-driven moving of car of this system.Also be provided with camera and wireless communication module on the dolly; The output terminal of camera links to each other with wireless communication module.Also be provided with on the dolly and keep away the barrier module; Keeping away the barrier module is ultrasonic sensor; Keeping away the barrier module links to each other with single chip processing module.
The present invention also provides a kind of hoisting clothes-horse, and this hoisting clothes-horse is provided with above-mentioned automatic tracking system, and moves through the motor-driven hoisting clothes-horse of this system.
The present invention compares prior art and has the following advantages: adopt ultrasonic sensor to carry out moving object identification; Through with any being the multi-faceted collection distance at center; Range data is carried out the position that the accurate localization control algolithm is confirmed target through single-chip microcomputer, and specific target is followed the tracks of in control then.Automatic following control system of the present invention can adopt driver module can increase load capacity automatically according to all types of target following functions such as feedback information governing speed and turnings simultaneously.This system is loaded on the dolly, carries out from motion tracking, and can be used for scouting through camera, work such as exploration also can keep away the barrier module through loading certain surrounding environment obstacle object is evaded; Be applied on the shopping cart,, just can follow at real-time client back or front, liberation people's both hands without client's push-and-pull; Be applied on the lift-type clothes-drying rack, a very important person stays for some time (more than the 0.5s) in the dead ahead of clothes hanger, and Intelligent clothes hanger directly traces in face of the people, and after the people left, Intelligent clothes hanger returned to original position.Moving object automatic tracking system of the present invention has follows the tracks of and the guiding dual-use function, simple in structure, easy to use.
Description of drawings
Fig. 1 is the structured flowchart of moving object automatic tracking system of the present invention;
Fig. 2 is the identification direction of ultrasonic sensor module among Fig. 1;
Fig. 3 be among Fig. 1 the ultrasonic sensor module to the recognition principle synoptic diagram of moving object;
Fig. 4 is the trace logic figure of moving object automatic tracking system of the present invention;
Fig. 5 is the flow chart of moving object automatic tracking system of the present invention;
Fig. 6 is used to follow the tracks of the structural representation of keeping away barrier for dolly of the present invention.
Among the figure, 1-ultrasonic sensor module, the 2-single chip processing module, the 3-motor drive module, the 4-power module, the 5-motor, 6-dolly, 7-are kept away the barrier module, 8-moving object, 9-barrier, the length of a-ultrasonic sensor, the center, some position of o-automatic tracking system.
Embodiment
Below in conjunction with accompanying drawing moving object automatic tracking system of the present invention is elaborated.
Referring to Fig. 1, moving object automatic tracking system of the present invention comprises ultrasonic sensor module 1, single chip processing module 2, power module 4, motor drive module 3 and motor 5.Ultrasonic sensor module 1 adopts 6 one to receive the excusing from death wave sensor that frequency is 40kHz, and make modular, with single chip processing module 2 mutually compatibility, control and measure ultrasonic wave module in one.The pulse triggering signal of the 10uS of a short-term only need be provided.This inside modules will be sent 8 40kHz cycle level and detection of echoes.In case the echoed signal of having detected then export response signal.Response signal be the width of a pulse be directly proportional apart from object, can calculate distance through transmitting signals to the response signal time interval of receiving.In conjunction with Fig. 2, total frame table shows the simple block diagram of system, and the position of ultrasonic sensor is represented on orthohexagonal each limit.This ultrasonic sensor module 1 will collect data and give single chip processing module 2 through being the multi-faceted collection distance at center with a bit.This ultrasonic sensor module 1 can provide the contactless range sensing function of 2cm ~ 450cm, and distance accuracy can reach 3mm, and can survey with o is that center radius is the circle scope of 3m.Can set the identification width >=1cm of moving object, movement velocity is 5cm-10cm/s, and the distance of moving object is a * 1.732+2mm during tracking.
Referring to Fig. 3, Fig. 4 and Fig. 5; Single chip processing module 2 adopts the STC12C5410AD single-chip microcomputer of 5V; Ultrasonic sensor module 1 is converted into corresponding distance with the measuring-signal of multi-faceted (6 passages of formation) of moving object 8; Utilize accurate some position algorithm to confirm the two-dimensional coordinate of moving object 8 again, and measure the behavior of confirming moving object in real time.The two-dimensional coordinate of the moving object of confirming is converted into the moving body track mode, signal is passed to the control pin of motor drive module 3.And come to change timely the mode of motion of dolly in real time through data measured, make its this system response sensitive.Motor drive module 3 control motors 5 drive automatic tracking system pursuit movement object 8.
The circuit of motor drive module 3 adopts the low-voltage, high-current isolation drive, isolates with miniature relay, with the triode discharge road of doing work, adopts diode IN4148 to come holding circuit.This driver module withstand voltage is big, can reach 40V (suggestion not long-term use), and the drive current of drive motor is 1.5 ~ 2 times of driver modules on the open market, and it is strong to drive (it is big to bear a heavy burden) ability, and buffer circuit is arranged, and makes the compatible good of itself and single-chip microcomputer.
Referring to Fig. 6, when this automatic tracking system was applied to dolly 6, dolly 6 rears are provided with kept away barrier module 7, keeps away barrier module 7 and adopts ultrasonic sensor.Setting keeps certain distance to moving object 8, through single chip processing module 2 instruction motor drive modules 3, follows the tracks of guiding thereby drive 6 pairs of moving objects 8 of dolly (people), simultaneously through keeping away barrier module 7 avoiding barriers 9.
Automatic tracking system of the present invention can also be applied to furniture, and like Intelligent clothes hanger, the dead ahead that a very important person moves to clothes hanger stays for some time (more than the 0.5s), and Intelligent clothes hanger directly traces in face of the people, and after the people left, Intelligent clothes hanger returned to original position.Can make intelligent elevated clothes hanger, hang out when the people will arrive balcony, clothes hanger lowers automatically, leaves the back clothes hanger up to the people and gets back to initial point automatically, gets the clothes on the clothes hanger, and operation is the same.Not only deduct by hack lever and upwards lift the effort action, also save the clothes hanger expense and prevent that water on the clothes is along hack lever and the staff troubles such as clothes of getting wet.
Can also be applied to market smart shopper car,, just can follow at real-time client back or front, liberation people's both hands without client's push-and-pull.
Claims (9)
1. a moving object automatic tracking system is characterized in that: comprise ultrasonic sensor module, single chip processing module, power module, motor drive module and motor; The output terminal of said ultrasonic sensor module links to each other with the input end of single chip processing module; The output terminal of said single chip processing module links to each other with said motor drive module; Said motor drive module links to each other with said motor; Said power module links to each other with motor with said single chip processing module respectively; Said ultrasonic sensor module is gathered the signal of said moving object, and sends said single chip processing module to; After said single chip processing module receives the signal of moving object, confirm the position of said moving object, output order to said motor drive module; Said motor drive module is controlled the said automatic tracking system pursuit movement of said driven by motor object.
2. moving object automatic tracking system according to claim 1 is characterized in that: said ultrasonic sensor module comprises 6 ultrasonic sensors; Said 6 ultrasonic sensors are the center with said automatic tracking system, and ultrasound wave transmission and echo reception are carried out in 6 different orientation towards periphery respectively; Said frequency of ultrasonic is 40kHz.
3. moving object automatic tracking system according to claim 2 is characterized in that: after said single chip processing module receives the signal of moving object, confirm the position of said moving object through the positioning control algorithm.
4. according to the arbitrary described moving object automatic tracking system of claim 1 to 3, it is characterized in that: said single chip processing module adopts the STC12C5410AD single-chip microcomputer.
5. according to the arbitrary described moving object automatic tracking system of claim 1 to 3, it is characterized in that: said motor drive module is provided with buffer circuit.
6. dolly that is provided with the arbitrary said automatic tracking system of claim 1 to 3, it is characterized in that: said automatic tracking system is located on the dolly, and through the said moving of car of driven by motor.
7. dolly according to claim 6 is characterized in that: said dolly is provided with camera and wireless communication module; The output terminal of said camera links to each other with said wireless communication module.
8. dolly according to claim 6 is characterized in that: also be provided with on the said dolly and keep away the barrier module; Said keep away the barrier module be ultrasonic sensor; The said barrier module of keeping away links to each other with said single chip processing module.
9. hoisting clothes-horse that is provided with the arbitrary described automatic tracking system of claim 1 to 3, it is characterized in that: said automatic tracking system is located on the hoisting clothes-horse, and through the said hoisting clothes-horse motion of said driven by motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012102009783A CN102692929A (en) | 2012-06-18 | 2012-06-18 | Mobile object automatic tracking system and trolley and lifting clothes hanger applying same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012102009783A CN102692929A (en) | 2012-06-18 | 2012-06-18 | Mobile object automatic tracking system and trolley and lifting clothes hanger applying same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102692929A true CN102692929A (en) | 2012-09-26 |
Family
ID=46858467
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012102009783A Pending CN102692929A (en) | 2012-06-18 | 2012-06-18 | Mobile object automatic tracking system and trolley and lifting clothes hanger applying same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102692929A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103458226A (en) * | 2013-06-05 | 2013-12-18 | 南京工业职业技术学院 | Video tracker |
| CN105714524A (en) * | 2016-04-22 | 2016-06-29 | 江苏捷阳科技股份有限公司 | Electric clothes airing machine capable of being automatically hoisted |
| CN106303461A (en) * | 2016-09-08 | 2017-01-04 | 福建师范大学 | Movable-type intelligent safety device based on video analysis |
| CN106637853A (en) * | 2015-11-04 | 2017-05-10 | 扬智科技股份有限公司 | Automatic taking back airing device and operation method thereof |
| CN106774437A (en) * | 2017-03-05 | 2017-05-31 | 长沙修恒信息科技有限公司 | A kind of automatic follower method based on light-intensity test |
| CN106802657A (en) * | 2017-03-05 | 2017-06-06 | 长沙修恒信息科技有限公司 | A kind of automatic following system based on light-intensity test |
| CN106886218A (en) * | 2017-03-05 | 2017-06-23 | 长沙修恒信息科技有限公司 | A kind of automatic tracing means of defence based on machine vision |
| CN109541984A (en) * | 2018-10-09 | 2019-03-29 | 天津大学 | Clothing exposure extent control algorithm suitable for Intellective airer |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101549498A (en) * | 2009-04-23 | 2009-10-07 | 上海交通大学 | Automatic tracking and navigation system of intelligent aid type walking robots |
-
2012
- 2012-06-18 CN CN2012102009783A patent/CN102692929A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101549498A (en) * | 2009-04-23 | 2009-10-07 | 上海交通大学 | Automatic tracking and navigation system of intelligent aid type walking robots |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103458226A (en) * | 2013-06-05 | 2013-12-18 | 南京工业职业技术学院 | Video tracker |
| CN106637853A (en) * | 2015-11-04 | 2017-05-10 | 扬智科技股份有限公司 | Automatic taking back airing device and operation method thereof |
| CN105714524A (en) * | 2016-04-22 | 2016-06-29 | 江苏捷阳科技股份有限公司 | Electric clothes airing machine capable of being automatically hoisted |
| CN106303461A (en) * | 2016-09-08 | 2017-01-04 | 福建师范大学 | Movable-type intelligent safety device based on video analysis |
| CN106774437A (en) * | 2017-03-05 | 2017-05-31 | 长沙修恒信息科技有限公司 | A kind of automatic follower method based on light-intensity test |
| CN106802657A (en) * | 2017-03-05 | 2017-06-06 | 长沙修恒信息科技有限公司 | A kind of automatic following system based on light-intensity test |
| CN106886218A (en) * | 2017-03-05 | 2017-06-23 | 长沙修恒信息科技有限公司 | A kind of automatic tracing means of defence based on machine vision |
| CN106774437B (en) * | 2017-03-05 | 2019-12-03 | 福建新创锦纶实业有限公司 | A kind of automatic follower method based on light-intensity test |
| CN106886218B (en) * | 2017-03-05 | 2020-11-20 | 日照安泰科技发展有限公司 | Automatic tracking protection method based on machine vision |
| CN109541984A (en) * | 2018-10-09 | 2019-03-29 | 天津大学 | Clothing exposure extent control algorithm suitable for Intellective airer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102692929A (en) | Mobile object automatic tracking system and trolley and lifting clothes hanger applying same | |
| CN205247210U (en) | Robot control system based on RFID location | |
| CN104991560B (en) | Autonomous formula intelligent robot | |
| CN101639699B (en) | Intelligent automatic searching and tracking golf cart | |
| CN201926927U (en) | Intelligent tracking trolley | |
| CN205450779U (en) | Barrier dolly is kept away to intelligence tracking | |
| CN106338999A (en) | Intelligent following anti-collision dolly and anti-collision method thereof | |
| CN203338137U (en) | Tracing obstacle avoidance wheeled robot | |
| CN105617677A (en) | Intelligent trolley capable of being controlled by Bluetooth mobile phone | |
| CN203838560U (en) | Manipulator carrier AGV used for radiation environment | |
| CN204945797U (en) | Intelligent transfer robot UHF RFID location system | |
| CN109571470A (en) | A kind of robot | |
| CN207457835U (en) | A kind of two-wheeled wireless remote controlled intelligent trolley | |
| CN205343106U (en) | General base of service robot | |
| CN207946702U (en) | A kind of intelligence follows luggage case | |
| CN202615240U (en) | Automatic moving object tracking system, trolley applying system, and lifting clothes hanger applying system | |
| CN206224247U (en) | A kind of SCM Based remote control follows dolly | |
| CN112896192A (en) | Mining electric locomotive unmanned system based on UWB technology | |
| CN203241824U (en) | Multi-modality intelligent delivery robot | |
| CN203973549U (en) | A kind of wheeled Bi Zhang robot | |
| CN205485620U (en) | Self -contained navigation system of robot | |
| CN204945798U (en) | A kind of Intelligent transfer robot adopting automation controller able to programme | |
| CN209543141U (en) | A kind of electromagnetism intelligent carriage shutdown system | |
| CN204374774U (en) | A kind of intelligence guiding conveying arrangement of automatic collision | |
| CN206465096U (en) | Intelligent transfer robot and its control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20120926 |