Embodiment
Clearly understand to make object of the present invention, technical scheme and advantage, below in conjunction with drawings and Examples, the present invention is further elaborated, is to be understood that, specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.
As shown in Figure 1, the embodiment of the present invention provides a kind of intelligence to follow luggage case 10, the pull bar 11 of described luggage case 10 is provided with ball pivot 13 with the connection fulcrum of casing 12, Spring balancer 14 is provided with between the body of rod of described pull bar 11 and casing 12, described Spring balancer 14 opposite case 12 is fixedly installed, and its reset terminal is connected with the body of rod elasticity of described pull bar 11.
Wherein, as shown in Figure 2, described intelligence is followed luggage case 10 and is comprised an intelligent following control system 20, described intelligent following control system 20 comprises the back side being arranged on described luggage case 10, for gathering the trend acquisition module 21 of the relative distance between described casing and user, be arranged on described casing 12, information for gathering according to trend acquisition module 21 controls the Central Control Module 22 of luggage case 10 mode of motion, and be connected with Central Control Module 22, for the power drive module 23 driving described luggage case 10 return pulley to move, described power drive module 23 is connected with the return pulley power of described luggage case 10.
Intelligence of the present invention follows luggage case 10, by arranging ball pivot 13, described pull bar 11 freely can be rotated relative to described casing 12, improve the dirigibility of pull bar 11, and be connected with the reset terminal elasticity of described Spring balancer 14 due to the body of rod of described pull bar 11, therefore pull bar 11 can automatically revert to initial perpendicular state under not by the effect of external force, simultaneously, set up intelligent following control system 20, gathered by the relative distance of trend acquisition module 21 pairs between casing and user, Central Control Module 22 sends steering order according to the Information Monitoring of trend acquisition module 21 to power drive module 23, the rotating speed of power drive module 23 pairs of casing 12 return pulleys is adjusted in real time, thus reach the object that luggage case 10 intelligence follows.
Concrete, as shown in Figure 2, described trend acquisition module 21 comprises the first detection module 211 on the back side being arranged on described luggage case 10, second detection module 212 and the 3rd detection module 213, and first bluetooth module 214 and the second bluetooth module 215, described first detection module 211 is arranged on the center line at the described back side, described second detection module 212 and the 3rd detection module 213 are respectively near the left side at the described back side, right both sides of the edge are arranged, described first bluetooth module 214, second bluetooth module 215 is corresponding second detection module 212 respectively, 3rd detection module 213 is arranged on the left side at the described back side, right both sides of the edge.Wherein, described first detection module 211, second detection module 212 and the 3rd detection module 213 are ultrasound examination module.
Described first detection module 211 is for detecting the distance of casing in dead ahead upwards relatively between user, described second detection module 212 is for detecting the bee-line on the left of casing and between user, and described 3rd detection module 213 is for detecting the bee-line on the right side of casing and between user; Described first bluetooth module 214 is for further apart from excessive or apart from the bee-line detected time too small on the left of casing and between user, and described second bluetooth module 215 is for further apart from excessive or apart from the bee-line detected time too small on the right side of casing and between user.
Described power drive module 23 comprises revolver drive motor 231, right wheel drive motor 232, and described revolver drive motor 231, right wheel drive motor 232 are connected with left and right return pulley power respectively by shaft coupling.Described Central Control Module 22 independently controls the rotating speed of revolver drive motor 231, right wheel drive motor 232, power due to left and right return pulley is independent control, therefore, it is possible to carry out can not the rotation of speed, and then reach the object of differential, make luggage case 10 can auto-steering.
As shown in Figure 3, the embodiment of the present invention also provides a kind of intelligence to follow the control method of luggage case, and it comprises the following steps:
The distance in S1, collection user's opposite case dead ahead, judges the motion state of casing.
Wherein, as shown in Figure 4, described step S1 comprises following sub-step:
S11, the minimum threshold Distance geometry max-thresholds distance of setting casing in dead ahead upwards relatively between user;
The distance in S12, Real-time Collection user opposite case dead ahead, compares real-time distance and minimum threshold distance;
If S13 in real time distance is less than minimum threshold distance, then controls luggage case 10 setback, pull open the distance between user and casing, until reach minimum threshold distance;
If S14 in real time distance is greater than minimum threshold distance, then controls luggage case 10 forward travel, reduce the distance between user and casing, until reach minimum threshold distance;
If S15 in real time distance is greater than max-thresholds distance, then judge that user there occurs direction transfer.
Concrete, the minimum threshold distance of setting casing in dead ahead upwards relatively between user is S0, max-thresholds distance W0.
When the distance that the first detection module 211 being arranged on luggage case 10 centre position detects people and luggage case 10 is S1, if and S1 is less than S0, namely show that people and luggage case 10 are apart from too near, described Central Control Module 22 sends retrogressing instruction to described power drive module 23, described power drive module 23 controls revolver drive motor 231 simultaneously, right wheel drive motor 232 reverses, and luggage case 10 is retreated.
If S1 is greater than S0, namely show that people and luggage case 10 are apart from too far away, described Central Control Module 22 sends advancement commands to described power drive module 23, and described power drive module 23 controls revolver drive motor 231 simultaneously, right wheel drive motor 232 rotates forward, and luggage case 10 is advanced.
If S1 equals S0, namely show that the distance of people and luggage case 10 is proper, now luggage case 10 keeps static.
If S1 is greater than W0, then judge that user there occurs direction transfer.
S2, when casing upwards not to collect the enforcement distance between user in dead ahead, then show that user there occurs direction transfer, gather the bee-line on the left of casing, on the right side of casing and between user, judge the direction of motion of casing.
Wherein, as shown in Figure 5, described step S2 comprises following sub-step:
Bee-line on the left of S21, Real-time Collection casing, on the right side of casing respectively and between user;
If the bee-line on the left of S22 casing and between user is less than the bee-line on the right side of casing and between user, then judge that user is moved to the left;
If the bee-line on the right side of S23 casing and between user is less than the bee-line on the left of casing and between user, then judge that user moves right.
Concrete, gather the second detection module 212 respectively and detect bee-line G1 on the left of the casing that obtains and between user, 3rd detection module 213 detects the bee-line G2 on the left of the casing that obtains and between user, when G1 is greater than G2, described Central Control Module 22 sends left-hand rotation instruction to described power drive module 23, the rotating speed that described power drive module 23 controls revolver drive motor reduces, the rotating speed of right wheel drive motor improves, then right rotating speed of taking turns is greater than the rotating speed of revolver, and luggage case 10 is deflected left.
When G2 is greater than G1, described Central Control Module 22 sends right-hand rotation instruction to described power drive module 23, and the rotating speed that described power drive module 23 controls right wheel drive motor reduces, and the rotating speed of revolver drive motor improves, then right rotating speed of taking turns is greater than the rotating speed of revolver, and luggage case 10 is deflected to the right.
S3, size according to the inclination angle between pull bar and casing, control the slewing rate of casing return pulley.
Wherein, as shown in Figure 6, described step S3 comprises following sub-step:
If the tilt angles R between S31 pull bar and casing is less than 30 °, then the movement velocity controlling casing is A1;
If the tilt angles R between S32 pull bar and casing is greater than 30 ° but is less than 45 °, then the movement velocity controlling casing is A2, wherein, and A2>A1;
If the tilt angles R between S33 pull bar and casing is greater than 45 °, then the movement velocity controlling casing is A3, wherein, and A3>A2>A1.
Further, as shown in Figure 7, the control method that intelligence described in the embodiment of the present invention follows luggage case also comprises step S4: arrange the maximum tracking range between casing both sides and user, bee-line between casing both sides and user is all greater than maximum tracking range, then carry out wireless blue tooth fixed-position searching to casing.
Wherein, as shown in Figure 8, described step S4 comprises following sub-step:
S41, setting casing both sides and user between maximum tracking range;
S42, bee-line between Real-time Collection casing both sides and user, compare real-time distance and maximum tracking range M0;
If S43 in real time distance is greater than maximum tracking range, then immediately sets up wireless blue tooth with the mobile terminal of mobile telephone of user and be connected;
S44, GPS fixed-position searching is carried out to casing, and set up the minimal path between casing and user;
S45, according to minimal path adjustment casing direction of motion, and at the uniform velocity shorten with user between distance, until minimum threshold distance S0.
Concrete, maximum tracking range is greater than when described second detection module 212 and the 3rd detection module 213 detect the bee-line between casing both sides and user obtained, then start the first bluetooth module 214 and the second bluetooth module 215, thus set up wireless blue tooth with the mobile terminal of mobile telephone of user and be connected.
As shown in Figure 7, described intelligent follow-up control method also comprises step S5: arrange the minimum tracking range between casing both sides and user, when bee-line between casing both sides and user is all less than minimum tracking range, wireless blue tooth module is adopted to carry out the direction of motion judging casing to casing.
Wherein, as shown in Figure 9, described step S5 comprises following sub-step:
S51, immediately set up wireless blue tooth with the mobile terminal of mobile telephone of user and be connected;
S52, the RSSI value of Real-time Collection first bluetooth module 214, second bluetooth module 215 respectively and between user mobile phone mobile terminal;
If the RSSI value of S53 first bluetooth module 214 is less than the RSSI value of the second bluetooth module 215, then judge that user is moved to the left;
If the RSSI value of S54 second bluetooth module 215 is less than the RSSI value of the first bluetooth module 214, then judge that user moves right.
Intelligence of the present invention follows the control method of luggage case, for the inconvenience of wasting time and energy during existing dilatory luggage case, and existing remote manual control type luggage case must adopt manually operated problem, by gathering the distance in user's opposite case dead ahead, judge the motion state of casing; And the bee-line gathered on the left of casing, on the right side of casing and between user, judge the direction of motion of casing; Simultaneously according to the size at the inclination angle between pull bar and casing, control the slewing rate of casing return pulley, thus realize the intelligent of luggage case, can independently follow user after one's death.
Above device embodiment and embodiment of the method are one to one, and the simple part of device embodiment, see embodiment of the method.
In this instructions, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.
Professional can also recognize further, in conjunction with unit and the algorithm steps of each example of embodiment disclosed herein description, can realize with electronic hardware, computer software or the combination of the two, in order to the interchangeability of hardware and software is clearly described, in the above description according to the functional composition and the step that generally describe each example.These functions perform with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can use distinct methods to realize described function to each specifically should being used for, but this realization should not exceed scope of the present invention.
The software module that the method described in conjunction with embodiment disclosed herein or the step of algorithm can directly use hardware, processor to perform, or the combination of the two is implemented.Software module can be placed in random access memory, internal memory, ROM (read-only memory), electrically programmable ROM, electricity can sassafras except any other forms of storage medium known in programming ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field.
By reference to the accompanying drawings embodiments of the invention are described above; but the present invention is not limited to above-mentioned embodiment; above-mentioned embodiment is only schematic; instead of it is restrictive; those of ordinary skill in the art is under enlightenment of the present invention; do not departing under the ambit that present inventive concept and claim protect, also can make a lot of form, these all belong within protection of the present invention.