CN105005307B - Intelligence follows the control method of luggage case - Google Patents
Intelligence follows the control method of luggage case Download PDFInfo
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- CN105005307B CN105005307B CN201510479754.4A CN201510479754A CN105005307B CN 105005307 B CN105005307 B CN 105005307B CN 201510479754 A CN201510479754 A CN 201510479754A CN 105005307 B CN105005307 B CN 105005307B
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Abstract
The present invention provides the control method that a kind of intelligence follows luggage case, for the inconvenience wasted time and energy during existing dilatory luggage case, and existing remote manual control type luggage case must use the problem of manual control, by gathering the distance immediately ahead of user's opposite case, judge the motion state of casing；And the beeline on the left of casing, on the right side of casing between user is gathered, judge the direction of motion of casing；Simultaneously according to the size at the inclination angle between pull bar and casing, the slewing rate of casing return pulley is controlled, so as to realize the intelligent of luggage case, independently can be followed in user behind.
Description
Technical field
The present invention relates to a kind of artificial intelligence technology, more particularly to a kind of intelligence follows the control method of luggage case.
Background technology
With the development of science and technology the daily life of people is increasingly deep into the progress of human society, intellectualized technology
Among work, the life to people brings great convenience.Among intelligentized main forces, the field intelligently followed is at present in state
Inside still belong to blank, and intelligence follows the convenient life with people inseparable, in the case, intelligently follow luggage case meet the tendency of and
It is raw.
Intelligence follow luggage case collection automatic control technology, singlechip technology, Power Electronic Technique, electric drive technology with from
Suitable solution algorithm is.In current in the market, traditional luggage case is still in occupation of the most market share, not yet
Go out to be now able to follow luggage case applied to the intelligence in market.Increasingly popularized instantly in intelligent equipment, luggage case necessarily will
Welcome a field technology revolution.It is an emerging subject however, intelligent field is different from conventional field, the subject convergence
Traditional automation, electric machine theory and research, power electronics specialty etc., and this talent interdisciplinary is few.
So under current background, there is great market and technological gap in luggage art.
The luggage case of traditional type relies on mechanical structure, becomes and slides to roll, and saves manpower, and present mechanical modification type encloses more
Around the coefficient of friction for how reducing wheel.DYN dynamic luggage case is followed by remote control realization.User is manually remotely controlled 10
Luggage case in the range of rice is to realize the advance of luggage case, retrogressing and steering.The luggage case of above two working method needs hand
Dynamic regulation, it is impossible to realize that luggage case intelligently follows completely.
The content of the invention
In view of this, it is necessary to which a kind of intelligence for the speed and direction that operation can be voluntarily judged according to the guiding of user is provided
The control method of luggage case can be followed.
A kind of intelligence follows the control method of luggage case, comprises the following steps：
Distance immediately ahead of S1, collection user's opposite case, judge the motion state of casing；
Beeline on the left of S2, collection casing, between casing right side and user, judge the direction of motion of casing；
S3, the size according to the inclination angle between pull bar and casing, control the slewing rate of casing return pulley.Intelligence of the present invention
The control method of luggage case can be followed, for the inconvenience wasted time and energy during existing dilatory luggage case, and existing remote manual control
Type luggage case must use the problem of manual control, by gathering the distance immediately ahead of user's opposite case, judge the fortune of casing
Dynamic state；And the beeline on the left of casing, on the right side of casing between user is gathered, judge the direction of motion of casing；Root simultaneously
According to the size at the inclination angle between pull bar and casing, the slewing rate of control casing return pulley, so as to realize the intelligent of luggage case, energy
It is enough independently to follow in user behind.
Brief description of the drawings
Fig. 1 is the structural representation that intelligence of the present invention follows luggage case；
Fig. 2 is the structured flowchart of intelligent following control system of the present invention；
Fig. 3 is the control method flow chart that intelligence of the present invention follows luggage case；
Fig. 4 is the sub-process figure of step S1 in Fig. 3；
Fig. 5 is the sub-process figure of step S2 in Fig. 3；
Fig. 6 is the sub-process figure of step S3 in Fig. 3；
Fig. 7 is another control method flow chart that intelligence of the present invention follows luggage case；
Fig. 8 is the sub-process figure of step S4 in Fig. 7；
Fig. 9 is the sub-process figure of step S5 in Fig. 7.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated, it will be appreciated that and the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in figure 1, the embodiment of the present invention, which provides a kind of intelligence, follows luggage case 10, the pull bar 11 of the luggage case 10 with
The connecting fulcrum of casing 12 is provided with ball pivot 13, and Spring balancer 14, institute are provided between the body of rod and casing 12 of the pull bar 11
State the opposite case 12 of Spring balancer 14 to be fixedly installed, the body of rod elastic connection of its reset terminal and the pull bar 11.
Wherein, as shown in Figure 2, the intelligence follows luggage case 10 to include an intelligent following control system 20, the intelligence
Following control system 20 include being arranged on the back side of the luggage case 10, for gather between the casing and user it is relative away from
From trend acquisition module 21, be arranged on the casing 12, control row for the information that is gathered according to trend acquisition module 21
The Central Control Module 22 of the motion mode of Lee's case 10, and be connected with Central Control Module 22, for driving the luggage case 10
The power drive module 23 of return pulley motion, the power drive module 23 and the return pulley power connector of the luggage case 10.
Intelligence of the present invention follows luggage case 10, by setting ball pivot 13 to enable the relatively described casing of the pull bar 11
12 are freely rotated, and improve the flexibility of pull bar 11, and the body of rod due to the pull bar 11 and the Spring balancer 14 are answered
Position end elastic connection, therefore pull bar 11 can not automatically revert to initial perpendicular state in the presence of by external force, meanwhile, set up
Intelligent following control system 20, is acquired by trend acquisition module 21 to the relative distance between casing and user, in
Heart control module 22 sends control instruction according to the collection information of trend acquisition module 21 to power drive module 23, drives power
Dynamic model block 23 is adjusted in real time to the rotating speed of the return pulley of casing 12, so as to reach the purpose that luggage case 10 intelligently follows.
Specifically, as shown in Figure 2, the trend acquisition module 21 includes being arranged on the on the back side of the luggage case 10
One detection module 211, the second detection module 212 and the 3rd detection module 213, and the first bluetooth module 214 and second are blue
Tooth module 215, the first detection module 211 are arranged on the center line at the back side, second detection module 212 and
Three detection modules 213 are set respectively close to the arranged on left and right sides edge at the back side, first bluetooth module 214, the second bluetooth
Module 215 corresponds to the arranged on left and right sides edge that the second detection module 212, the 3rd detection module 213 are arranged on the back side respectively.
Wherein, the first detection module 211, the second detection module 212 and the 3rd detection module 213 are ultrasound examination mould
Block.
The first detection module 211 is used to detect casing in front upwards with respect to the distance between user, and described the
Two detection modules 212 are used to detect the beeline on the left of casing between user, and the 3rd detection module 213 is used to detect
Beeline on the right side of casing between user；First bluetooth module 214 is used for further apart from excessive or apart from mistake
Beeline on the left of hour detection casing between user, second bluetooth module 215 are used for further apart from excessive
Or apart from it is too small when detect casing on the right side of and user between beeline.
The power drive module 23 includes revolver motor 231, right wheel motor 232, the revolver driving electricity
Machine 231, right wheel motor 232 pass through shaft coupling and left and right return pulley power connector respectively.The Central Control Module 22 is distinguished
Independent control revolver motor 231, the rotating speed of right wheel motor 232, because the power of left and right return pulley is independent control,
Therefore it can carry out being unable to the rotation of speed, and then the purpose of differential, enable the auto-steering of luggage case 10.
As shown in figure 3, the embodiment of the present invention also provides the control method that a kind of intelligence follows luggage case, it includes following step
Suddenly：
Distance immediately ahead of S1, collection user's opposite case, judge the motion state of casing.
Wherein, as shown in figure 4, the step S1 includes following sub-step：
S11, setting casing are in front upwards with respect to the minimum threshold distance and max-thresholds distance between user；
S12, the in real time distance immediately ahead of collection user's opposite case, real-time range and minimum threshold distance are compared
Compared with；
If S13, real-time range are less than minimum threshold distance, the setback of luggage case 10 is controlled, pulls open user and case
The distance between body, until reaching minimum threshold distance；
If S14, real-time range are more than minimum threshold distance, the forward travel of luggage case 10 is controlled, reduces user and case
The distance between body, until reaching minimum threshold distance；
If S15, real-time range are more than max-thresholds distance, judging user, there occurs direction transfer.
Specifically, setting casing front upwards relative minimum threshold between user apart from being S0, max-thresholds away from
From W0.
When the first detection module 211 installed in the centre position of luggage case 10 detects that people and the distance of luggage case 10 are S1
When, and if S1 is less than S0, that is, show people and luggage case 10 apart from too near, the Central Control Module 22 drives to the power
Dynamic model block 23 sends retrogressing instruction, and the power drive module 23 controls revolver motor 231, right wheel motor simultaneously
232 are inverted, and retreat luggage case 10.
If S1 is more than S0, that is, show people and luggage case 10 away from too far away, the Central Control Module 22 is to described dynamic
Power drive module 23 sends advancement commands, and the power drive module 23 controls revolver motor 231, right wheel driving electricity simultaneously
Machine 232 is rotated forward, and luggage case 10 is advanced.
If S1 is equal to S0, that is, show that people and the distance of luggage case 10 are proper, now the remains stationary of luggage case 10.
If S1 is more than W0, judging user, there occurs direction transfer.
S2, when casing does not collect the implementation distance between user upwards in front, then show that there occurs side by user
To transfer, the beeline on the left of casing, on the right side of casing between user is gathered, judges the direction of motion of casing.
Wherein, as shown in figure 5, the step S2 includes following sub-step：
S21, casing left side, casing the right side beeline between user respectively are gathered in real time；
If the beeline on the left of S22, casing between user is less than the beeline on the right side of casing between user,
Then judge that user is moved to the left；
If the beeline on the right side of S23, casing between user is less than the beeline on the left of casing between user,
Then judge that user moves right.
Specifically, the beeline on the left of the casing that the detection of the second detection module 212 obtains between user is gathered respectively
G1, the 3rd detection module 213 detects the beeline G2 between user on the left of obtained casing, described when G1 is more than G2
Central Control Module 22 sends left-hand rotation instruction to the power drive module 23, and the power drive module 23 controls revolver driving
The rotating speed of motor reduces, and the rotating speed of right wheel motor improves, then the rotating speed of right wheel is more than the rotating speed of revolver, make luggage case 10 to
Left avertence turns.
When G2 is more than G1, the Central Control Module 22 sends right-hand rotation instruction to the power drive module 23, described
Power drive module 23 controls the rotating speed of right wheel motor to reduce, and the rotating speed of revolver motor improves, then the rotating speed of right wheel
More than the rotating speed of revolver, luggage case 10 is set to deflect to the right.
S3, the size according to the inclination angle between pull bar and casing, control the slewing rate of casing return pulley.
Wherein, as shown in fig. 6, the step S3 includes following sub-step：
If the tilt angles R between S31, pull bar and casing is less than 30 °, the movement velocity for controlling casing is A1；
If the tilt angles R between S32, pull bar and casing is more than 30 ° but less than 45 °, the motion speed of casing is controlled
Spend for A2, wherein, A2>A1；
If the tilt angles R between S33, pull bar and casing is more than 45 °, the movement velocity for controlling casing is A3, its
In, A3>A2>A1.
Further, as shown in Figure 7, the control method of luggage case is intelligently followed described in the embodiment of the present invention also includes step
S4：Maximum tracking range between casing both sides and user is set, when the beeline between casing both sides and user is all higher than
Maximum tracking range, then wireless blue tooth positioning search is carried out to casing.
Wherein, as shown in figure 8, the step S4 includes following sub-step：
Maximum tracking range and minimum tracking range between S41, setting casing both sides and user；
S42, the in real time beeline between collection casing both sides and user, real-time range and maximum tracking range M0 are entered
Row compares；
If S43, real-time range are more than maximum tracking range, established immediately with the mobile terminal of mobile telephone of user wireless blue
Tooth connects；
S44, GPS location search, and the minimal path established between casing and user are carried out to casing；
S45, the direction of motion according to minimal path adjustment casing, and at the uniform velocity shorten the distance between user, until most
Small threshold distance S0.
Specifically, when the detection module 213 of the second detection module 212 and the 3rd detects obtained casing both sides and user
Between beeline be more than maximum tracking range, then start the first bluetooth module 214 and the second bluetooth module 215, so as to
The mobile terminal of mobile telephone of user establishes wireless blue tooth connection.
As shown in Figure 7, the intelligent follow-up control method also includes step S5：Set between casing both sides and user most
Small tracking range, when the beeline between casing both sides and user is respectively less than minimum tracking range, to casing using wireless
Bluetooth module judge the direction of motion of casing.
Wherein, as shown in figure 9, the step S5 includes following sub-step：
S51, establish wireless blue tooth with the mobile terminal of mobile telephone of user immediately and be connected；
S52, in real time the first bluetooth module 214 of collection, the second bluetooth module 215 are respectively between user mobile phone mobile terminal
RSSI value；
If the RSSI value of S53, the first bluetooth module 214 is less than the RSSI value of the second bluetooth module 215, user is judged
Move right；
If the RSSI value of S54, the second bluetooth module 215 is less than the RSSI value of the first bluetooth module 214, user is judged
It is moved to the left.
Intelligence of the present invention follows the control method of luggage case, for the inconvenience wasted time and energy during existing dilatory luggage case
Property, and the problem of existing remote manual control type luggage case must use manual control, by gathering immediately ahead of user's opposite case
Distance, judge the motion state of casing；And the beeline on the left of casing, on the right side of casing between user is gathered, judge case
The direction of motion of body；Simultaneously according to the size at the inclination angle between pull bar and casing, the slewing rate of control casing return pulley, so as to real
Now luggage case is intelligent, independently can follow in user behind.
Apparatus above embodiment is one-to-one, the simple part of device embodiment with embodiment of the method, real referring to method
Apply example.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
Professional further appreciates that, with reference to the unit of each example of the embodiments described herein description
And algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software, the composition and step of each example are generally described according to feature in the above description.This
A little functions are performed with hardware or software mode actually, application-specific and design constraint depending on technical scheme.Specially
Industry technical staff can realize described function using distinct methods to each specific application, but this realization is not
The scope of the present invention should be exceeded.
Directly it can be held with reference to the step of method or algorithm that the embodiments described herein describes with hardware, processor
Capable software module, or the two combination are implemented.Software module can be placed in random access memory, internal memory, read-only storage,
Electrically programmable ROM, electricity can sassafras except in programming ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field institute it is public
In the storage medium for any other forms known.
Embodiments of the invention are described above in conjunction with accompanying drawing, but the invention is not limited in above-mentioned specific
Embodiment, above-mentioned embodiment is only schematical, rather than restricted, one of ordinary skill in the art
Under the enlightenment of the present invention, in the case of present inventive concept and scope of the claimed protection is not departed from, it can also make a lot
Form, these are belonged within the protection of the present invention.
Claims (10)
1. a kind of intelligence follows the control method of luggage case, it is characterised in that comprises the following steps：
Distance immediately ahead of S1, collection user's opposite case, judge the motion state of casing；
Beeline on the left of S2, collection casing, between casing right side and user, judge the direction of motion of casing；
S3, the size according to the inclination angle between pull bar and casing, control the slewing rate of casing return pulley；
Wherein, the intelligence follows the pull bar of luggage case and the connecting fulcrum of casing is provided with ball pivot, the body of rod of the pull bar with
Spring balancer, the Spring balancer opposite case fixed setting, the bar of its reset terminal and the pull bar are provided between casing
Body elasticity connects.
2. intelligence follows the control method of luggage case according to claim 1, it is characterised in that the step S1 includes following
Sub-step：
S11, setting casing are in front upwards with respect to the minimum threshold distance and max-thresholds distance between user；
S12, the in real time distance immediately ahead of collection user's opposite case, by real-time range compared with minimum threshold distance；
If S13, real-time range are less than minimum threshold distance, luggage case setback is controlled, is pulled open between user and casing
Distance, until reach minimum threshold distance；
If S14, real-time range are more than minimum threshold distance, luggage case forward travel is controlled, is reduced between user and casing
Distance, until reach minimum threshold distance；
If S15, real-time range are more than max-thresholds distance, judging user, there occurs direction transfer.
3. intelligence follows the control method of luggage case according to claim 1, it is characterised in that the step S2 includes following
Sub-step：
S21, casing left side, casing the right side beeline between user respectively are gathered in real time；
If the beeline on the left of S22, casing between user is less than the beeline on the right side of casing between user, sentence
Disconnected user is moved to the left；
If the beeline on the right side of S23, casing between user is less than the beeline on the left of casing between user, sentence
Disconnected user moves right.
4. intelligence follows the control method of luggage case according to claim 1, it is characterised in that the step S3 includes following
Sub-step：
If the tilt angles between S31, pull bar and casing are less than 30 °, the movement velocity for controlling casing is A1；
If the tilt angles between S32, pull bar and casing are more than 30 ° but less than 45 °, the movement velocity for controlling casing is
A2, wherein, A2>A1；
If the tilt angles between S33, pull bar and casing are more than 45 °, the movement velocity for controlling casing is A3, wherein, A3>
A2>A1。
5. intelligence follows the control method of luggage case according to claim 2, it is characterised in that on the back side of the luggage case
Provided with first detection module, the second detection module and the 3rd detection module, the first detection module is arranged on the back side
Center line on, second detection module and the 3rd detection module respectively close to the back side arranged on left and right sides edge set.
6. intelligence follows the control method of luggage case according to claim 5, it is characterised in that on the back side of the luggage case
Provided with the first bluetooth module and the second bluetooth module, first bluetooth module, the second bluetooth module correspond to the second detection respectively
Module, the 3rd detection module are arranged on the arranged on left and right sides edge at the back side.
7. intelligence follows the control method of luggage case according to claim 6, it is characterised in that the intelligent model- following control side
Method also includes,
Step S4：Maximum tracking range between casing both sides and user is set, when the most short distance between casing both sides and user
From maximum tracking range is all higher than, then wireless blue tooth positioning search is carried out to casing.
8. intelligence follows the control method of luggage case according to claim 7, it is characterised in that the step S4 includes following
Sub-step：
Maximum tracking range between S41, setting casing both sides and user；
S42, the in real time beeline between collection casing both sides and user, real-time range and maximum tracking range are compared
Compared with；
If S43, real-time range are more than maximum tracking range, wireless blue tooth company is established with the mobile terminal of mobile telephone of user immediately
Connect；
S44, GPS location search, and the minimal path established between casing and user are carried out to casing；
S45, the direction of motion according to minimal path adjustment casing, and at the uniform velocity shorten the distance between user, until Minimum Threshold
It is worth distance.
9. intelligence follows the control method of luggage case according to claim 7, it is characterised in that the intelligent model- following control side
Method also includes,
Step S5：Minimum tracking range between casing both sides and user is set, when the most short distance between casing both sides and user
During from respectively less than minimum tracking range, using wireless blue tooth module judge the direction of motion of casing to casing.
10. intelligence follows the control method of luggage case according to claim 9, it is characterised in that the step S5 include with
Lower sub-step：
S51, establish wireless blue tooth with the mobile terminal of mobile telephone of user immediately and be connected；
S52, the first bluetooth module, the second bluetooth module RSSI value between user mobile phone mobile terminal respectively are gathered in real time；
If the RSSI value of S53, the first bluetooth module is less than the RSSI value of the second bluetooth module, judge that user moves right；
If the RSSI value of S54, the second bluetooth module is less than the RSSI value of the first bluetooth module, judge that user is moved to the left.
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| CN201510479754.4A CN105005307B (en) | 2015-08-07 | 2015-08-07 | Intelligence follows the control method of luggage case |
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