CN105022396B - The lateral following device of forward direction and left and right and its follow-up control method - Google Patents
The lateral following device of forward direction and left and right and its follow-up control method Download PDFInfo
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- CN105022396B CN105022396B CN201410177447.6A CN201410177447A CN105022396B CN 105022396 B CN105022396 B CN 105022396B CN 201410177447 A CN201410177447 A CN 201410177447A CN 105022396 B CN105022396 B CN 105022396B
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- vehicle detector
- infrared receiver
- mobile carrier
- ultrasonic vehicle
- follow
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Abstract
Before a kind of to and the lateral following device in left and right and control method, the device include：Mobile carrier and remote control；Mobile carrier be provided with it is preceding to, left side to and right side to support and driver element, wherein：Forward direction support is provided with first and second infrared receiver for detecting left and right trend and preceding the first Ultrasonic Vehicle Detector to distance of detecting, and left side is provided with second and third Ultrasonic Vehicle Detector and the 3rd infrared receiver for detecting left and right trend to support, right side is then provided with fourth, fifth Ultrasonic Vehicle Detector and the 4th infrared receiver for detecting left and right trend to support；Remote control is provided with an at least infrared transmitter, is matched with first, second, third and fourth infrared receiver signal；When user is located in front of mobile carrier, is detected before being made from forward direction support to distance and make left and right trend and detected；When user is located at the left and right side of mobile carrier, the distance between user and mobile carrier can be detected from left and right side to support respectively and make left and right trend and detected.
Description
Technical field
Before the present invention is relevant a kind of to and the lateral following device in left and right, particularly relate to full effect and build up before user can take
To or left and right mode, make following device mobile carrier carry out comprehensive intelligent following the forward direction of function and left and right lateral
Following device.
Background technology
It is widely used among present industrial field and automatically controls machine (such as：Robot) substituting or assist mankind's work
To make, it can be engaged in dangerous, tool accuracy or other species work such as big and heavy main reason is that automatically control machine,
Such as：Military field, search and rescue, electronics manufacturing and auto industry etc., all it is widely used and automatically controls machine substitution or assist
Human work.
However, with the mature of science and technology, automatically control machine and be also gradually used among mankind's daily life,
Such as：It can help and make the automatic cleaner of floor-cleaning, or the automatic carrier dress of wired or wireless formula for the carrying article that can help
Put；For closing all various automatic carrier devices at present, its control mode is that must be used in a specific environment space,
And a sense need to be preset with, then default sensing is detected by automatic carrier device in the ground in predetermined space environment
Track, could be moved according to the default path of sense, also therefore such automatic carrier device, work can only be applied to
In factory or particular place, the automatic conveying to be purely by way of article is main demand with using.
Edge this, more advanced technology, has been developed the automatic carrier that the mankind can be followed to move at present, and this kind of automatic carrier is equal
One to change all be single using ultrasonic inductor as a distance detecting, to be detected using ultrasonic inductor, can make user with from
Distance between dynamic load tool, keeps certain spacing mode, to carry out following the rear of user；Analyze distinctive certainly in such
Dynamic load has, and is only with simple ultrasonic inductor, is detected as distance between user and automatic carrier；Therefore, in reality
With upper, such automatic carrier will be limited to be carried out detecting by forward manner and followed user completely；Especially
It is --- such automatic carrier is because following reaction speed excessively slow, and when user is located at the left-hand or dextrad of automatic carrier, this kind
Automatic carrier can not just reach follow-up capability, and the control of carrier can not be also obtained in a manner of left and right；Therefore, this kind it is automatic
Carrier is still to become non-intelligent be unfavorable for using the technical scheme with utilization.
The content of the invention
In order to solve above-mentioned problem of the prior art and defect, the present invention seeks to disclose before one kind to and left and right laterally with
With device and its follow-up control method, user be located at before mobile carrier to when, can be infrared as first and second set by forward direction support
Line receiver, as the detecting of left and right trend, and with the first Ultrasonic Vehicle Detector, as the preceding detecting to distance, make movement
Carrier steady state is located at the rear of user and keeps certain spacing distance, follows user's straight trip or left and right movement automatically；
Secondly, when user is located at the left and right side of mobile carrier, you can respectively from second and third Supersonic set by left and right side to support
Ripple detector, fourth, fifth Ultrasonic Vehicle Detector, as the detecting of left and right trend, and with the 3rd infrared receiver, the 4th
Infrared receiver, as the distance detecting between user, utilize triangle polyester fibre mode so that mobile carrier steady state is located at and made
The left and right side of user, and certain spacing distance is kept, user's straight trip or left and right movement are followed automatically, and full effect construction is sent as an envoy to
User can take before to or left and right mode, make following device transfer tool carry out comprehensive intelligent following function.
The present invention main technical schemes be：
Before a kind of to and the lateral following device in left and right, it includes：One mobile carrier and a remote control；The mobile carrier
Include：One control module, a forward direction support, a left side are to support, a right side to support and an at least driver element；And the drive
Moving cell is electrically connected with the mobile carrier and with control module, and by control module controlling driver element straight trip, left
Turn to, the movement of right turn；Wherein：Forward direction branch is set up on mobile carrier, and provided with the first and second of left and right trend can be detected
Infrared receiver and the first Ultrasonic Vehicle Detector for detecting longitudinal separation；And left side is set up on mobile carrier to branch, and set
Second and third Ultrasonic Vehicle Detector and the 3rd infrared receiver of left and right trend can be detected by having；Right side is set up in mobile load to branch
On tool, and provided with fourth, fifth Ultrasonic Vehicle Detector and the 4th infrared receiver that can detect left and right trend；The remote control
Provided with an at least infrared transmitter, matched with the first, second, third and fourth infrared receiver signal；In this way, work as user
During positioned at the front of mobile carrier, you can make the preceding detecting to distance from forward direction support and make the detecting of left and right trend, make shifting
Dynamic load tool is positioned at the rear of user, and steady state keeps a determining deviation, follows user's straight trip or left and right movement automatically；
When user is located on the left of mobile carrier or during right side, then make from left and right side to support the spacing distance between user respectively
Detecting and make user is imposed or left or right trend detecting, make mobile carrier be located at user left side or right side and keep perseverance
State spacing, follow user's straight trip or left or right to movement.
The invention discloses it is a kind of it is preceding to and the lateral following device in left and right follow-up control method, its step includes：
Selection is set controls module as automatic control mode or remote control mode set by a mobile carrier；
Select the automatic control mode, and before being set as to follow the mode or left side to follow the mode or right side to following mould
Formula starts the first power switch and stop key；
When selecting this preceding to follow the mode, the first infrared receiver set by the forward direction support of the mobile carrier, the
Two infrared receivers and the first Ultrasonic Vehicle Detector start, from preceding first infrared receiver to set by support and should
Second infrared receiver detects the left and right trend of user, and first Ultrasonic Vehicle Detector detects the mobile carrier and user
Between spacing, and with this spacing steady state keep spacing follow；
When selecting the left side to follow the mode, the second ultrasonography set by the left side to support of the mobile carrier
Device, the 3rd Ultrasonic Vehicle Detector and the 3rd infrared receiver start, and are detectd from second ultrasonic set by the left side to support
Device, the 3rd Ultrasonic Vehicle Detector and user three are surveyed, is formed and the left and right trend of user is detected in a manner of triangle polyester fibre, and
3rd infrared receiver keeps spacing to detect the spacing distance between the mobile carrier and user with this spacing steady state
Follow；
When selecting the right side to follow the mode, the 4th ultrasonography set by the right side to support of the mobile carrier
Device, the 5th Ultrasonic Vehicle Detector and the 4th infrared receiver start, and are detectd from the 4th ultrasonic set by the right side to support
Device, the 5th Ultrasonic Vehicle Detector and user three are surveyed, is formed and the left and right trend of user is detected in a manner of triangle polyester fibre, and
4th infrared receiver detects the spacing distance between the mobile carrier and user, and with this spacing steady state keep spacing with
With.
User can set to be followed positioned at front, left side side or the right side side of mobile carrier.
, can as first and second infrared receiver set by a forward direction support when user is located at the front of mobile carrier
The left and right trend of detecting user and the first Ultrasonic Vehicle Detector can detect the distance between user, and with steady state keep this one
Interval spacing is followed；When user is located at the left side side of mobile carrier, i.e., from a left side to second and third set by support
Ultrasonic Vehicle Detector detecting (being detected using triangle polyester fibre) and the 3rd infrared receiver are locked, you can accurately detecting makes
The trend and the spacing distance between user of user or left or right；When user is located at the right side side of mobile carrier, i.e., by
One right side detects and (detected using triangle polyester fibre) to fourth, fifth Ultrasonic Vehicle Detector set by support and the 4th infrared receiver
Device is locked, you can accurately detects user or left or right trend and the spacing distance between user.
Brief description of the drawings
Fig. 1 is the control logic block diagram of following device one of the present invention.
Fig. 2 is that the forward direction of following device one of the present invention controls embodiment schematic diagram.
Fig. 3 is the forward direction of following device one of the present invention control and past left steering embodiment schematic diagram.
Fig. 4 is the forward direction of following device one of the present invention control and past right turn embodiment schematic diagram.
Fig. 5 is to control embodiment schematic diagram on the left of following device one of the present invention.
Fig. 6 is to control and past left steering embodiment schematic diagram on the left of following device one of the present invention.
Fig. 7 is to control and past right turn embodiment schematic diagram on the left of following device one of the present invention.
Fig. 8 is to control embodiment schematic diagram on the right side of following device one of the present invention.
Fig. 9 is to control and past left steering embodiment schematic diagram on the right side of following device one of the present invention.
Figure 10 is to control and past right turn embodiment schematic diagram on the right side of following device one of the present invention.
Figure 11 is that following device of the present invention attempts trigonometric function calculation figure of the left and right side to control.
【Main element symbol description】
1st, mobile carrier
10th, module is controlled
101st, automatic control mode
102nd, remote control mode
103rd, forward direction follow the mode
104th, left side is to follow the mode
105th, right side is to follow the mode
106th, the first power switch and stop key
11st, forward direction support
111st, the first infrared receiver
112nd, the second infrared receiver
113rd, the first Ultrasonic Vehicle Detector
12nd, left side is to support
121st, the second Ultrasonic Vehicle Detector
122nd, the 3rd Ultrasonic Vehicle Detector
123rd, the 3rd infrared receiver
13rd, right side is to support
131st, the 4th Ultrasonic Vehicle Detector
132nd, the 5th Ultrasonic Vehicle Detector
133rd, the 4th infrared receiver
14th, driver element
2nd, remote control
21st, infrared transmitter
22nd, forward direction model- following control key
23rd, left side is to model- following control key
24th, right side is to model- following control key
25th, second source switch and stop key
26th, direction controlling key.
Embodiment
The effect of to enable convenient succinct other features for understanding the present invention of your auditor and advantage and its being reached
It is enough more to show, the present invention hereby coordinates to the feature and advantage of accompanying drawing, in detail the narration present invention, following each embodiment be into
One step describes the viewpoint of the present invention in detail, but non-anyways to limit scope of the invention.
Please referring initially to shown in Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the invention discloses before one kind to and the lateral following device in left and right, bag
Include：One mobile carrier 1 and a remote control 2.
The mobile carrier 1 includes：One control module 10, the left side of a forward direction support 11, one to the right side of support 12, one to
Support 13 and at least a driver element 14.
Controlling module 10, the control module 10 includes automatic control mode 101 and remote control mode in mobile carrier 1
102 2 kinds of patterns, wherein：Automatic control mode 101, which comprises at least, to be had：Forward direction follow the mode 103, left side to follow the mode 104,
Setting function of the right side to the power switch of follow the mode 105 and first and stop key 106.
Forward direction support 11 is on mobile carrier 1, and the one left-hand end of forward direction support 11 is provided with one first infrared receiver
Device 111 and its right-hand end are provided with one second infrared receiver 112, and in the first infrared receiver 111 and the second infrared ray
Between receiver 112, provided with one first Ultrasonic Vehicle Detector 113；Preceding the first described infrared receiver 111, second is infrared
The Ultrasonic Vehicle Detector 113 of line receiver 112 and first is electrically connected with control module 10, and by control module 10 receiving the
Feedback signal transmitted by one infrared receiver 111, the second infrared receiver 112 and the first Ultrasonic Vehicle Detector 113 is simultaneously
After being processed to, a control signal is produced to driver element 14.
Left side is to support 12 on the mobile carrier 1, and to the left-hand end of support 11 before being connected to, and left side is to support 12
Front end be provided with one second Ultrasonic Vehicle Detector 121 and its rear end and be provided with one the 3rd Ultrasonic Vehicle Detector 122, and in the second Supersonic
Between the Ultrasonic Vehicle Detector 122 of ripple detector 121 and the 3rd, provided with one the 3rd infrared receiver 123；Preceding described the second surpasses
Sound wave detector 121, the 3rd Ultrasonic Vehicle Detector 122 and the 3rd infrared receiver 123, it is electrically connected with control module 10,
And by control module 10 receiving the second Ultrasonic Vehicle Detector 121, the 3rd Ultrasonic Vehicle Detector 122 and the 3rd infrared receiver
Feedback signal transmitted by device 123 and after being processed to, produces a control signal to driver element 14.
Right side is to support 13 on the mobile carrier 1, and to the right-hand end of support 11 before being connected to, and right side is to support 13
Front end be provided with one the 4th Ultrasonic Vehicle Detector 131 and its rear end and be provided with one the 5th Ultrasonic Vehicle Detector 132, and in the 4th Supersonic
Between the Ultrasonic Vehicle Detector 132 of ripple detector 131 and the 5th, provided with one the 4th infrared receiver 133；Preceding described the four surpasses
Sound wave detector 131, the 5th Ultrasonic Vehicle Detector 132 and the 4th infrared receiver 133 are electrically connected with control module 10, by
Module 10 is controlled to receive the 4th Ultrasonic Vehicle Detector 131, the 5th Ultrasonic Vehicle Detector 132 and the 4th infrared receiver
Feedback signal transmitted by 133 and after being processed to, produces a control signal to driver element 14.
Driver element 14 is electrically connected with located at mobile carrier 1 and with control module 10, by control module 10 producing one
Signal is controlled, to control driver element 14 to keep straight on, the movement of left steering, right turn；Described driver element 14 can be wheel
Pattern drives or the driving of crawler belt pattern.And mobile carrier 1 is provided with an at least battery modules, driver element can be supplied by battery modules
14 and control module 10 needed for electric power.
Described remote control 2 is provided with an at least infrared transmitter 21, and the remote control 2 can be set with control module 10
One identification code, when the identification code authentication of remote control 2 and control module 10 is completed, the infrared transmitter of the remote control 2
21 signal can be with the first infrared receiver 111, the second infrared receiver 112, the 3rd infrared receiver 123 and the 4th
The signal matching of infrared receiver 133；In addition, the remote control 2 should at least provided with forward direction model- following control key 22, left side to
With operating key 23, right side to model- following control key 24, second source switch and stop key 25 and direction controlling key 26.
The present invention separately disclose it is a kind of before to and the lateral following device in left and right follow-up control method, its step includes：
Step 100：The control module 10 of selection setting mobile carrier 1 is automatic control mode 101 or remote control mode 102.
Step 110：Select automatic control mode 101, and to follow the mode 103, left side to follow the mode before being set as
104th, right side to follow the mode 105 or starts the first power switch and stop key 106.
Step 120：When before choosing is selected as to follow the mode 103, first set by the forward direction support 11 of mobile carrier 1 is infrared
Line receiver 111, the second infrared receiver 112 and the first Ultrasonic Vehicle Detector 113 start, the left side of the mobile carrier 1 to
The second Ultrasonic Vehicle Detector 121, the 3rd Ultrasonic Vehicle Detector 122 and the 3rd infrared receiver 123 set by support 12 are then
Closed mode；And the 4th Ultrasonic Vehicle Detector 131 from the right side of mobile carrier 1 to support 13, the 5th Ultrasonic Vehicle Detector set by
132 and the 4th infrared receiver 133 be also closed mode；Now user is located at the front of mobile carrier 1, by forward direction support
The first infrared receiver 111 and the second infrared receiver 112 set by 11 are detected, the left and right trend of user, and with
One Ultrasonic Vehicle Detector 113 detects the forward direction distance between mobile carrier 1 and user, and steady state keeps a determining deviation to be followed
(about 2~3 meters).
Step 130：When selection left side is to follow the mode 104, the first Supersonic set by the forward direction support 11 of mobile carrier 1
Ripple detector 113 starts, and the second Ultrasonic Vehicle Detector 121, the 3rd ultrasonic set by the left side to support 12 of mobile carrier 1 are detectd
It is then starting state to survey the infrared receiver 123 of device 122 and the 3rd, and the set by the right side to support 13 of mobile carrier 1 four surpasses
Sound wave detector 131, the 5th Ultrasonic Vehicle Detector 132 and the 4th infrared receiver 133 are then closed mode；Now user
Positioned at the left side side of mobile carrier 1, from the second Ultrasonic Vehicle Detector 121, the 3rd ultrasonography set by left side to support 12
Device 122 is detected and the left and right trend of user is detected using triangle polyester fibre mode, and the spacing distance between user,
And steady state keeps this interval spacing (about 1~2 meter).
Step 140：When selection right side is to follow the mode 105, the first Supersonic set by the forward direction support 11 of mobile carrier 1
Ripple detector 113 starts, and the second Ultrasonic Vehicle Detector 121, the 3rd ultrasonic set by the left side to support 12 of mobile carrier 1 are detectd
It is then closed mode to survey the infrared receiver 123 of device 122 and the 3rd, and the set by the right side to support 13 of mobile carrier 1 four surpasses
Sound wave detector 131, the 5th Ultrasonic Vehicle Detector 132 and the 4th infrared receiver 133 are then starting state；Now user
Positioned at the right side side of mobile carrier 1, from the 4th Ultrasonic Vehicle Detector 131, the 5th ultrasonography set by right side to support 13
Device 132 is detected and detects the left and right trend of user and the spacing distance between user using triangle polyester fibre mode, and permanent
State keeps this interval spacing (about 1~2 meter).
Step 150：Selection starts the first power switch and stop key 106, and mobile carrier 1 then for halted state or starts shape
State.
Step 160：Select remote control mode 102；Start the forward direction model- following control key 22 of remote control 2, left side to following control
Key 23 processed, right side can directly control movement to model- following control key 24, second source switch and stop key 25 or direction controlling key 26
Carrier 1 moves with telecommand.
Step 170：To model- following control key 22 before starting, then step 120 is performed.
Step 180：Start left side to model- following control key 23, then perform step 130.
Step 190：Start right side to model- following control key 24, then perform step 140.
Step 200：Start second source switch and stop key 25, then perform step 150.
Step 210：Start direction controlling key 26；Mobile carrier 1 can be by user by manipulation remote control 2, directly to moving
Dynamic load tool 1 is kept straight on, the mobile control of left steering, right turn.
The step 120, selection before to follow the mode 103 when, refer to that user is located at the front of mobile carrier 1 and carrying
Remote control 2 is kept straight on (as shown in Figure 2), and signal is sent by the infrared transmitter 21 of remote control 2, then respectively by mobile carrier
The first infrared receiver 111, the second infrared receiver 112 set by 1 forward direction support 11 receive；Now, when preceding to branch
When first infrared receiver 111 of frame 11 and the second infrared receiver 112 receive signal simultaneously, control module 10 is then sentenced
Disconnected user is located at the front of mobile carrier 1, and it is straight-going state to control the driver element 14 of mobile carrier 1 by control module 10.
(as shown in Figure 3) is moved to the left when user is located at the front of mobile carrier 1 and carries remote control 2, because user is to moving to left
It is dynamic so that the infrared ray that the second infrared receiver 112 set by the right-hand member of forward direction support 11 can not receive remote control 2 is sent
The signal that device 21 is sent, order control module 10 then judge that user is located at the left front of mobile carrier 1, controlled by control module 10
Front direction of the driver element 14 of mobile carrier 1 processed turning left moves.When user is located at the front of mobile carrier 1 and carries remote control dress
Put 2 to move right (as shown in Figure 4), because user moves right so that the first infrared ray set by the left end of forward direction support 11 connects
The signal that the infrared transmitter 21 of remote control 2 is sent can not be received by receiving device 111, and control module 10 then judges user
Positioned at the right front of mobile carrier 1, the driver element 14 of mobile carrier 1 is controlled to turn right front direction movement by control module 10；This
Outside, the first Ultrasonic Vehicle Detector 113 of forward direction support 11 is as the spacing distance between detecting mobile carrier 1 and user, and permanent
State keeps this spacing to be followed, and the first Ultrasonic Vehicle Detector 113 set by forward direction support 11, while as detecting movement
Whether the front of carrier 1 has masking or obstacle.
The step 130, when selection left side is to follow the mode 104, user is located at the left side side of mobile carrier 1 and carried
Remote control 2 is kept straight on (as shown in Figure 5), is detectd from the second Ultrasonic Vehicle Detector 121, the 3rd ultrasonic set by left side to support 12
Survey between device 122 and user three, formed and carry out detecting its trend in a manner of triangle polyester fibre, when the second Ultrasonic Vehicle Detector 121
When identical with the feedback signal value received by the 3rd Ultrasonic Vehicle Detector 122, even control module 10 judges that user is located at
The left side of mobile carrier 1 to and keep straight on, and it is straight-going state to control the driver element 14 of mobile carrier 1 by control module 10.When
User, which is located at the left side side of mobile carrier 1 and carries remote control 2, is moved to the left (as shown in Figure 6), because user is to moving to left
It is dynamic so that the feedback signal value of the second Ultrasonic Vehicle Detector 121 is small compared with the feedback signal value of the 3rd Ultrasonic Vehicle Detector 122, order
Control module 10 then judge user be located at the left side of mobile carrier 1 to and be moved to the left, mobile load is controlled by control module 10
The driver element 14 of tool 1 moves toward left direction.When user is located at the left side side of mobile carrier 1 and carries remote control 2 to the right
Mobile (as shown in Figure 7) moves right because of user so that the feedback signal value of the second Ultrasonic Vehicle Detector 121 is compared with the 3rd Supersonic
The feedback signal value of ripple detector 122 is big, control module 10 then judge user be located at the left side of mobile carrier 1 to and move right
Dynamic, the driver element 14 for controlling mobile carrier 1 from control module 10 moves toward right direction；In addition, left side is to the 3rd of support 12
The infrared transmitter 21 that infrared receiver 123 then receives remote control 2 sends signal, and is in lock-out state, as detecing
The spacing distance surveyed between mobile carrier 1 and user, and steady state keeps this spacing to be followed；Furthermore the institute of forward direction support 11
If the first Ultrasonic Vehicle Detector 113 to start, whether to have masking or obstacle as detecting mobile carrier 1 frontIf nothing；OK
Enter；If have；Then it can be automatically stopped or be stopped with brake modes.
The step 140：When selection right side is to follow the mode 105, user is located at the right side side of mobile carrier 1 and carried
Remote control 2 is kept straight on (as shown in Figure 8), is detectd from the 4th Ultrasonic Vehicle Detector 131, the 5th ultrasonic set by right side to support 13
Survey between device 132 and user three, formed and carry out detecting its trend in a manner of triangle polyester fibre, when the 4th Ultrasonic Vehicle Detector 131
When identical with the feedback signal value received by the 5th Ultrasonic Vehicle Detector 132, then order control module 10 judges that user is located at
The right side of mobile carrier 1 to and keep straight on, it is straight-going state to control the driver element 14 of mobile carrier 1 by control module 10.When making
User, which is located at the right side side of mobile carrier 1 and carries remote control 2, is moved to the left (as shown in Figure 9), because user is moved to the left,
So that the feedback signal value of the 4th Ultrasonic Vehicle Detector 131 is big compared with the feedback signal value of the 5th Ultrasonic Vehicle Detector 132, mould is controlled
Group 10 then judge user be located at the right side of mobile carrier 1 to and be moved to the left, the drive of mobile carrier 1 is controlled by control module 10
Moving cell 14 moves toward left direction.
Moved right (as shown in Figure 10) when user is located at the right side side of mobile carrier 1 and carries remote control 2, because making
User is moved right so that feedback of the feedback signal value of the 4th Ultrasonic Vehicle Detector 131 compared with the 5th Ultrasonic Vehicle Detector 132 is interrogated
Number value is small, order control module 10 then judge user be located at the right side of mobile carrier 1 to and move right, controlled by control module 10
The driver element 14 of mobile carrier 1 processed moves toward right direction.In addition, the 4th infrared receiver 133 from right side to support 13 then
The infrared transmitter 21 of reception remote control 2 sends signal and is in lock-out state, to be used as detecting mobile carrier 1 with using
Spacing distance between person, and steady state keeps this spacing to be followed；Furthermore the first ultrasonography set by forward direction support 11
Device 113 is starts, whether to have masking or obstacle as the front of detecting mobile carrier 1If nothing；Advance；If have；Be automatically stopped or
Stopped with brake modes.
When mobile carrier 1 be in it is preceding to follow the mode 103 or left side to follow the mode 104, right side to follow the mode 105 or
For remote control mode 102 when, preceding first Ultrasonic Vehicle Detector 113 to set by support 11 is all starting state, to be used as detecting
Whether the front of mobile carrier 1 has masking or obstacle；When being in mobile carrier 1 on the move, if the first Ultrasonic Vehicle Detector
When 113 feedback signal is shielded or interrupts, i.e., control module 10 can be made to judge that there is resistance in the front of mobile carrier 1 within the very first time
Block material body, order control module 10 control driver element 14 to impose stopping or stop with brake modes.
The first infrared receiver 111, the second infrared receiver 112 of the forward direction support 11, it can be located at preceding to branch
In the hollow tube of frame 11, and corresponding first infrared receiver 111 of forward direction support 11, the second infrared receiver 112 are by dress position
Put, be respectively equipped with the perforate of a predefined size, with this perforate to limit the first infrared receiver 111, the second infrared ray connects
Receive the signal reception scope (angle) of device 112 such as Fig. 2, Fig. 3, Fig. 4 the first infrared receiver 111 and the second infrared receiver
Shown in 112 front dotted lines, and by the hollow tube to hiding and the first infrared receiver 111 of protection, the second infrared ray
Receiver 112.
The left side can be located at left side into the hollow tube of support 12 to the 3rd infrared receiver 123 of support, and
Left side is provided with the perforate of a predefined size to the position of corresponding 3rd infrared receiver 123 of support 12, by perforate limiting
The signal reception scope (angle) of 3rd infrared receiver 123, and it is infrared with protection the 3rd to hide by the hollow tube
Line receiver 123.
The right side can be located at right side into the hollow tube of support 13 to the infrared receiver 133 of support the 4th, in this
The position that blank pipe body corresponds to the 4th infrared receiver 133 is provided with the perforate of a predefined size, by perforate limiting the 4th
The signal reception scope (angle) of infrared receiver 133, and connect by the hollow tube to hide with the 4th infrared ray of protection
Receive device 133.
Please also refer to shown in Figure 11, to attempt the left side to follow the mode 104, right side to follow the mode 105
The trigonometric function calculation figure of triangle polyester fibre；Wherein, Tu11Zhong, X are expressed as user；A, B is expressed as left side to set by support 12
The second Ultrasonic Vehicle Detector 121 and the 3rd Ultrasonic Vehicle Detector 122, right side to support 13 set by the 4th Ultrasonic Vehicle Detector
131st, the 5th Ultrasonic Vehicle Detector 132；AX is expressed as user and the 3rd Ultrasonic Vehicle Detector 122 or the 4th Ultrasonic Vehicle Detector
The distance between 131；BX is expressed as between user and the second Ultrasonic Vehicle Detector 121 or the 5th Ultrasonic Vehicle Detector 132
Distance；AB be expressed as the second Ultrasonic Vehicle Detector 121 and the 3rd Ultrasonic Vehicle Detector 122 or the 4th Ultrasonic Vehicle Detector 131 with
The distance between 5th Ultrasonic Vehicle Detector 132.And trigonometric function calculation formula is as follows：
When AX or BX distance (i.e. AX or BX feedback signal value) changes, both AX or BX are compared as control module 10
Feedback signal value size, you can judge user to be mobile to the left or to the right.
In summary, when user is located at 1 front of mobile carrier, as the first infrared receiver set by forward direction support 11
Device 111, the second infrared receiver 112 and the first Ultrasonic Vehicle Detector 113 are made left and right trend detecting and made preceding to distance
Detecting, reaches the rear that mobile carrier 1 is located at user, and user's straight trip or left and right movement are followed automatically with a spacing；When making
When user is located at 1 left side of mobile carrier, then from the second Ultrasonic Vehicle Detector 121, the 3rd ultrasonic set by left side to support 12
The infrared receiver 123 of detector 122 and the 3rd makees left and right trend detecting and makees the detecting of interval spacing, makes mobile carrier 1
User is followed to keep straight on or move left and right automatically with a determining deviation on the right side of user；When user is located at the right side of mobile carrier 1
When, connect from the 4th Ultrasonic Vehicle Detector 131, the 5th Ultrasonic Vehicle Detector 132 and the 4th infrared ray set by right side to support 13
Receive device 133 to make left and right trend detecting and make the detecting of spacing distance, reach mobile carrier 1 and be located on the left of user, with a spacing
It is automatic to follow user's straight trip or left and right movement.
Simply, above-listed detailed description is illustrating for a possible embodiments of the invention, and the embodiment is not used
To limit the present invention, and all equivalence enforcements made without departing from skill spirit of the present invention or change, it is intended to be limited solely by the present invention's
In the scope of the claims.
Claims (10)
1. before a kind of to and the lateral following device in left and right, it is characterised in that include：
One mobile carrier, it includes：
One control module, in the mobile carrier；
One forward direction support, its left side is provided with first infrared receiver and its right side is provided with second infrared receiver
Device, and first Ultrasonic Vehicle Detector is provided between first infrared receiver and second infrared receiver；And should
First infrared receiver, second infrared receiver and first Ultrasonic Vehicle Detector and the control module are electrically connected with；
One left side is connected to the preceding left side to support, the left side is provided with second Supersonic to the forward direction of support to support
Ripple detector and the 3rd Ultrasonic Vehicle Detector is provided with backward, and is detectd in second Ultrasonic Vehicle Detector with the 3rd ultrasonic
The 3rd infrared receiver is provided between survey device；Second Ultrasonic Vehicle Detector, the 3rd Ultrasonic Vehicle Detector and the 3rd
Infrared receiver is electrically connected with the control module；
One right side is connected to the preceding right side to support, the right side is provided with the 4th Supersonic to the forward direction of support to support
Ripple detector and its 5th Ultrasonic Vehicle Detector is provided with backward, and in the 4th Ultrasonic Vehicle Detector and the 5th ultrasonic
The 4th infrared receiver is provided between detector；4th Ultrasonic Vehicle Detector, the 5th Ultrasonic Vehicle Detector and this
Four infrared receivers are electrically connected with the control module；
At least one driver element, located at the mobile carrier and with the control module be electrically connected with, and by the control module to
Driver element is controlled to implement straight trip, the movement of left steering, right turn；
One remote control, provided with least one infrared transmitter, the signal of the infrared transmitter and first infrared ray
The signal matching of receiver, second infrared receiver, the 3rd infrared receiver and the 4th infrared receiver.
2. the lateral following device of forward direction as claimed in claim 1 and left and right, it is characterised in that：The control module includes automatically
Control model and remote control mode.
3. the lateral following device of forward direction as claimed in claim 2 and left and right, it is characterised in that：The automatic control mode at least wraps
Include：The setting of forward direction follow the mode, left side to follow the mode, right side to follow the mode and the first power switch and stop key.
4. the lateral following device of forward direction as claimed in claim 1 and left and right, it is characterised in that：The remote control be provided with it is preceding to
With operating key, left side to model- following control key, right side to model- following control key, second source switch and stop key and direction controlling key；
And the remote control and the control module sets identification code, by the identification code authentication between the remote control and the control module
After the completion of, the signal of the infrared transmitter of the remote control can be with first infrared receiver, second infrared receiver
The signal matching of device, the 3rd infrared receiver and the 4th infrared receiver.
5. the lateral following device of forward direction as claimed in claim 1 and left and right, it is characterised in that：The driver element is provided with least one
Individual battery modules, the battery modules are supplying the driver element and the electric power needed for the control module.
6. it is a kind of before to and the lateral following device in left and right follow-up control method, it is characterised in that step includes：
Selection is set controls module as automatic control mode or remote control mode set by a mobile carrier；
Select the automatic control mode, and before being set as to follow the mode or left side to follow the mode or right side to follow the mode or
Start the first power switch and stop key；
It is the first infrared receiver set by the forward direction support of the mobile carrier, second red when selecting this preceding to follow the mode
Outer line receiver and the first Ultrasonic Vehicle Detector start, from preceding first infrared receiver to set by support and this second
Infrared receiver detects the left and right trend of user, and first Ultrasonic Vehicle Detector is detected between the mobile carrier and user
Spacing, and keep spacing to follow with this spacing steady state；
When selecting the left side to follow the mode, the second Ultrasonic Vehicle Detector set by the left side to support of the mobile carrier, the
Three Ultrasonic Vehicle Detectors and the 3rd infrared receiver start, from second Ultrasonic Vehicle Detector set by the left side to support,
3rd Ultrasonic Vehicle Detector and user three, formed and the left and right trend of user is detected in a manner of triangle polyester fibre, and the 3rd
Infrared receiver keeps spacing to follow to detect the spacing distance between the mobile carrier and user with this spacing steady state；
When selecting the right side to follow the mode, the 4th Ultrasonic Vehicle Detector set by the right side to support of the mobile carrier, the
Five Ultrasonic Vehicle Detectors and the 4th infrared receiver start, from the 4th Ultrasonic Vehicle Detector set by the right side to support,
5th Ultrasonic Vehicle Detector and user three, formed and the left and right trend of user is detected in a manner of triangle polyester fibre, and the 4th
Infrared receiver detects the spacing distance between the mobile carrier and user, and keeps spacing to follow with this spacing steady state.
7. the follow-up control method of the lateral following device of forward direction as claimed in claim 6 and left and right, it is characterised in that：Selection should
During forward direction follow the mode, user is located at the front of the mobile carrier and carries a remote control, and the remote control is provided with extremely
A few infrared transmitter simultaneously sends signal, respectively from preceding first infrared receiver to support, this is second infrared
Line receiver receives, and when first infrared receiver receives signal simultaneously with second infrared receiver, makes the control
It is straight-going state that module, which controls the mobile carrier,；First infrared receiver receives signal, second infrared receiver
When not receiving signal, this is made to control module to control the mobile carrier to turn to the left；First infrared receiver, which connects, not to be received
To signal, when second infrared receiver receives signal, this is made to control module to control the mobile carrier to turn to the right.
8. the follow-up control method of the lateral following device of forward direction as claimed in claim 6 and left and right, it is characterised in that：Selection should
When left side is to follow the mode, user is located at the left direction of the mobile carrier, the second is surpassed from this set by the left side to support
Sound wave detector, the 3rd Ultrasonic Vehicle Detector and user three, then formed and detected in a manner of triangle polyester fibre, this second
When Ultrasonic Vehicle Detector is identical with the feedback signal value received by the 3rd Ultrasonic Vehicle Detector, make control module control should
Mobile carrier is straight-going state；Feedback of the feedback signal value of second Ultrasonic Vehicle Detector compared with the 3rd Ultrasonic Vehicle Detector is interrogated
Number value hour, this is made to control module to control the mobile carrier to turn to the left；The feedback signal value of second Ultrasonic Vehicle Detector
When feedback signal value compared with the 3rd Ultrasonic Vehicle Detector is big, this is made to control module to control the mobile carrier to turn to the right.
9. the follow-up control method of the lateral following device of forward direction as claimed in claim 6 and left and right, it is characterised in that：Selection should
When right side is to follow the mode, user is located at the right direction of the mobile carrier, four is surpassed from set by the right side to support
Sound wave detector, the 5th Ultrasonic Vehicle Detector and user three, then formed and detected with triangle polyester fibre, the 4th Supersonic
When ripple detector is identical with the feedback signal value received by the 5th Ultrasonic Vehicle Detector, the control module is made to control the movement
Carrier is straight-going state；Feedback signal value of the feedback signal value of 4th Ultrasonic Vehicle Detector compared with the 5th Ultrasonic Vehicle Detector
When big, this is made to control module to control the mobile carrier to turn to the left；The feedback signal value of 4th Ultrasonic Vehicle Detector relatively should
The feedback signal value hour of 5th Ultrasonic Vehicle Detector, this is made to control module to control the mobile carrier to turn to the right.
10. the follow-up control method of the lateral following device of forward direction as claimed in claim 6 and left and right, it is characterised in that：Selection
This it is preceding to follow the mode or the left side to follow the mode or the right side to follow the mode or the remote control mode when, this is preceding to support
First Ultrasonic Vehicle Detector is all starting state, whether has masking or obstacle in front of the mobile carrier to detect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410177447.6A CN105022396B (en) | 2014-04-29 | 2014-04-29 | The lateral following device of forward direction and left and right and its follow-up control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410177447.6A CN105022396B (en) | 2014-04-29 | 2014-04-29 | The lateral following device of forward direction and left and right and its follow-up control method |
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| Publication Number | Publication Date |
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| CN105022396A CN105022396A (en) | 2015-11-04 |
| CN105022396B true CN105022396B (en) | 2018-03-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410177447.6A Expired - Fee Related CN105022396B (en) | 2014-04-29 | 2014-04-29 | The lateral following device of forward direction and left and right and its follow-up control method |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105843231A (en) * | 2016-06-18 | 2016-08-10 | 陈明敬 | Moving carrier capable of automatically walking along with signal terminal |
| CN105867391A (en) * | 2016-06-18 | 2016-08-17 | 陈明敬 | Automatic following system |
| DE102017000077B3 (en) | 2017-01-09 | 2018-03-29 | EurA AG | Electronic coupling system |
| EP3824364B1 (en) | 2018-07-20 | 2023-10-11 | Lingdong Technology (Beijing) Co. Ltd | Smart self-driving systems with side follow and obstacle avoidance |
| WO2020140255A1 (en) | 2019-01-04 | 2020-07-09 | Lingdong Technology (Beijing) Co. Ltd | Smart luggage system with camera installed in pull rod |
| FR3094256B1 (en) * | 2019-03-29 | 2021-07-02 | Norcan | improved motorized robot |
| CN111436189B (en) | 2019-06-11 | 2021-12-10 | 灵动科技（北京）有限公司 | Self-driving system |
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| CN105022396A (en) | 2015-11-04 |
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