CN105629998A - Loading following trolley - Google Patents
Loading following trolley Download PDFInfo
- Publication number
- CN105629998A CN105629998A CN201610134036.8A CN201610134036A CN105629998A CN 105629998 A CN105629998 A CN 105629998A CN 201610134036 A CN201610134036 A CN 201610134036A CN 105629998 A CN105629998 A CN 105629998A
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- sensor
- control module
- control
- car body
- module
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- 238000001514 detection method Methods 0.000 claims description 9
- 230000003068 static effect Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 description 4
- 230000003203 everyday effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 230000012010 growth Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000036417 physical growth Effects 0.000 description 1
- 239000003351 stiffener Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- Handcart (AREA)
Abstract
The invention relates to an automatically-operating loading trolley, and particularly relates to a loading following trolley, which comprises a trolley body. The upper part of the trolley body is provided with a loading platform; the bottom part of the trolley body is provided with wheels; the trolley body is provided with a control module, sensor modules, a power module, a power supply module and a display; and the control module is respectively connected with the sensor modules, the power module, the power supply module and the display via lines. The loading following trolley has tracking, loading and remote control functions, warning is given when tracking fails, in combination with the functions, a heavy object can be placed on the trolley, the trolley can follow the person to move, and load of travelling is greatly lessened; and by using the remote control function, the heavy object can be remotely controlled to be transported to a designated place, and carrying by the user is not needed.
Description
Technical field
The present invention relates to the carrier of a kind of automatic operation, it is specifically related to a kind of loading and follows dolly.
Background technology
Nowadays, students in middle and primary schools' lessons are heavy, and needs of going to school and leaving school every day carry a large amount of textbook teaching material and stationery, and weight majority has exceeded the tolerance range of students in middle and primary schools. Students in middle and primary schools' age is little, is all in the growth and development stage, as born a large amount of textbook teaching material every day, does not utilize the physical growth of student to grow.
Some heads of a family, in order to alleviate the health burden of student, can select the school bag of pull-rod type, and it can alleviate the burden that student bears school bag, but the both hands of student are not still liberated completely, still needs both hands to bear a heavy burden and draws pull-rod type school bag.
The instrument liberated health completely bear a heavy burden consequently, it is desirable to a kind of, solves student and bears a heavy burden many problems.
Summary of the invention
The present invention provides a kind of structure simple, firm, can automatically follow people's walking, or by remote control mode control walking, and dolly is followed in the loading helping people to bear a heavy burden.
The present invention adopts following technical scheme:
Dolly is followed in a kind of loading, comprises car body, and vehicle body upper portion is provided with Stage microscope, and vehicle bottom is provided with wheel, and described car body is provided with control module, sensor assembly, power plant module, power supply module and indicating meter,
Control module is control core, passes through connection with sensor assembly, power plant module, power supply module and indicating meter respectively;
Power plant module comprises motor, and wheel connects power plant module, turning to and rotating speed of power plant module drived control wheel, and power plant module also connects power supply module;
In order to realize tracking function, need reliable and measure the rang sensor that distance is relatively far away, and a rang sensor is not enough to judge advance, the turning of people, therefore sensor assembly comprises three ultrasonic transducers, described three ultrasonic transducers are respectively the first sensor, the 2nd sensor, the 3rd sensor, it is consistent that direction is run with wheel in described 2nd sensor setting direction, described first sensor, the 3rd sensor are separately positioned on the 2nd sensor both sides, and it is angled with the 2nd sensor
Described sensor assembly also comprises human sensing device, and each ultrasonic transducer coordinates by people's body sensor, overcomes dolly and cannot differentiate people and the shortcoming of surrounding things, when detecting distance, increase a decision condition, reduce interfering factors, make to follow better effects if;
Described indicating meter shows the voltage data of three ultrasonic transducer detection data and motor in real time, if there is fault, and convenient eliminating.
Described loading is followed dolly and is also comprised telemanipulator, described telemanipulator and control module wireless connections, it may also be useful to distant control function, it is also possible to weight remote control is transported to appointed place and do not need oneself to carry.
Whether the state of described indicating meter also real-time display remoting device, namely show and be in by remote control state.
When carrying Different Weight things, the speed of following of intelligence car has impact, therefore described Stage microscope be provided with electronics note refitting put, connection control module is put in the note refitting of described electronics, arranged by chip, the operating voltage of the Data Control motor that control module is put according to electronics note refitting, makes the constant airspeed of intelligence car, it is possible to be coupled to the best with user.
Preferably, described first sensor, the 3rd sensor become 47.5 degree of angles with the 2nd sensor respectively, and the first sensor and the 2nd sensor front end distance are 18.3 centimetres; 2nd sensor and the 3rd sensor front end distance are also 18.3 centimetres, through testing in a large number, under these structural parameter, follow effect best.
The maximum sensing range of described 2nd sensor is set to 70CM.
Described car body is provided with buzzing warning device, reports to the police when dolly is not followed in time.
The operation method of dolly control module is followed in described loading, comprising:
When the 2nd sensor detects that the distance with people is less than 20CM, control module control decelerating through motor, stops then reversing, car body Ease her astern!;
When the 2nd sensor detects that the distance with people is greater than 20CM, when being less than 30CM, control module control motor stops rotating, and car body keeps static;
When the 2nd sensor detects that the distance with people is greater than 30CM, when being less than 70CM, control module control motor rotates forward, and car body advances and follows;
The detecting distance of the first sensor is set to 0CM to 30CM, and when the first sensor has detected people, control module control car body turns left, until the 2nd sensor has detected people, stopping turning left, then control module is according to the detection signal of the 2nd sensor, and control motor runs;
The detecting distance of the 3rd sensor is set to 0CM to 30CM, and when the 3rd sensor has detected people, control module control car body is turned right, until the 2nd sensor has detected people, stopping turning right, then control module is according to the detection signal of the 2nd sensor, and control motor runs;
When can't detect people in the 2nd ranges of sensors, the first sensor and the 3rd sensor start to start;
When the first sensor, the 2nd sensor and the 3rd sensor all can't detect people, car body is static, sends loss alarm signal.
Advantage and the useful effect of the present invention be:
The present invention has possessed the function of tracking, load-carrying and remote control simultaneously, and can sending alarm when following the trail of and lost efficacy, combine these functions, weight can be placed on dolly by people, allow dolly follow oneself move ahead, the great like this heavy burden alleviating trip; Use distant control function, it is also possible to weight remote control is transported to appointed place and do not need user oneself to carry.
Intelligent control of the present invention is advanced, and turns, and adopts intelligent operation method, ensures to follow effect, prevents loss.
The present invention adopts four kinds of operating mode: wireless remote control no-load mode, automatically follow no-load mode, wireless remote control has load model and is automatically followed by load model, four kinds of patterns can switch according to the needs of user.
Accompanying drawing explanation
Fig. 1 is the structural representation (removing Stage microscope) of the present invention;
Fig. 2 is the bottom view of car body;
Fig. 3 is the left view (comprising Stage microscope) of Fig. 1.
Wherein, 1-wheel, 2-car body, 3-control module, 4-motor, 5-first sensor, 6-the 2nd sensor, 7-the 3rd sensor, 8-human sensing device, 9-power supply module, 10-indicating meter, 11-electronics note treasure, 12-Stage microscope.
Embodiment
As shown in Figure 1 to Figure 3, dolly is followed in a kind of loading, comprises car body 2, and car body 2 top adopts pillar stiffener to support and is provided with Stage microscope 12, and Stage microscope 12 is provided with electronics note treasure 11, described electronics note treasure 11 connection control module 3.
Described car body is provided with control module 3, sensor assembly, power plant module, power supply module 9, indicating meter 10 and telemanipulator:
Control module 3 is control core, adopts arduino micro-chip, and respectively with sensor assembly, power plant module, power supply module 9 and indicating meter 10 by connection, control module manually can also be arranged by button;
Power plant module comprises motor 4, in order to realize load-carrying function, it may also be useful to high-power deceleration motor, and power supply module 9 uses 12v voltage to ensure enough power supplies, is provided with wheel 1 bottom car body 2, and wheel 1 connects power plant module;
Sensor assembly comprises three ultrasonic transducers, described three ultrasonic transducers are respectively the first sensor 5, the 2nd sensor 6, the 3rd sensor 7, it is consistent that described 2nd sensor 6 setting direction runs direction with wheel 1, described first sensor 5, the 3rd sensor 7 are separately positioned on the 2nd sensor 6 both sides, and becoming 47.5 degree of angles with the 2nd sensor, the first sensor 5 and the 2nd sensor 6 front end distance are 18.3 centimetres; 2nd sensor 6 and the 3rd sensor 7 front end distance are also 18.3 centimetres, and described sensor assembly also comprises human sensing device 8, are used for differentiating people and surrounding things;
Described indicating meter 10 shows three ultrasonic transducer detection data, the voltage data of motor 4 and the state of telemanipulator in real time;
Described telemanipulator and control module 3 wireless connections, compare and infrared have and can penetrate, the advantages such as distance.
Described car body 2 is provided with buzzing warning device, and buzzing warning device adopts hummer.
The carrying out practically method of described control module, comprising:
When the 2nd sensor 6 detects that the distance with people is less than 20CM, control module control decelerating through motor, stops then reversing, car body 2 Ease her astern!;
When the 2nd sensor 6 detects that the distance with people is greater than 20CM, when being less than 30CM, control module control motor stops rotating, and car body 2 keeps static;
When the 2nd sensor 6 detects that the distance with people is greater than 30CM, when being less than 70CM, control module control motor rotates forward, and car body 2 advances and follows;
The detecting distance of the first sensor 5 is set to 0CM to 30CM, and when the first sensor 5 has detected people, control module control car body turns left, until the 2nd sensor 6 has detected people, stopping turning left, then control module is according to the detection signal of the 2nd sensor 6, and control motor runs;
The detecting distance of the 3rd sensor 7 is set to 0CM to 30CM, and when the 3rd sensor 7 has detected people, control module control car body is turned right, until the 2nd sensor 6 has detected people, stopping turning right, then control module is according to the detection signal of the 2nd sensor 6, and control motor runs;
The maximum sensing range of described 2nd sensor 6 is set to 70CM, and when can't detect people in the 2nd sensor 6 sensing range, the first sensor 5 and the 3rd sensor 7 start to start;
When the first sensor 5, the 2nd sensor 6 and the 3rd sensor 7 all can't detect people, car body 2 is static, and hummer sends loss alarm signal.
The control flow process of described control module program is:
The first step, starts to run;
2nd step, initialize I/O port;
3rd step, initialize serial ports, iic bus;
4th step, initialize indicating meter, interface is welcome in display;
5th step, obtains remote control value;
6th step, obtains the distance value that 3 ultrasonic transducers are measured;
7th step, judges whether 4 buttons are pressed simultaneously, if it does, pattern=0, enters manual input mode interface, enters the 5th step after completing, and if not, enters the 8th step;
8th step, whether judgment model is 0, if it does, pattern=key value (1,2,3,4), enters the 5th step afterwards, if not, enters the 9th step;
9th step, whether judgment model is 1, if it does, enter wireless remote control no-load mode, according to remote control value difference control dolly direction, enters the 5th step, if not, enter the tenth step after completing;
Tenth step, whether judgment model is 2, automatically follows no-load mode if it does, enter, according to 3 distance value controlling parties to and advance and retreat, enter the 5th step after completing, if not, enter the 11 step;
11 step, whether judgment model is 3, if it does, enter wireless remote control have load model, according to remote control value difference control dolly direction, enters the 5th step, if not, enter the 12 step after completing;
12 step, whether judgment model is 1, is automatically followed by load model if it does, enter, according to 3 distance value controlling parties to and advance and retreat, if not, return to the 5th step.
Claims (8)
1. a dolly is followed in loading, comprises car body, and vehicle body upper portion is provided with Stage microscope, and vehicle bottom is provided with wheel, it is characterized in that, described car body is provided with control module, sensor assembly, power plant module, power supply module and indicating meter,
Control module passes through connection with sensor assembly, power plant module, power supply module and indicating meter respectively;
Power plant module comprises motor, is connected with power supply module and wheel respectively;
Described sensor assembly comprises three ultrasonic transducers and human sensing device, described three ultrasonic transducers are respectively the first sensor, the 2nd sensor, the 3rd sensor, it is consistent that direction is run with wheel in described 2nd sensor setting direction, described first sensor, the 3rd sensor are separately positioned on the 2nd sensor both sides, and angled with the 2nd sensor;
Described indicating meter shows the voltage data of three ultrasonic transducer detection data and motor in real time.
2. dolly is followed in loading according to claim 1, it is characterized in that, also comprises telemanipulator, described telemanipulator and control module wireless connections.
3. dolly is followed in loading according to claim 2, it is characterized in that, the state of the real-time display remoting device of described indicating meter.
4. dolly is followed in loading according to claim 1 and 2, it is characterized in that, described Stage microscope is provided with electronics note refitting and puts, and connection control module is put in the note refitting of described electronics, the operating voltage of the Data Control motor that control module is put according to electronics note refitting.
5. dolly is followed in loading according to claim 1 and 2, it is characterized in that, described first sensor, the 3rd sensor become 47.5 degree of angles with the 2nd sensor respectively, and the first sensor and the 2nd sensor front end distance are 18.3CM, and the 2nd sensor and the 3rd sensor front end distance are 18.3CM.
6. dolly is followed in loading according to claim 1 and 2, it is characterized in that, the maximum sensing range of described 2nd sensor is 70CM.
7. dolly is followed in loading according to claim 1 and 2, it is characterized in that, described car body is provided with buzzing warning device.
8. dolly is followed in loading according to claim 1, it is characterized in that, the control method of described control module is:
When the 2nd sensor detects that the distance with people is less than 20CM, control module control decelerating through motor, stops then reversing, car body Ease her astern!;
When the 2nd sensor detects that the distance with people is greater than 20CM, when being less than 30CM, control module control motor stops rotating, and car body keeps static;
When the 2nd sensor detects that the distance with people is greater than 30CM, when being less than 70CM, control module control motor rotates forward, and car body advances and follows;
The detecting distance of the first sensor is set to 0CM to 30CM, and when the first sensor has detected people, control module control car body turns left, until the 2nd sensor has detected people, stopping turning left, then control module is according to the detection signal of the 2nd sensor, and control motor runs;
The detecting distance of the 3rd sensor is set to 0CM to 30CM, and when the 3rd sensor has detected people, control module control car body is turned right, until the 2nd sensor has detected people, stopping turning right, then control module is according to the detection signal of the 2nd sensor, and control motor runs;
When can't detect people in the 2nd ranges of sensors, the first sensor and the 3rd sensor start to start;
When the first sensor, the 2nd sensor and the 3rd sensor all can't detect people, car body is static, sends loss alarm signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610134036.8A CN105629998A (en) | 2016-03-09 | 2016-03-09 | Loading following trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610134036.8A CN105629998A (en) | 2016-03-09 | 2016-03-09 | Loading following trolley |
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| Publication Number | Publication Date |
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| CN105629998A true CN105629998A (en) | 2016-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610134036.8A Pending CN105629998A (en) | 2016-03-09 | 2016-03-09 | Loading following trolley |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108974062A (en) * | 2018-07-03 | 2018-12-11 | 西安思源学院 | A kind of safeguard protection trolley |
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| CN104834314A (en) * | 2015-05-25 | 2015-08-12 | 常州爱尔威智能科技有限公司 | Self-following intelligent trolley |
| CN105005247A (en) * | 2015-08-13 | 2015-10-28 | 张真恺 | Following type transfer vehicle and operation method thereof |
| CN204763881U (en) * | 2015-07-08 | 2015-11-18 | 郑镇泉 | Electronic booster unit and electronic year thing equipment |
| CN105212480A (en) * | 2015-10-14 | 2016-01-06 | 赵思萌 | One is exempted from towing automatic intelligent and is followed case and bag |
| CN205384517U (en) * | 2016-03-09 | 2016-07-13 | 田君泽 | It follows dolly to carry thing |
-
2016
- 2016-03-09 CN CN201610134036.8A patent/CN105629998A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103135548A (en) * | 2012-05-02 | 2013-06-05 | 广州市远能物流自动化设备科技有限公司 | Unmanned carrying trolley and drive control system thereof |
| CN103578253A (en) * | 2013-08-22 | 2014-02-12 | 杭州聚品网络科技有限公司 | Baby carrier control system based on intelligent device and use method of baby carrier control system |
| CN203786562U (en) * | 2014-03-20 | 2014-08-20 | 安徽国防科技职业学院 | Intelligent-carrying and automatic obstacle-avoidance electric vehicle control circuit |
| CN104834314A (en) * | 2015-05-25 | 2015-08-12 | 常州爱尔威智能科技有限公司 | Self-following intelligent trolley |
| CN204763881U (en) * | 2015-07-08 | 2015-11-18 | 郑镇泉 | Electronic booster unit and electronic year thing equipment |
| CN105005247A (en) * | 2015-08-13 | 2015-10-28 | 张真恺 | Following type transfer vehicle and operation method thereof |
| CN105212480A (en) * | 2015-10-14 | 2016-01-06 | 赵思萌 | One is exempted from towing automatic intelligent and is followed case and bag |
| CN205384517U (en) * | 2016-03-09 | 2016-07-13 | 田君泽 | It follows dolly to carry thing |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108974062A (en) * | 2018-07-03 | 2018-12-11 | 西安思源学院 | A kind of safeguard protection trolley |
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Application publication date: 20160601 |