CN105867391A - Automatic following system - Google Patents
Automatic following system Download PDFInfo
- Publication number
- CN105867391A CN105867391A CN201610433392.XA CN201610433392A CN105867391A CN 105867391 A CN105867391 A CN 105867391A CN 201610433392 A CN201610433392 A CN 201610433392A CN 105867391 A CN105867391 A CN 105867391A
- Authority
- CN
- China
- Prior art keywords
- transmitter
- infrared receiver
- mobile carrier
- control module
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
Abstract
The invention discloses an automatic following system, which comprises a moving carrier and an infrared transmitter, wherein the moving carrier comprises a control module, an infrared receiving module and a driving unit. The infrared receiving module is provided with three hollow cylindrical baffle plates in the horizontal direction and one hollow cylindrical baffle plate in the perpendicular direction; one infrared receiving tube is arranged in each hollow cylindrical baffle plate; the infrared receiving module and the driving unit are electrically connected with the control module; the driving unit is controlled by the control module to make the moving carrier carry out straight-going, left-steering and right-steering movement; the infrared receiving module can receive the signal of the infrared transmitter; the control module controls the moving carrier to steer or forwards move according to the signal received by the infrared receiving module, so as to make the moving carrier always automatically move behind the infrared transmitter in a following manner.
Description
Technical field
The present invention relates to a kind of automatic following system, including a mobile carrier and a RF transmitter.
Background technology
There is the technology much about intelligent-tracking at present, but, current technology still must use in specific environment, follow and be preset in the track on ground and move, or utilize the distance between ultrasonic sensing device detecting user and automatic carrier, follow user according to the distance between user and automatic carrier；This series products response speed is slow, and price is the most fairly expensive.
Summary of the invention
In order to solve above-mentioned problem of the prior art and defect, the present invention provides a kind of automatic following system, when mobile carrier is positioned at the range of signal of RF transmitter, mobile carrier is automatically followed RF transmitter and is moved and keep certain spacing distance with RF transmitter.
The main technical schemes of the present invention is:
A kind of automatic following system, it includes: mobile carrier and RF transmitter；This mobile carrier includes: control module, infrared receiver module, driver element；This driver element is arranged on mobile carrier and is electrically connected with controlling module, and control module can control this driver element make mobile carrier implement forward direction keep straight on, flicker to, flicker to movement；Described infrared receiver module is arranged on mobile carrier, this infrared receiver module is provided with the hollow cylinder baffle plate of three horizontal directions and the hollow cylinder baffle plate of a vertical direction, an infrared receiver tube it is respectively provided with in each hollow cylinder baffle plate, hollow cylinder baffle plate is used for blocking infrared signal, the diameter changing hollow cylinder baffle plate can change the signal range of receiving of infrared receiver tube in this hollow cylinder baffle plate, the hollow cylinder baffle plate of described infrared receiver module horizontal direction is respectively facing the front of mobile carrier, left and right；The signal of described RF transmitter is received by infrared receiver module, and the signal of this RF transmitter can carry out Signal Matching with controlling module；nullThis RF transmitter intermittently sends a signal to mobile carrier，When the infrared receiver tube of the vertical direction being arranged on infrared receiver module receives the signal of Signal Terminal，Mobile carrier stops any movement，When the infrared receiver tube towards mobile carrier front being arranged on infrared receiver module receives the signal of RF transmitter，Control module and control the craspedodrome of mobile carrier forward direction，When the infrared receiver tube towards mobile carrier right being arranged on infrared receiver module receives the signal of RF transmitter，Control module control mobile carrier and turn to the right movement，When the infrared receiver tube towards mobile carrier left being arranged on infrared receiver module receives the signal of RF transmitter，Control module control mobile carrier and turn to movement to the left，The signal that described control module receives according to infrared receiver module controls driver element，Make mobile carrier automatically follow described RF transmitter to move，Realize mobile carrier automatically to follow RF transmitter and move.
Compared with prior art, the invention has the beneficial effects as follows, mobile carrier reaction is quickly, it is easy to accomplish, with low cost.
Accompanying drawing explanation
Fig. 1 is infrared receiver module plan structure figure of the present invention.
Fig. 2 is infrared receiver module side block diagram of the present invention.
Fig. 3 is mobile carrier forward motion schematic side view of the present invention.
Fig. 4 is that mobile carrier left steering of the present invention moves embodiment schematic top plan view.
Fig. 5 is that mobile carrier right turn of the present invention moves embodiment schematic top plan view.
Main element symbol description in figure: 1, mobile carrier, 10, control module, 11, infrared receiver module, 110, hollow cylinder baffle plate, 111, first infrared receiver tube, 112, second infrared receiver tube, 113, 3rd infrared receiver tube, 115, 5th infrared receiver tube, 12, driver element, 2, RF transmitter, 21, RF transmitter position one, 22, RF transmitter position two, 23, RF transmitter position three, 24, RF transmitter position four, 25, RF transmitter position five, 26, RF transmitter position six.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, in detail narration inventive feature and advantage, and below example is the viewpoint further describing the present invention, but non-to limit scope of the invention anyways.
Refer to shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, the invention discloses a kind of automatic following system, include: mobile carrier 1 and RF transmitter 2.
Described mobile carrier 1 includes: control module 10, infrared receiver module 11, driver element 12.
Controlling module 10 to be arranged in mobile carrier 1, this control module 10 is electrically connected with driver element 12, and this control module 10 control driver element 12 can make mobile carrier 1 implement forward direction craspedodrome, flicker to, flicker to movement.
Infrared receiver module 11 is arranged on mobile carrier 1, and this infrared receiver module 11 is electrically connected with controlling module 10, and the signal that this infrared receiver module 11 receives is sent to control module 10.Such as Fig. 1, shown in Fig. 2, this infrared receiver module 11 is provided with the hollow cylinder baffle plate of three horizontal directions and a vertical direction, an infrared receiver tube it is respectively provided with in each hollow cylinder baffle plate, hollow cylinder baffle plate is used for blocking infrared signal, the diameter changing hollow cylinder baffle plate can change the signal range of receiving of infrared receiver tube in this hollow cylinder baffle plate, the hollow cylinder baffle plate of this infrared receiver module 11 horizontal direction is respectively facing the front of mobile carrier, left and right, wherein, second infrared receiver tube 112 is towards the front of mobile carrier, first infrared receiver tube 111 is towards the left of mobile carrier, 3rd infrared receiver tube 113 is towards the right of mobile carrier.
Described RF transmitter 2 is provided with at least one infrared emission tube, this RF transmitter 2 can carry out Signal Matching with controlling module 10, this RF transmitter 2 and this control module 10 can setting identification codes, after identification code certification between this RF transmitter 2 and this control module 10 completes, the signal of this RF transmitter 2 can be with the Signal Matching of infrared receiver module 11, this RF transmitter 2 sends a signal at interval of certain time (such as 0.5 second), described RF transmitter 2 is provided with on and off switch and controls send signal or stop sending signal.
The present invention automatically to follow principle as follows:
After opening the power supply of RF transmitter 2 and mobile carrier 1, if the infrared receiving tube of the whole horizontal direction of infrared receiver module 11 is all not received by the signal of RF transmitter 2, mobile carrier 1 flicker is to until the second infrared receiver tube 112 receives the signal of RF transmitter 2；When in random time, the first infrared receiver tube 111 receives the signal of RF transmitter 2, control module 10 control mobile carrier 1 flicker to, until the second infrared receiver tube 112 receives the signal of RF transmitter 2, after second infrared receiver tube 112 receives the signal of RF transmitter 2, mobile carrier 1 stops turning to movement；When in random time, the 3rd infrared receiver tube 113 receives the signal of RF transmitter 2, control module 10 control mobile carrier 1 flicker to, until the second infrared receiver tube 112 receives the signal of RF transmitter 2, after second infrared receiver tube 112 receives the signal of RF transmitter 2, mobile carrier 1 stops turning to movement；When in random time, the second infrared receiver tube 112 receives the signal of RF transmitter 2, control module 10 and control the craspedodrome of mobile carrier 1 forward direction, when in random time, the 5th infrared receiver tube 115 receives the signal of RF transmitter 2, control module 10 controls mobile carrier 1 and stops any movement, until the 5th infrared receiver tube 115 is not received by the signal of RF transmitter 2.
As it is shown on figure 3, mobile carrier 1 forward motion to follow principle as follows:
nullIn figure, dotted line represents the signal range of receiving of infrared receiver tube，When RF transmitter 2 is positioned at the front of mobile carrier 1，Forward motion and be positioned at the signal range of receiving of the second infrared receiver tube 112，Such as RF transmitter position 1，After second infrared receiver tube 112 receives signal，Control module 10 controls mobile carrier 1 forward direction and keeps straight on mobile，Distance Shortened between mobile carrier 1 and RF transmitter 2，RF transmitter 2 moves to RF transmitter position 2 22，It is positioned at the signal range of receiving of the 5th infrared receiver tube 115，Control module 10 controls mobile carrier 1 and stops any movement，Until the 5th infrared receiver tube 115 is not received by the signal of RF transmitter 2，In RF transmitter 2 moves forward to the signal range of receiving of the second infrared receiver tube 112，After second infrared receiver tube 112 receives signal，Control module 10 controls mobile carrier 1 forward direction and keeps straight on mobile，Circulate this flow process and can make to keep between mobile carrier 1 and RF transmitter 2 segment distance，The craspedodrome of mobile carrier 1 forward direction is followed RF transmitter 2 and is moved.
As shown in Figure 4, mobile carrier 1 left steering moves that to follow principle as follows:
In figure, dotted line represents the signal range of receiving of infrared receiver tube, when RF transmitter 2 is positioned at the signal range of receiving of the second infrared receiver tube 112, such as RF transmitter position 3 23, after second infrared receiver tube 112 receives signal, control module 10 controls mobile carrier 1 forward direction and keeps straight on mobile, when RF transmitter 2 is moved to the left and is positioned at the signal range of receiving of the first infrared receiver tube 111, such as RF transmitter position 4 24, control module 10 and control mobile carrier 1 flicker to movement, until the first infrared receiver tube 111 is not received by the signal of RF transmitter 2.Specifically stop when RF transmitter 2 is positioned at the signal range of receiving of the first infrared receiver tube 111 being moved to the left, now mobile carrier 1 flicker is to movement, RF transmitter 2 can return in the signal range of receiving of the second infrared receiver tube 112, hereafter mobile carrier 1 is followed principle according to mobile carrier 1 forward motion and is moved, until RF transmitter 2 is moved to the left and is positioned at the signal range of receiving of the first infrared receiver tube 111.Described mobile carrier 1 left steering moves follows principle and achieves RF transmitter 2 when being moved to the left, and mobile carrier 1 left steering follows movement.
As it is shown in figure 5, mobile carrier 1 right turn moves, to follow principle as follows:
In figure, dotted line represents the signal range of receiving of infrared receiver tube, when RF transmitter 2 is positioned at the signal range of receiving of the second infrared receiver tube 112, such as RF transmitter position 5 25, after second infrared receiver tube 112 receives signal, control module 10 controls mobile carrier 1 forward direction and keeps straight on mobile, when RF transmitter 2 moves right and is positioned at the signal range of receiving of the 3rd infrared receiver tube 113, such as RF transmitter position 6 26, control module 10 and control mobile carrier 1 flicker to movement, until the 3rd infrared receiver tube 113 is not received by the signal of RF transmitter 2.Specifically stop when RF transmitter 2 is positioned at the signal range of receiving of the 3rd infrared receiver tube 113 moving right, now mobile carrier 1 flicker is to movement, RF transmitter 2 can return in the signal range of receiving of the second infrared receiver tube 112, hereafter mobile carrier 1 is followed principle according to mobile carrier 1 forward motion and is moved, until RF transmitter 2 moves right and is positioned at the signal range of receiving of the 3rd infrared receiver tube 113.Described mobile carrier 1 right turn moves follows principle and achieves RF transmitter 2 when moving right, and mobile carrier 1 right turn follows movement.
Above-mentioned detailed description is illustrating of a possible embodiments for the present invention; this embodiment also is not used to limit the present invention; it is engaged in any amendment that this skilled person made under without departing from the spirit and principles in the present invention, replaces, improve; all equivalences made without departing from skill of the present invention spirit are implemented or change, are intended to be limited solely by the scope of patent protection of the present invention.
Claims (2)
1. an automatic following system, it is characterised in that: a mobile carrier, a RF transmitter；Described mobile carrier includes: one controls module, and this control module is located in this mobile carrier；One infrared receiver module, this infrared receiver module is provided with the hollow cylinder baffle plate of three horizontal directions and a vertical direction, is respectively provided with an infrared receiver tube in each hollow cylinder baffle plate, and this infrared receiver module is electrically connected with this control module；One driver element, is electrically connected with in being located at this mobile carrier and with this control module, and is made mobile carrier implement forward direction craspedodrome, left steering, the movement of right turn by this control module control driver element；The signal of described RF transmitter can carry out Signal Matching with controlling module.
Automatic following system the most according to claim 1, it is characterized in that: this RF transmitter and this control module can setting identification codes, after identification code certification between this RF transmitter and this control module completes, the signal of this RF transmitter can be with the Signal Matching of infrared receiver module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610433392.XA CN105867391A (en) | 2016-06-18 | 2016-06-18 | Automatic following system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610433392.XA CN105867391A (en) | 2016-06-18 | 2016-06-18 | Automatic following system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105867391A true CN105867391A (en) | 2016-08-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610433392.XA Pending CN105867391A (en) | 2016-06-18 | 2016-06-18 | Automatic following system |
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| Country | Link |
|---|---|
| CN (1) | CN105867391A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108646750A (en) * | 2018-06-08 | 2018-10-12 | 杭州电子科技大学 | Based on UWB non-base station portables factory AGV follower methods |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105022396A (en) * | 2014-04-29 | 2015-11-04 | 世洋科技股份有限公司 | Forward, left and right following device and following control method thereof |
-
2016
- 2016-06-18 CN CN201610433392.XA patent/CN105867391A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105022396A (en) * | 2014-04-29 | 2015-11-04 | 世洋科技股份有限公司 | Forward, left and right following device and following control method thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108646750A (en) * | 2018-06-08 | 2018-10-12 | 杭州电子科技大学 | Based on UWB non-base station portables factory AGV follower methods |
| CN108646750B (en) * | 2018-06-08 | 2021-05-07 | 杭州电子科技大学 | Portable factory AGV following method based on UWB non-base station |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160817 |
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| WD01 | Invention patent application deemed withdrawn after publication |