CN105911999A - Mobile luggage case with automatic following and obstacle avoiding functions and using method thereof - Google Patents
Mobile luggage case with automatic following and obstacle avoiding functions and using method thereof Download PDFInfo
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- CN105911999A CN105911999A CN201610453797.XA CN201610453797A CN105911999A CN 105911999 A CN105911999 A CN 105911999A CN 201610453797 A CN201610453797 A CN 201610453797A CN 105911999 A CN105911999 A CN 105911999A
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- 230000006870 function Effects 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000008447 perception Effects 0.000 claims abstract description 18
- 230000004927 fusion Effects 0.000 claims abstract description 15
- 230000004888 barrier function Effects 0.000 claims description 34
- 238000001514 detection method Methods 0.000 claims description 13
- 230000007613 environmental effect Effects 0.000 claims description 12
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A45—HAND OR TRAVELLING ARTICLES
- A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
- A45C5/00—Rigid or semi-rigid luggage
- A45C5/04—Trunks; Travelling baskets
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides a mobile luggage case with automatic following and obstacle avoiding functions and a using method thereof. The mobile luggage case with automatic following and obstacle avoiding functions comprises a mobile platform module, an environment perception module, a data fusion location module, and a following obstacle avoiding processing module, wherein the mobile platform module is used for mounting and driving the main body of the mobile luggage case; the environment perception module is used for perceiving the environment information around the mobile luggage case to obtain the distance information between the mobile luggage case and the obstacle in the surrounding environment and the luggage case moving road information; the data fusion location module is used for fusing environment information acquired by multiple sensors and realizing relative location between the mobile luggage case and a pedestrian; and the following obstacle avoiding processing module is used for planning the path for the mobile luggage case following the pedestrian, thereby realizing automatic following and obstacle avoiding. The mobile luggage case with automatic following and obstacle avoiding functions is able to adapt to a complex environment, the obstacle can be avoided safely and reliably, the owner can be followed, and great convenience is brought to travelling of the pedestrian.
Description
Technical field
The present invention relates to mobile luggage art, has, in particular it relates to a kind of, the mobile luggage independently following barrier avoiding function
Case and using method thereof.
Background technology
Carrying luggage during trip and bring a lot of inconvenience, increasing people wants to convenient trip.Have certainly
The main mobile luggage case following barrier avoiding function, can be autonomous follow owner, the both hands of release owner.At mobile luggage case
Independently follow in avoidance, the comprehensive and accuracy of the reliability of location and accuracy, environment sensing directly affects whole
The safety and reliability of individual mobile luggage case system.The mode of location mainly has bluetooth, wireless, Zigbee, vision etc.
Location mode, environment sensing mainly has the modes such as infrared, ultrasonic wave, laser range sensor, vision.
Only it is difficult to reliably, position accurately by single sensor, by wireless location, odometer, active light range finding
Carry out data fusion can realize high accuracy and the location of high reliability etc. multiple sensors.
Only it is difficult to the most accurately perception environment by single sensor, multiple sensors is formed environment sensing module, can
With comprehensively, accurate perception environmental information, in detection environment, barrier carries out Real Time Obstacle Avoiding, the concavo-convex situation on detection ground
Prevent luggage case from falling down, it is ensured that the walking that luggage case is the most safe and reliable.
Summary of the invention
For defect of the prior art, it is an object of the invention to provide a kind of shifting having and independently following barrier avoiding function
Dynamic luggage case and using method thereof, it is possible to safe independently follows owner at one's side, it is achieved the convenient trip of people.
What one aspect of the invention provided has the mobile luggage case independently following barrier avoiding function, including: mobile platform
Module, environment sensing module, data fusion positioning module and follow avoidance processing module；
Described mobile platform module, for installing and drive the main body of mobile luggage case；
Described environment sensing module, moves the environmental information around luggage case for perception, obtain mobile luggage case with
The range information of barrier and the concavo-convex information on ground in surrounding environment, so will mobile luggage case with in surrounding environment
The range information of barrier and the concavo-convex information on ground are uploaded to data fusion positioning module and follow avoidance process mould
Block；
Described data fusion positioning module, for realizing the relative positioning of mobile luggage case and pedestrian, and then generation is fixed
Position information；
Described follow avoidance processing module, for according to mobile luggage case and the range information of barrier in surrounding environment,
Concavo-convex information and the location information planning on ground move luggage case and follow the path of pedestrian, and then realize mobile platform
The avoidance of module is independently followed.
Preferably, described environment sensing module includes active light range finder module, ultrasonic distance measuring module and ground detection
Module；
Wherein, described active light range finder module and ultrasonic distance measuring module move the environment around luggage case for perception
Information, obtains mobile luggage case and the range information of barrier in surrounding environment；
Described ground detection module is for detecting the concavo-convex information on ground.
Preferably, described active light range finder module uses laser triangulation system, moves luggage case week for perception
Enclose the environmental information in the range of 360 degree；
Described ultrasonic distance measuring module includes several ultrasonic distance-measuring sensors, several ultrasonic distance-measuring sensors
Along moving the circumferentially distributed of luggage case, move the environmental information of 360 degree of scopes around luggage case for perception；
Described ground detection module includes several laser, for the concavo-convex information of perceiving ground.
Preferably, described data fusion positioning module includes odometer and wireless locating module,
Described odometer, for obtaining pedestrian, the run trace of mobile luggage case and speed；
Described wireless locating module includes wireless launcher and wireless receiver, and wireless launcher is used for being placed on pedestrian
With, wireless receiver is arranged on luggage case, and described wireless locating module is used for realizing pedestrian and mobile luggage case
Between relative positioning.
Preferably, follow described in avoidance processing module include real time scan submodule, target location determine submodule with
And path planning submodule；
Described real time scan submodule, is used for controlling environment sensing module real time scan ambient condition information, obtains week
The distribution of obstacles information in collarette border and the concavo-convex information on ground；
Target location determines submodule, for calculating the relative position of pedestrian and mobile luggage case according to location information,
Determine the target location of mobile luggage case；
Path planning submodule, recessed for according to target location, the distribution of obstacles information of surrounding environment and ground
The safety that convex information planning goes out is without touching path, it is achieved that moves luggage case follows avoidance in real time.
Preferably, also include safe early warning module,
Described safe early warning module, exceedes threshold value set in advance for the distance between pedestrian and mobile luggage case
Time, send early warning to pedestrian.
Preferably, also include that follow the mode selects module,
Follow the mode selects module, follows position and following distance for set mobile luggage case and pedestrian；Described
Follow position to include: the dead astern of pedestrian, rear flank side, front.
Preferably, also include manually following module；
When unlatching manually follows module, drive mobile luggage case manually；Module is manually followed when closing
Time, mobile luggage case carries out automatic obstacle avoiding and follows.
The using method of the described mobile luggage case independently following barrier avoiding function that another aspect of the invention provides,
Comprise the steps:
Step A1: environment sensing module real time scan ambient condition information, obtains the distribution of obstacles letter of surrounding environment
Breath and the concavo-convex information on ground；
Step A2: determine the target location of mobile luggage case according to the position of pedestrian；
Step A3: go out according to the concavo-convex information planning of target location, the distribution of obstacles information of surrounding environment and ground
Safety without touching path, it is achieved mobile luggage case follow avoidance in real time.
Compared with prior art, the present invention has a following beneficial effect:
1, the present invention can the most accurately perception environmental information, there is higher positioning precision, use environment sensing
Sensor, the obstacle information of detection environment that can be real-time and the concavo-convex situation on ground；
2, the mobile luggage case in the present invention can follow owner safely and reliably, has safety precaution function, Ke Yi
Switch between automatic mode and manual mode；
3, the mobile luggage case in the present invention can adapt to complex environment, follows owner safely and reliably, goes on a journey to pedestrian
Bring great convenience.
Accompanying drawing explanation
By the detailed description non-limiting example made with reference to the following drawings of reading, the further feature of the present invention,
Purpose and advantage will become more apparent upon:
The system block diagram with the mobile luggage case independently following barrier avoiding function that Fig. 1 provides for the present invention.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following example will assist in those skilled in the art
Member is further appreciated by the present invention, but limits the present invention the most in any form.It should be pointed out that, the common skill to this area
For art personnel, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement.These broadly fall into
Protection scope of the present invention.
At the present embodiment, what the present invention provided has the mobile luggage case independently following barrier avoiding function, including: mobile platform
Module, environment sensing module, data fusion positioning module and follow avoidance processing module；
Described mobile platform module, for installing and drive the main body of mobile luggage case；
Described environment sensing module, moves the environmental information around luggage case for perception, obtains mobile luggage case and surrounding
The range information of barrier and the concavo-convex information on ground in environment, and then will mobile luggage case and barrier in surrounding environment
The concavo-convex information on range information and ground is uploaded to data fusion positioning module and follows avoidance processing module；
Described data fusion positioning module, for realizing the relative positioning of mobile luggage case and pedestrian, and then generates location letter
Breath；It is specially and processes multiple sensors such as odometer, wireless locating module, active light range finder module, ultrasonic ranging mould
The information that block and ground detection module collect, obtains pedestrian's coordinate under mobile luggage case coordinate system；
Described follow avoidance processing module, for according to mobile luggage case and the range information of barrier in surrounding environment,
Concavo-convex information and the location information planning in face move luggage case and follow the path of pedestrian, and then realize mobile platform module
Avoidance is independently followed.
The environment sensing module that the present invention uses can obstacle information around perception accurately and terrestrial information, the present invention
Ensure that described mobile luggage case safe and reliable in complex environment can follow avoidance.
Described environment sensing module includes active light range finder module, ultrasonic distance measuring module and ground detection module；
Wherein, described active light range finder module and ultrasonic distance measuring module move the environmental information around luggage case for perception,
Obtain mobile luggage case and the range information of barrier in surrounding environment；
Described ground detection module is for detecting the concavo-convex information on ground.
Described active light range finder module uses laser triangulation system, moves 360 degree of scopes around luggage case for perception
Interior environmental information；Described ultrasonic distance measuring module includes several ultrasonic distance-measuring sensors, several ultrasonic rangings
Sensor is circumferentially distributed along mobile luggage case, moves the environmental information of 360 degree of scopes around luggage case for perception；
Described ground detection module includes several laser, for the concavo-convex information of perceiving ground.
Described data fusion positioning module includes odometer and wireless locating module, described odometer, be used for obtaining pedestrian,
The run trace of mobile luggage case and speed；
Described wireless locating module includes wireless launcher and wireless receiver, and wireless launcher is used for being placed on pedestrian,
Wireless receiver is arranged on luggage case, and described wireless locating module is relative for realize between pedestrian with mobile luggage case
Location.
Described avoidance processing module of following includes that real time scan submodule, target location determine submodule and path planning
Module；
Described real time scan submodule, is used for controlling environment sensing module real time scan ambient condition information, obtains ring around
The distribution of obstacles information in border and the concavo-convex information on ground；
Target location determines submodule, for calculating the relative position of pedestrian and mobile luggage case according to location information, determines
The target location of mobile luggage case；
Path planning submodule, for according to target location, the distribution of obstacles information of surrounding environment and the concavo-convex letter on ground
The safety that breath is cooked up is without touching path, it is achieved that moves luggage case follows avoidance in real time.
What the present invention provided has the mobile luggage case independently following barrier avoiding function, also includes safe early warning module,
Described safe early warning module, when the distance between pedestrian and mobile luggage case exceedes threshold value set in advance,
Early warning is sent, it is ensured that mobile luggage case is owner at one's side, it is ensured that the safety of mobile luggage case to pedestrian.
What the present invention provided has the mobile luggage case independently following barrier avoiding function, also includes that follow the mode selects module,
Follow the mode selects module, follows position and following distance for set mobile luggage case and pedestrian；Described follow
Position includes: the dead astern of pedestrian, rear flank side, front.Mobile luggage case can follow the rear owner, rear flank side,
Front, owner can carry out from main separation, and mobile luggage case can set with the distance of owner,
What the present invention provided has the mobile luggage case independently following barrier avoiding function, also includes manually following module；
When unlatching manually follows module, drive mobile luggage case manually；When closedown manually follows module,
Mobile luggage case carries out automatic obstacle avoiding and follows.
The using method of the described mobile luggage case independently following barrier avoiding function that the present invention provides, comprises the steps:
Step A1: environment sensing module real time scan ambient condition information, obtains the distribution of obstacles information of surrounding environment
Concavo-convex information with ground；
Step A2: determine the target location of mobile luggage case according to the position of pedestrian；
Step A3: go out according to the concavo-convex information planning of target location, the distribution of obstacles information of surrounding environment and ground
Safety is without touching path, it is achieved that moves luggage case follows avoidance in real time.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in
Stating particular implementation, those skilled in the art can make various deformation or amendment within the scope of the claims,
This has no effect on the flesh and blood of the present invention.
Claims (9)
1. one kind has the mobile luggage case independently following barrier avoiding function, it is characterised in that including: mobile platform module,
Environment sensing module, data fusion positioning module and follow avoidance processing module；
Described mobile platform module, for installing and drive the main body of mobile luggage case；
Described environment sensing module, moves the environmental information around luggage case for perception, obtains mobile luggage case and surrounding
The range information of barrier and the concavo-convex information on ground in environment, and then will mobile luggage case and barrier in surrounding environment
The concavo-convex information on range information and ground is uploaded to data fusion positioning module and follows avoidance processing module；
Described data fusion positioning module, for realizing the relative positioning of mobile luggage case and pedestrian, and then generates location letter
Breath；
Described follow avoidance processing module, for according to mobile luggage case and the range information of barrier in surrounding environment,
Concavo-convex information and the location information planning in face move luggage case and follow the path of pedestrian, and then realize mobile platform module
Avoidance is independently followed.
The most according to claim 1 have the mobile luggage case independently following barrier avoiding function, it is characterised in that institute
State environment sensing module and include active light range finder module, ultrasonic distance measuring module and ground detection module；
Wherein, described active light range finder module and ultrasonic distance measuring module move the environmental information around luggage case for perception,
Obtain mobile luggage case and the range information of barrier in surrounding environment；
Described ground detection module is for detecting the concavo-convex information on ground.
The most according to claim 2 have the mobile luggage case independently following barrier avoiding function, it is characterised in that institute
State active light range finder module and use laser triangulation system, move around luggage case the ring in the range of 360 degree for perception
Environment information；
Described ultrasonic distance measuring module includes several ultrasonic distance-measuring sensors, and several ultrasonic distance-measuring sensors are along moving
Move the circumferentially distributed of luggage case, move the environmental information of 360 degree of scopes around luggage case for perception；
Described ground detection module includes several laser, for the concavo-convex information of perceiving ground.
The most according to claim 1 have the mobile luggage case independently following barrier avoiding function, it is characterised in that institute
State data fusion positioning module and include odometer and wireless locating module,
Described odometer, for obtaining pedestrian, the run trace of mobile luggage case and speed；
Described wireless locating module includes wireless launcher and wireless receiver, and wireless launcher is used for being placed on pedestrian,
Wireless receiver is arranged on luggage case, and described wireless locating module is relative for realize between pedestrian with mobile luggage case
Location.
The mobile luggage case independently following barrier avoiding function the most according to claim 1, it is characterised in that described with
Include that real time scan submodule, target location determine submodule and path planning submodule with avoidance processing module；
Described real time scan submodule, is used for controlling environment sensing module real time scan ambient condition information, obtains ring around
The distribution of obstacles information in border and the concavo-convex information on ground；
Target location determines submodule, for calculating the relative position of pedestrian and mobile luggage case according to location information, determines
The target location of mobile luggage case；
Path planning submodule, for according to target location, the distribution of obstacles information of surrounding environment and the concavo-convex letter on ground
The safety that breath is cooked up is without touching path, it is achieved that moves luggage case follows avoidance in real time.
The mobile luggage case independently following barrier avoiding function the most according to claim 1, it is characterised in that also include
Safe early warning module,
Described safe early warning module, when the distance between pedestrian and mobile luggage case exceedes threshold value set in advance,
Early warning is sent to pedestrian.
The mobile luggage case independently following barrier avoiding function the most according to claim 1, it is characterised in that also include
Follow the mode selects module,
Follow the mode selects module, follows position and following distance for set mobile luggage case and pedestrian；Described follow
Position includes: the dead astern of pedestrian, rear flank side, front.
The mobile luggage case independently following barrier avoiding function the most according to claim 1, it is characterised in that also include
Manually follow module；
When unlatching manually follows module, drive mobile luggage case manually；When closedown manually follows module,
Mobile luggage case carries out automatic obstacle avoiding and follows.
9. a using method for the mobile luggage case independently following barrier avoiding function described in any one of claim 1 to 8,
It is characterized in that, comprise the steps:
Step A1: environment sensing module real time scan ambient condition information, obtains the distribution of obstacles information of surrounding environment
Concavo-convex information with ground；
Step A2: determine the target location of mobile luggage case according to the position of pedestrian；
Step A3: go out according to the concavo-convex information planning of target location, the distribution of obstacles information of surrounding environment and ground
Safety is without touching path, it is achieved that moves luggage case follows avoidance in real time.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610453797.XA CN105911999A (en) | 2016-06-21 | 2016-06-21 | Mobile luggage case with automatic following and obstacle avoiding functions and using method thereof |
| PCT/CN2017/081567 WO2017219751A1 (en) | 2016-06-21 | 2017-04-24 | Mobile suitcase having automatic following and obstacle avoidance functions, and using method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610453797.XA CN105911999A (en) | 2016-06-21 | 2016-06-21 | Mobile luggage case with automatic following and obstacle avoiding functions and using method thereof |
Publications (1)
| Publication Number | Publication Date |
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| CN105911999A true CN105911999A (en) | 2016-08-31 |
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| CN201610453797.XA Pending CN105911999A (en) | 2016-06-21 | 2016-06-21 | Mobile luggage case with automatic following and obstacle avoiding functions and using method thereof |
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| WO (1) | WO2017219751A1 (en) |
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