CN107713230A - A kind of intelligence follows ride instead of walk case and bag and its control method - Google Patents
A kind of intelligence follows ride instead of walk case and bag and its control method Download PDFInfo
- Publication number
- CN107713230A CN107713230A CN201710916075.8A CN201710916075A CN107713230A CN 107713230 A CN107713230 A CN 107713230A CN 201710916075 A CN201710916075 A CN 201710916075A CN 107713230 A CN107713230 A CN 107713230A
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- CN
- China
- Prior art keywords
- bag
- case
- walk
- module
- intelligent terminal
- 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.)
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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
- A45C5/045—Travelling baskets
-
- A—HUMAN NECESSITIES
- A45—HAND OR TRAVELLING ARTICLES
- A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
- A45C13/00—Details; Accessories
- A45C13/18—Devices to prevent theft or loss of purses, luggage or hand carried bags
- A45C13/24—Devices for sound-producing, piercing, gas-discharging, or the like
-
- A—HUMAN NECESSITIES
- A45—HAND OR TRAVELLING ARTICLES
- A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
- A45C15/00—Purses, bags, luggage or other receptacles covered by groups A45C1/00 - A45C11/00, combined with other objects or articles
-
- A—HUMAN NECESSITIES
- A45—HAND OR TRAVELLING ARTICLES
- A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
- A45C5/00—Rigid or semi-rigid luggage
- A45C5/14—Rigid or semi-rigid luggage with built-in rolling means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K17/00—Cycles not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
-
- 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
Abstract
The invention discloses a kind of intelligence to follow ride instead of walk case and bag and its control method, and the intelligence follows case and bag of riding instead of walk, including：Casing, the pedal for being accommodated in bottom half, two front-wheels for being arranged at bottom half, two trailing wheels being arranged on pedal, wherein, two front-wheels are electric walking wheel, and pallet body, which can be received, is stacked to bottom half, and the rear portion of pedal is folding pedal position；Control system, it is arranged on casing, including processor, the motion control unit for controlling electric walking wheel one and two, follows module, wireless receiving module, alarm module and dc source；And intelligent terminal, independently of casing, including dc source, wearing module, the remote control module coordinated with wireless receiving module and the acceleration transducer for gathering intelligent terminal operation acceleration.This case and bag have follow, ride instead of walk automatically, be remotely controlled traveling, with loss alarm, closely anti-lost warning function, break off relations and illegally use function, especially used on ultra-large type case and bag.
Description
Technical field
The present invention relates to a kind of intelligence to follow ride instead of walk case and bag and its control method.
Background technology
Ultra-large type case and bag are in border tourism or commercial affairs, and using very extensive, its volume is big, luggage and articles can be received disposably
Receive, do shopping, have dinner, hotel occupancy, safety check, delivery when it is very convenient.
The bottom of ultra-large type case and bag is mounted on wheel, typically uses implementation mode, due to heaviness, it is necessary to certain body
Power, less it is applicable compared with weak person for the muscle power such as Ms, children.
Chinese patent literature CN205405263U discloses a kind of intelligence based on ultrasonic wave positioning and follows luggage case, can
Intelligence is followed, and automatically controls following distance, and the automatic running of convenient luggage case is carried.
Chinese patent literature CN105708071A discloses follows intelligent case and bag automatically based on indoor positioning, and case and bag are with master
The monitoring in real time of people's distance, the stolen worry of case and bag that solves that fears are entertained that.
People's walking speed is generally relatively slow, follows the speed of the electric walking wheel of case and bag more much faster than walking speed automatically,
The two speed mismatches, it will usually the situation that case and bag chase after people occurs, for the weaker people of muscle power, takes muscle power, go on a journey
Experience is poor.
The content of the invention
It is an object of the invention to provide a kind of intelligence to follow case and bag of riding instead of walk, to solve case and bag with amiable problem of riding instead of walk.
The control method for case and bag of riding instead of walk is followed the present invention also aims to provide a kind of intelligence, to solve case and bag with amiable
Ride instead of walk problem.
Therefore, the invention provides a kind of intelligence to follow case and bag of riding instead of walk, including：Casing, the pedal for being accommodated in bottom half,
Two front-wheels, two trailing wheels being arranged on pedal of bottom half are arranged at, wherein, two front-wheels are electric walking wheel, pallet body
It can receive and be stacked to bottom half, the rear portion of pedal is folding pedal position；Control system, it is arranged on casing, including processing
Device, the motion control unit for controlling electric walking wheel one and two, follow module, wireless receiving module, alarm module and straight
Flow power supply；And intelligent terminal, independently of casing, including dc source, with described follow module to communicate cooperation to be followed
The remote control module and run for gathering intelligent terminal that distance and the wearing module of deflection and wireless receiving module coordinate
The acceleration transducer of acceleration.
According to another aspect of the present invention, there is provided a kind of control that case and bag of riding instead of walk are followed according to intelligence described above
Method, comprise the following steps：Case and bag walking mode is selected, the walking mode includes ride instead of walk pattern and follow the mode, when selection generation
During step mode, advanced by the use of intelligent terminal as remote control control case and bag, when selecting follow the mode, case and bag follow intelligence automatically
Terminal is advanced.
According to the present invention intelligence follow case and bag of riding instead of walk, have follow, ride instead of walk automatically, be remotely controlled traveling, with loss alarm and closely
Apart from anti-lost warning function, these functions are controlled by intelligent terminal, can break off relations illegal use, and intelligence of the invention follows case of riding instead of walk
Bag solves the cumbersome problem of case and bag carrying, is particularly suitable for using on ultra-large type case and bag.
In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages.
Below with reference to figure, the present invention is further detailed explanation.
Brief description of the drawings
The Figure of description for forming the part of the application is used for providing a further understanding of the present invention, and of the invention shows
Meaning property embodiment and its illustrate be used for explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the schematic diagram for the state of riding instead of walk that intelligence according to an embodiment of the invention follows case and bag of riding instead of walk；
Fig. 2 is the schematic diagram for the following state that intelligence according to an embodiment of the invention follows case and bag of riding instead of walk；
Fig. 3 is that intelligence according to an embodiment of the invention follows the control system for case and bag of riding instead of walk and the structural frames of intelligent terminal
Figure；
Fig. 4 is the flow chart for the follow-up control method that intelligence according to an embodiment of the invention follows case and bag of riding instead of walk；And
Fig. 5 is that intelligence according to an embodiment of the invention follows the bluetooth for case and bag of riding instead of walk to detect anti-lost flow chart.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 to Fig. 5 is shown according to some embodiments of the present invention.
With reference to referring to Figures 1 and 2, intelligently follow ride instead of walk case and bag include casing 10, be accommodated in bottom half pedal 12,
Two front-wheels (electric walking wheel) 11 of bottom half setting, two trailing wheels (driven pulley) 13 set on pedal 12.
Wherein, pallet body is received and is stacked to bottom half, and the rear portion of pedal is folding pedal position 14, the folding pin
Stepping on portion 14 relative to pedal there is horizontal development and vertical receive to fold two states.The design solves monoblock pedal because length is spent
Length can not receive the problem of being stacked to bottom half.In the present invention, front and back wheel is one in front and one in back set on the thickness direction of casing, such as
The span of this front and back wheel is smaller.
As shown in figure 3, the intelligence follow case and bag of riding instead of walk also include the control system 30 that is set on casing and independently of
The intelligent terminal 20 of casing.
The control system 30 includes processor 35, the motion control for controlling electric walking wheel one and electric walking wheel 2 11
Unit 38 processed, follow module 31, wireless receiving module 33, alarm module 36 and dc source 34.Intelligent terminal 20 includes and institute
State and follow the communication of module 31 to coordinate to obtain following distance L and deflection A wearing module 21, coordinate with wireless receiving module 33
Remote control module 23 and acceleration transducer 24 for gathering intelligent terminal operation acceleration a.
Wherein, walked when riding state instead of walk by remote control module control cabinet packet rows, in following state by system for tracking control cabinet
The bag speed of travel and direction.
Fig. 1 shows that intelligence follows the state of riding instead of walk for case and bag of riding instead of walk, as shown in figure 1, pedal 12 is pulled out from case and bag bottom, from
Pull bar 15 is pulled out at the top of case and bag, selects pattern of riding instead of walk, personnel stand on pedal 12, used using intelligent terminal 20 as remote control,
The traveling or parking of case and bag are manipulated, turning to be adjusted by centre of body weight controls, and when centre of body weight moves to left, left side rear wheel resistance increases
Greatly, case and bag deflect to the left, and when centre of body weight moves to right, right side wheels resistance increases, and case and bag deflect to the right, so realize case and bag generation
Step turns to.Preferably, pedal is provided with pedal cleaning vehicle structure, realizes brake.
Fig. 2 shows that intelligence follows the following state for case and bag of riding instead of walk, as shown in Fig. 2 needing to choose whether to draw according to span
Go out pedal, select follow the mode.
Wherein, following principle is as follows：Module is worn relative to tracking using following the communication of module and wearing module to obtain
The relative coordinate of module, i.e. distance L and deflection, the acceleration a of module is worn in collection, realizes model- following control.
The case and bag follow-up control method of the present invention is as follows：
S10, setting or selected following distance L0, servo-actuated range L 0+M1, such as servo-actuated scope is 1.5-3.5 rice；
S20, utilize the distance L, the deflection that follow the wearing module on module collection case and bag to personnel set on case and bag
A, and gather the acceleration a for wearing module；And
S30, the control module of case and bag plan the walking path of case and bag according to the distance L, deflection A and acceleration a of collection
With walking acceleration a ' so that case and bag follow front wearing module.During following, when actual range L be less than follow away from
From L0, control electric wheel hub power-off, to reduce case and bag speed or stopping, when actual range, which exceedes, follows scope, case and bag are with most
High-power traveling (general speed limit is 10-15 kilometers/hour) and alarm does not catch up with speed.
Alternatively, the acceleration a ' of case and bag and the acceleration a of personnel relation are：A '=a+F (L-L0), wherein, work as L-
L0≤0, F (L-L0)=- a；As M1 ﹥ L-L0 ﹥ 0, then F (L-L0) ∝ L-L0；As L-L0 ﹥ M1, F (L-L0)=T (steady state value), and
And alarmed, to illustrate case and bag not catch up with personnel's speed.
According to the follower method of the present invention, following distance can be set, it is allowed to which personnel switch between running and strolling, case and bag
Alarmed when following ineffective, there is the anti-lost function of case and bag.
The present invention follow module and wear module between preferably by no-load communication techniques (Ultra Wideband,
UWB tracking) is realized.Wherein, it is the UWB modules with miniature array antenna to follow module, wears module and is integrated in intelligent terminal
In, the intelligent terminal such as mobile phone, PAD, intelligent watch.When following module to be communicated with wearing module, pass through flying for electromagnetic wave
Row time measurement goes out personnel to the distance of robot, and personnel are calculated relative to case by the phase difference on wechat aerial array
The direction of bag, these information are given to the processor of case and bag, by motion control unit come control the speed of electric walking wheel and
Direction, purpose is followed so as to reach intelligence.
Ultrasonic wave targeting scheme volume is big in the prior art, and the posture for the label worn to personnel requires, and slightly blocks
Will lossing signal, and camera or laser radar follow direction easily to be caused failure by sunlight and the influence blocked, hold
Easily with losing.Originally follow scheme strong antijamming capability, do not receive the influence of the environment such as optical fiber, it is low in energy consumption, the advantages of small volume.
The intelligence of the present invention follows case and bag of riding instead of walk to additionally provide remote control mode, and before now case and bag are traveling in, personnel hold intelligence
Energy terminal, intelligent terminal instruct, the wheel walking of control electric walking as remote control for sending.It is adapted to adult and children's retinue
Occasion, such as children station ridden instead of walk on pedal, by adult be remotely controlled case and bag advance, or replace, to increase journey enjoyment.
In one embodiment, as shown in figure 3, being additionally provided with bluetooth module 32 in the control system of case and bag.Wherein, the bluetooth mould
Block 32 is the bluetooth module of dual-mode, and the bluetooth module 32 matches with intelligent terminal, realizes the transmitting-receiving of location data, such as Fig. 5
It is shown, when mobile phone can't detect bluetooth module 32, buzzer alarmed, alarm distance scope typically within 100 meters
It is interior.In the present embodiment, by being combined with loss alarm and bluetooth alarm, the anti-lost performance of case and bag is improved, is particularly, case and bag
Follow after personnel, when personnel do not perceive when case and bag are with loss alarm, anti-lost benefit is provided by bluetooth alarm bluetooth alarm
Rescue measure.
Alternatively, the control system 30 of case and bag also includes locating module 37, the locating module be the Big Dipper/GPS dual-mode positioning+
LBS architecture modules, using Big Dipper positioning or GPS location when outdoor, positioned when indoor using LBS.The positioning
Function is used for case and bag position enquiring, as anti-lost measure.
In one embodiment, control system is additionally provided with weighing sensor (not shown), and the weighing sensor is arranged on
On pedal, the weight that pedal is born is gathered, automatically switches to the pattern of riding instead of walk when judging and there are personnel to ride instead of walk, and judging personnel
Alarm is given when overweight, beyond bearing capacity, refusal is ridden instead of walk, and is recorded.
In one embodiment, two front-wheels are driven pulley, and two trailing wheels being arranged on pedal are electric walking wheel.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (5)
1. a kind of intelligence follows case and bag of riding instead of walk, it is characterised in that including：
Casing, the pedal for being accommodated in bottom half, two front-wheels for being arranged at bottom half, two trailing wheels being arranged on pedal, its
In, two front-wheels are electric walking wheel, and pallet body, which can be received, is stacked to bottom half, and the rear portion of pedal is folding pedal position；
Control system, be arranged on casing, including processor, the motion control unit for controlling electric walking wheel one and two,
Follow module, wireless receiving module, alarm module and dc source；And
Intelligent terminal, independently of casing, including dc source, with described module is followed to communicate cooperation to obtain following distance and side
The remote control module and run acceleration for gathering intelligent terminal that wearing module and wireless receiving module to angle coordinate
Acceleration transducer.
2. intelligence according to claim 1 follows case and bag of riding instead of walk, it is characterised in that the control system also includes bluetooth mould
Block, the intelligent terminal are used to be alarmed when detecting that the bluetooth module connection is lost.
3. a kind of intelligence according to claim 1 or 2 follows the control method for case and bag of riding instead of walk, it is characterised in that including with
Lower step：
Case and bag walking mode is selected, the walking mode includes ride instead of walk pattern and follow the mode,
When pattern is ridden in selection instead of walk, advanced by the use of intelligent terminal as remote control control case and bag, when selecting follow the mode, case and bag
Automatically intelligent terminal is followed to advance.
4. intelligence according to claim 3 follows the control method for case and bag of riding instead of walk, it is characterised in that the case and bag automatically with
Advance and comprise the following steps with intelligent terminal：
Setting or selected following distance L0, servo-actuated range L0+M1；
Distance L, deflection A of the module collection case and bag to the wearing module of intelligent terminal are followed using on case and bag, and is gathered
Wear the acceleration a of module；And
The processor of case and bag plans that the walking path of case and bag and walking accelerate according to the distance L, deflection A and acceleration a of collection
A ' is spent, so that case and bag follow intelligent terminal in servo-actuated scope.
5. intelligence according to claim 3 follows the control method for case and bag of riding instead of walk, it is characterised in that utilizes bearing sensor
Or whether someone's travel switch detection pedal is ridden instead of walk, and the pattern of riding instead of walk is automatically switched to when judging and riding instead of walk.
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|---|---|---|---|
| CN201710916075.8A CN107713230A (en) | 2017-09-30 | 2017-09-30 | A kind of intelligence follows ride instead of walk case and bag and its control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710916075.8A CN107713230A (en) | 2017-09-30 | 2017-09-30 | A kind of intelligence follows ride instead of walk case and bag and its control method |
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| CN201710916075.8A Pending CN107713230A (en) | 2017-09-30 | 2017-09-30 | A kind of intelligence follows ride instead of walk case and bag and its control method |
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Cited By (13)
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|---|---|---|---|---|
| CN109156948A (en) * | 2018-08-21 | 2019-01-08 | 芜湖职业技术学院 | Automatically umbrella is followed |
| CN109348426A (en) * | 2018-11-26 | 2019-02-15 | 黎国溥 | A kind of system for tracking and method based on UWB |
| CN109363316A (en) * | 2018-12-05 | 2019-02-22 | 安徽天恩旅行用品科技有限公司 | A kind of manned intelligent luggage of riding |
| CN109533169A (en) * | 2018-12-07 | 2019-03-29 | 纳恩博（北京）科技有限公司 | Scooter |
| CN109532993A (en) * | 2018-10-10 | 2019-03-29 | 安徽信息工程学院 | It is a kind of to follow baggage train automatically |
| CN109976385A (en) * | 2019-04-03 | 2019-07-05 | 成都永奉科技有限公司 | A kind of Following Car control method based on acceleration |
| CN110032213A (en) * | 2019-04-11 | 2019-07-19 | 深圳市踏路科技有限公司 | Robot system for tracking and robot follower method |
| CN111436189A (en) * | 2019-06-11 | 2020-07-21 | 灵动科技（北京）有限公司 | Self-driving system |
| CN111435259A (en) * | 2019-01-14 | 2020-07-21 | 北京京东尚科信息技术有限公司 | Intelligent following vehicle movement control device and intelligent following vehicle |
| CN112394733A (en) * | 2020-11-26 | 2021-02-23 | 吉林大学 | Intelligent vehicle autonomous following obstacle avoidance method based on UWB and ultrasonic wave |
| CN112784676A (en) * | 2020-12-04 | 2021-05-11 | 中国科学院深圳先进技术研究院 | Image processing method, robot, and computer-readable storage medium |
| CN113581191A (en) * | 2021-08-31 | 2021-11-02 | 重庆科华安全设备有限责任公司 | Mining rescue following robot following speed control method |
| CN115211651A (en) * | 2022-07-26 | 2022-10-21 | 常德职业技术学院 | Old person uses multi-functional nurse equipment |
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| CN109156948A (en) * | 2018-08-21 | 2019-01-08 | 芜湖职业技术学院 | Automatically umbrella is followed |
| CN109532993A (en) * | 2018-10-10 | 2019-03-29 | 安徽信息工程学院 | It is a kind of to follow baggage train automatically |
| CN109348426A (en) * | 2018-11-26 | 2019-02-15 | 黎国溥 | A kind of system for tracking and method based on UWB |
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| CN111435259A (en) * | 2019-01-14 | 2020-07-21 | 北京京东尚科信息技术有限公司 | Intelligent following vehicle movement control device and intelligent following vehicle |
| CN109976385A (en) * | 2019-04-03 | 2019-07-05 | 成都永奉科技有限公司 | A kind of Following Car control method based on acceleration |
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| CN111436189B (en) * | 2019-06-11 | 2021-12-10 | 灵动科技（北京）有限公司 | Self-driving system |
| US11625046B2 (en) | 2019-06-11 | 2023-04-11 | Lingdong Technology (Beijing) Co. Ltd | Self-driving systems |
| CN112394733A (en) * | 2020-11-26 | 2021-02-23 | 吉林大学 | Intelligent vehicle autonomous following obstacle avoidance method based on UWB and ultrasonic wave |
| CN112784676A (en) * | 2020-12-04 | 2021-05-11 | 中国科学院深圳先进技术研究院 | Image processing method, robot, and computer-readable storage medium |
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Application publication date: 20180223 |