CN108776475A - A kind of intelligent positioning trolley case system for tracking and its control method - Google Patents
A kind of intelligent positioning trolley case system for tracking and its control method Download PDFInfo
- Publication number
- CN108776475A CN108776475A CN201810548463.XA CN201810548463A CN108776475A CN 108776475 A CN108776475 A CN 108776475A CN 201810548463 A CN201810548463 A CN 201810548463A CN 108776475 A CN108776475 A CN 108776475A
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- China
- Prior art keywords
- module
- control
- babinet
- control terminal
- control module
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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
-
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
Abstract
The invention discloses a kind of intelligent positioning trolley case system for tracking and its control method, including babinet and control terminal, control terminal includes the first control module, the first wireless communication module, the first wirless transmitting and receiving module, alarm module, the first power supply module；Babinet is equipped with the second control module, speed measuring module, locating module, motor drive module, detection module, the second wireless communication module, the second wirless transmitting and receiving module, the second power supply module；Second control module is according to the distance between babinet and control terminal, the direction of travel of babinet, and the control signal of output motor drive module, motor drive module, which controls babinet, to be advanced, turn to and stop；First control module receive the distance between babinet and control terminal, and more than max-thresholds apart from when, output alarm signal to alarm module.The present invention is capable of the safe distance of automatic decision trolley case and control terminal, follows to control terminal within the scope of safe distance, alarms outside safe distance.
Description
Technical field
The present invention relates to smart machine fields, and in particular to a kind of intelligent positioning trolley case system for tracking and its controlling party
Method.
Background technology
Maturation with smart machine technology and development, the function of smart machine is more and more, using increasingly wider, passes through
The communication between smart machine and other equipment is established, can facilitate and other equipment is controlled.A kind of usage scenario such as exists
The regions such as airport, railway station, passenger station, user often carry trolley case, and the intelligence of luggage case will also become luggage case rows
The inevitable choice of industry.
Existing trolley case is only capable of realizing mobile and simple positioning function, and structure is single, and intelligence degree is poor.
Invention content
Goal of the invention：In view of the deficiencies of the prior art, the present invention provide a kind of intelligent positioning trolley case system for tracking and its
Control method can realize the positioning of trolley case and follow automatically, intelligence degree is high.
Technical solution：Intelligent positioning trolley case system for tracking of the present invention, including babinet and control terminal, babinet bottom
Portion is equipped with movable pulley, and the control terminal includes the first control module and is respectively connected with the first control module first wireless
Communication module, the first wirless transmitting and receiving module, alarm module, the first power supply module；The babinet is equipped with the second control mould
Block and the speed measuring module being respectively connected with the second control module, locating module, motor drive module, detection module, the second nothing
Line communication module, the second wirless transmitting and receiving module, the second power supply module；
First wireless communication module and the second wireless communication module are wirelessly connected, the first wireless transmitter receiver mould
Block acquiescence is in emission state, and the second wirless transmitting and receiving module acquiescence is in receiving module, and second transmitting receives
Module is used to receive the transmitting signal of the first wirless transmitting and receiving module, judges the distance between babinet and control terminal；
The speed for detecting movable pulley is arranged on movable pulley in the speed measuring module；The locating module is arranged in babinet
On position for acquiring babinet；The motor is connected speed and direction for controlling movable pulley with movable pulley；The detection
Module is arranged in babinet both sides, the direction of travel for judging babinet；
Second control module is according to the distance between babinet and control terminal, the direction of travel of babinet, output motor
The control signal of drive module, motor drive module, which controls the babinet, to be advanced, turn to and stops；
First control module receives the distance between babinet and control terminal, and more than max-thresholds apart from when,
Output alarm signal is to alarm module.
Above-mentioned technical proposal is further improved, the speed measuring module includes the magnet being arranged on the movable pulley and use
In the Hall element of induced magnet.Using the magnet on Hall element detection movable pulley to interrupt arteries and veins to the second control module
Punching, has the function that measuring speed.Hall element have it is small, frequency response width is big, and dynamic characteristic is good, to peripheral circuit
It is required that simple, service life is long, and lower-price characteristic, power requirement is not high, and installation is also more convenient.Hall switch is only to one
The magnetic field for determining intensity is worked, strong antijamming capability, therefore small magnet can be installed on movable pulley, and hall device is installed
In fixing axle, vehicle speed measurement is carried out by the counting to pulse.
Further, the detection module includes at least two photoelectric sensor in babinet opposite flank being arranged.Two
Sensor is individually positioned in babinet both sides, for controlling the direction of travel of babinet.Such as when left side photoelectric tube is by illumination, second
Control module control motor turns to the left；When right side photoelectric tube is by illumination, the second control module control motor is turned right；When
Arranged on left and right sides photoelectric tube all by illumination when, the second control module control straight trip.
Further, second control module is connected by H-type Reversible PWM converter with the motor drive module.
Further, the advanced side of the babinet is additionally provided with ultrasonic sensor, ultrasonic sensor and the second control mould
Block is connected.
Further, the control terminal is any equipment in smartwatch, smart mobile phone, Intelligent flat.
Further, navigation system is equipped in the control terminal, navigation system receives the input of target location and planning
Target location and the coordinates measurement of babinet real time position control signal, and the control terminal sends control signals to the second control
Module, the second control module generate drive signal and control motor.
Using the control method of above-mentioned intelligent positioning trolley case system for tracking, include the following steps：
(1) the first wirless transmitting and receiving module of control terminal emits signal, second wireless transmitter receiver of babinet
Module receives signal and judges the distance between babinet and control terminal；
(2) when judge distance be less than minimum threshold apart from when, the first control module output motor drive signal, motor driving
Module controls movable pulley and is moved towards control terminal；When judge distance be more than max-thresholds apart from when, the first control module output
For signal to the second control module, the second control module controls alarm module alarm；When judge distance be located at minimum threshold distance, most
When between big threshold distance, the first control module output motor drive signal, motor drive module controls movable pulley remains stationary.
Further, the locating module of the babinet is used to acquire the real-time position information of babinet and is sent to the second control
The location information of babinet is sent to the first control module by module, the second control module, and the first control module is connected with navigation system
System receives the input of target location and the coordinates measurement of object of planning position and babinet real time position controls signal, and control terminal will
Control signal is sent to the second control module, and the second control module generates drive signal and controls motor drive module, motor control
Babinet is moved to target location.
Advantageous effect：Compared with prior art, advantages of the present invention：The present invention being capable of automatic decision trolley case and control end
The safe distance at end, follows control terminal within the scope of safe distance, alarms outside safe distance, is provided simultaneously with
The function of positioning, self-navigation；By checking that module judges direction during following, effectively kept away by ultrasonic wave module
Barrier, provides mobile security performance and accurate performance, and intelligence degree is high.
Description of the drawings
Fig. 1 is the principle of the present invention block diagram；
Fig. 2 is the circuit block diagram of motor drive module.
Specific implementation mode
Technical solution of the present invention is described in detail below by attached drawing.
Embodiment 1：Intelligent positioning trolley case system for tracking as shown in Figure 1 and its control method, including babinet and control
Terminal, the bottom of box are equipped with movable pulley, and control terminal includes the first control module and is respectively connected with the first control module
First wireless communication module, the first wirless transmitting and receiving module, alarm module, the first power supply module, navigation system；It is set on babinet
There are the second control module and the speed measuring module being respectively connected with the second control module, locating module, motor drive module, detection
Module, the second wireless communication module, the second wirless transmitting and receiving module, the second power supply module；First wireless communication module and
Two wireless communication modules are wirelessly connected, and the first wirless transmitting and receiving module acquiescence is in emission state, the second wireless transmitter receiver
Module acquiescence is in receiving module, and the second transmitting and receiving module is used to receive the transmitting signal of the first wirless transmitting and receiving module,
Judge the distance between babinet and control terminal；
Detection module includes at least two photoelectric sensor in babinet opposite flank, the walking for judging babinet being arranged
Direction；Speed measuring module includes the magnet being arranged on movable pulley and the Hall element for induced magnet, for detecting movement
The speed of wheel；Motor is connected speed and direction for controlling movable pulley with movable pulley；The advanced side of babinet is additionally provided with ultrasonic wave
Sensor, ultrasonic sensor are connected with the second control module.
Second control module is according to the distance between babinet and control terminal, the direction of travel of babinet, output motor driving
The control signal of module, motor drive module, which controls motor, to be advanced, turn to and stops；First control module receives babinet and control
The distance between terminal, and more than max-thresholds apart from when, output alarm signal to alarm module.
As shown in Fig. 2, the second control module is connected by H-type Reversible PWM converter with motor drive module.H-type is reversible
Pwm converter is the bridge circuit that 4 three pole power transistors and 4 fly-wheel diodes form；The base stage of 4 power transistors
Driving voltage is divided into two groups, and VT1 and VT4 are simultaneously turned on and turned off, Ub1=Ub4 in driving circuit；VT2 and VT3 is moved simultaneously
Make, driving voltage Ub2=Ub3=-Ub1.As long as changing the polarity of control voltage, it is flat also to change pwm converter output
The polarity of equal voltage, thus change the steering of motor.The size for changing control voltage, then have adjusted the width of voltage pulse output
Degree, to the rotating speed of regulation motor.
Control terminal is any equipment in smartwatch, smart mobile phone, Intelligent flat, and navigation system receives target location
Input and the coordinates measurement of object of planning position and babinet real time position control signal, control terminal is sent control signals to
Second control module, the second control module generate drive signal and control motor drive module.
Follow-up control method is carried out using intelligent positioning trolley case system for tracking, is included the following steps：
(1) the first wirless transmitting and receiving module of control terminal emits signal, the second wirless transmitting and receiving module of babinet
It receives signal and judges the distance between babinet and control terminal；
(2) when judge distance be less than minimum threshold apart from when, the first control module output motor drive signal, motor driving
Module controls movable pulley and is moved towards control terminal；When judge distance be more than max-thresholds apart from when, the first control module output
For signal to the second control module, the second control module controls alarm module alarm；When judge distance be located at minimum threshold distance, most
When between big threshold distance, the first control module output motor drive signal, motor drive module controls movable pulley remains stationary.
In addition, the locating module of babinet is used to acquire the real-time position information of babinet and is sent to the second control module, the
The location information of babinet is sent to the first control module by two control modules, and the first control module is connected with navigation system and receives mesh
Simultaneously object of planning position and the coordinates measurement of babinet real time position control signal for the input of cursor position, and control terminal will control signal
It is sent to the second control module, the second control module generates drive signal and controls motor drive module, the movement of motor control box body
To target location.
As described above, although the present invention has been indicated and described with reference to specific preferred embodiment, must not explain
For the limitation to invention itself.It without prejudice to the spirit and scope of the invention as defined in the appended claims, can be right
Various changes can be made in the form and details for it.
Claims (9)
1. a kind of intelligent positioning trolley case system for tracking, including babinet and control terminal, the bottom of box is equipped with movable pulley, feature
It is：The control terminal includes the first control module and the first wireless telecommunications mould being respectively connected with the first control module
Block, the first wirless transmitting and receiving module, alarm module, the first power supply module；The babinet be equipped with the second control module and
The speed measuring module that is respectively connected with the second control module, locating module, motor drive module, detection module, the second wireless telecommunications
Module, the second wirless transmitting and receiving module, the second power supply module；
First wireless communication module and the second wireless communication module are wirelessly connected, and first wirless transmitting and receiving module is silent
Recognize and be in emission state, the second wirless transmitting and receiving module acquiescence is in receiving module, second transmitting and receiving module
Transmitting signal for receiving the first wirless transmitting and receiving module, judges the distance between babinet and control terminal；
The speed for detecting movable pulley is arranged on movable pulley in the speed measuring module；The locating module setting is used on babinet
In the position of acquisition babinet；The motor is connected speed and direction for controlling movable pulley with movable pulley；The detection module
It is arranged in babinet both sides, the direction of travel for judging babinet；
Second control module is according to the distance between babinet and control terminal, the direction of travel of babinet, output motor driving
The control signal of module, motor drive module, which controls the babinet, to be advanced, turn to and stops；
First control module receives the distance between babinet and control terminal, and more than max-thresholds apart from when, export
Alarm signal is to alarm module.
2. intelligent positioning trolley case system for tracking according to claim 1, it is characterised in that：The speed measuring module includes setting
Set the magnet on the movable pulley and the Hall element for induced magnet.
3. intelligent positioning trolley case system for tracking according to claim 1, it is characterised in that：The detection module includes extremely
Few two photoelectric sensors being arranged in babinet opposite flank.
4. intelligent positioning trolley case system for tracking according to claim 1, it is characterised in that：Second control module is logical
H-type Reversible PWM converter is crossed with the motor drive module to be connected.
5. intelligent positioning trolley case system for tracking according to claim 1, it is characterised in that：The advanced side of the babinet is also
Equipped with ultrasonic sensor, ultrasonic sensor is connected with the second control module.
6. intelligent positioning trolley case system for tracking according to claim 1, it is characterised in that：The control terminal is intelligence
Any equipment in wrist-watch, smart mobile phone, Intelligent flat.
7. intelligent positioning trolley case system for tracking according to claim 6, it is characterised in that：It is equipped in the control terminal
Navigation system, navigation system receives the input of target location and object of planning position and the coordinates measurement of babinet real time position control
Signal, the control terminal send control signals to the second control module, and the second control module generates drive signal control electricity
Machine.
8. the control method of intelligent positioning trolley case system for tracking according to claim 7, which is characterized in that including as follows
Step：
(1) the first wirless transmitting and receiving module of control terminal emits signal, second wirless transmitting and receiving module of babinet
It receives signal and judges the distance between babinet and control terminal；
(2) when judge distance be less than minimum threshold apart from when, the first control module output motor drive signal, motor drive module
Movable pulley is controlled to move towards control terminal；When judge distance be more than max-thresholds apart from when, the first control module output signal
To the second control module, the second control module controls alarm module alarm；When judgement distance is located at minimum threshold distance, maximum threshold
When between value distance, the first control module output motor drive signal, motor drive module controls movable pulley remains stationary.
9. the control method of intelligent positioning trolley case system for tracking according to claim 8, it is characterised in that：The babinet
Locating module be used to acquire the real-time position information of babinet and be sent to the second control module, the second control module is by babinet
Location information is sent to the first control module, and the first control module is connected with input and the planning that navigation system receives target location
Target location and the coordinates measurement of babinet real time position control signal, and control terminal sends control signals to the second control mould
Block, the second control module generate drive signal and control motor drive module, and motor control box body is moved to target location.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810548463.XA CN108776475A (en) | 2018-05-31 | 2018-05-31 | A kind of intelligent positioning trolley case system for tracking and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810548463.XA CN108776475A (en) | 2018-05-31 | 2018-05-31 | A kind of intelligent positioning trolley case system for tracking and its control method |
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| Publication Number | Publication Date |
|---|---|
| CN108776475A true CN108776475A (en) | 2018-11-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810548463.XA Pending CN108776475A (en) | 2018-05-31 | 2018-05-31 | A kind of intelligent positioning trolley case system for tracking and its control method |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002255037A (en) * | 2001-02-28 | 2002-09-11 | Nippon Soken Inc | Mobile case |
| CN104824944A (en) * | 2015-05-25 | 2015-08-12 | 常州爱尔威智能科技有限公司 | Intelligent luggage case |
| CN105022395A (en) * | 2014-04-29 | 2015-11-04 | 世洋科技股份有限公司 | Forward following device and following control method thereof |
| CN204908301U (en) * | 2015-08-22 | 2015-12-30 | 王震渊 | Intelligent electronic travelling basket of removable box |
| CN205884910U (en) * | 2016-08-07 | 2017-01-18 | 吉林大学 | Suitcase is trailed to intelligence based on zigBee |
| CN106708039A (en) * | 2016-12-05 | 2017-05-24 | 中国计量大学 | Automatic following environment-friendly traveling case |
-
2018
- 2018-05-31 CN CN201810548463.XA patent/CN108776475A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002255037A (en) * | 2001-02-28 | 2002-09-11 | Nippon Soken Inc | Mobile case |
| CN105022395A (en) * | 2014-04-29 | 2015-11-04 | 世洋科技股份有限公司 | Forward following device and following control method thereof |
| CN104824944A (en) * | 2015-05-25 | 2015-08-12 | 常州爱尔威智能科技有限公司 | Intelligent luggage case |
| CN204908301U (en) * | 2015-08-22 | 2015-12-30 | 王震渊 | Intelligent electronic travelling basket of removable box |
| CN205884910U (en) * | 2016-08-07 | 2017-01-18 | 吉林大学 | Suitcase is trailed to intelligence based on zigBee |
| CN106708039A (en) * | 2016-12-05 | 2017-05-24 | 中国计量大学 | Automatic following environment-friendly traveling case |
Non-Patent Citations (2)
| Title |
|---|
| 张钺: "《新型带式输送机设计手册》", 28 February 2001, 冶金工业出版社 * |
| 陈白宁 等: "《机电传动控制》", 31 July 2015, 东北大学出版社 * |
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Application publication date: 20181109 |
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| RJ01 | Rejection of invention patent application after publication |