CN109426246A - Automatic tracking device - Google Patents
Automatic tracking device Download PDFInfo
- Publication number
- CN109426246A CN109426246A CN201710717556.6A CN201710717556A CN109426246A CN 109426246 A CN109426246 A CN 109426246A CN 201710717556 A CN201710717556 A CN 201710717556A CN 109426246 A CN109426246 A CN 109426246A
- Authority
- CN
- China
- Prior art keywords
- carrier
- mould group
- unit
- information
- object element
- 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
Links
Classifications
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
A kind of automatic tracking device, include a carrier unit, one barrier sensing unit, one signal generation unit, one object element, one angle calculation unit and a motor control unit, the carrier unit includes a carrier and a driving mould group, the barrier sensing unit includes the ultrasonic sensing mould group that at least one is set to the carrier, ultrasonic sensing mould group generates a space signal according to the sensed result, the signal generation unit includes multiple antenna modules for being set to the carrier, each antenna modules is used to emit an antenna signal, the object element is used to sense the antenna signal, the angle calculation unit receives and calculates the object element with respect to the carrier apart from information and direction information according to the sensing result of each antenna signal, and by motor control unit information according to this distance , direction information and the space signal calculate and the driving mould group driven to operate so that the carrier unit automatic tracing object element.
Description
Technical field
The present invention relates to a kind of carriers, more particularly to a kind of automatic tracking device.
Background technique
It is a kind of it is existing follow with golf cart, including the transmitter that can emit an infra-red signal, one
A carrier, a driving mould group for driving carrier movement and rotation and one are electrically connected the driving mould group and are set to the load
Body and the control mould group for being used to receive the infra-red signal.
When user carries the transmitter and emits the infra-red signal towards the carrier, which can be red according to this
The source direction control of outside line signal makes the driving mould group drive the carrier mobile towards the transmitter.
However, the angle that the control mould group is used to receive the infra-red signal has scope limitation, therefore when user position
When the region for the limitation that goes beyond the scope, which can not just receive the infra-red signal, therefore can not just be used to control
Keep the carrier mobile.
Summary of the invention
The purpose of the present invention is providing a kind of automatic tracking device at least overcoming disadvantage described in the prior art.
Automatic tracking device of the present invention generates single comprising a carrier unit, a barrier sensing unit, a signal
Member, an object element, an angle calculation unit and a motor control unit.
The carrier unit includes that a carrier and one connect and are used to the driving mould for driving that the carrier is mobile and turns to
Group, the driving mould group have multiple motors, which includes the ultrasonic sense that at least one is set to the carrier
Mould group is surveyed, ultrasonic sensing mould group generates a space signal according to the sensed result, which includes more
A antenna modules for being set to the carrier, each antenna modules are used to emit an antenna signal, which is used to feel
The antenna signal is surveyed, and generates the intensity information and an angle information of each corresponding antenna signal, the goniometer
It calculates unit and receives and the object element is calculated according to the intensity information of each antenna signal and the angle information and relatively should
Apart from information and a direction information, which is set to the carrier and is electrically connected the driving mould one of carrier
Group, the and when distance corresponding to the information is greater than a pre-determined distance, according to this distance information, direction information and should
The space signal caused by ultrasonic sensing mould group drives the motor operation with fuzzy control algorithm, so that should
Carrier unit follows the object element mobile and turns to.
Automatic tracking device of the present invention, also includes a wireless transmission unit, which includes one
It is set to the carrier bluetooth mould group of the carrier unit and target Bluetooth mould group that one is set to the object element, the carrier is blue
Tooth mould group and the target Bluetooth mould group are used to mutually transmit information after being mutually paired.
Automatic tracking device of the present invention, the angle calculation unit are electrically connected the object element, the target Bluetooth mould group
It is electrically connected the angle calculation unit, which is electrically connected the motor control unit.
Automatic tracking device of the present invention, the angle calculation unit are electrically connected the motor control unit, the target Bluetooth
Mould group is electrically connected the object element, which is electrically connected the angle calculation unit.
Automatic tracking device of the present invention, the carrier unit further include two left and right sides for being respectively arranged at the carrier
And the universal wheel of the front and rear sides of the carrier base can be respectively arranged at by the spider gear of motor driving and two.
The beneficial effects of the present invention are: by the setting of the object element and the signal generation unit, and can be by the angle
Degree computing unit calculates this apart from information and direction information, so from the motor control unit again with barrier sensing
The measurement of unit carries out operation and control, and enables the carrier unit automatic tracing object element.
Detailed description of the invention
Fig. 1 is that one of a first embodiment of automatic tracking device of the present invention uses schematic diagram；
Fig. 2 is a system block diagrams of the first embodiment；
Fig. 3 is a system block diagrams of a second embodiment of automatic tracking device of the present invention.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and embodiments.
For convenience of explanation, embodiment below, identical element are indicated with identical label.
Refering to fig. 1 with Fig. 2, a first embodiment of automatic tracking device of the present invention includes a carrier unit 2, one
The angle of wireless transmission unit 6, one of object element 5, one of signal generation unit 4, one of a barrier sensing unit 3, one
Computing unit 7 and a motor control unit 8.
The carrier unit 2 includes one 21, one, carrier and connects and be used to the driving for driving that the carrier 21 is mobile and turns to
The spider gear 23 of mould group 22, two left and right sides for being respectively arranged at the carrier 21 and two are respectively arranged at 21 bottom of carrier
The universal wheel 24 of the front and rear sides in portion, there are two motors 221 for the driving mould group 22 tool.In this present embodiment, the motor 221 divides
The spider gear 23 Yong Lai not be driven to rotate, differential by the rotation of the spider gear 23 and between the two, it will be able to be used to
The carrier 21 is driven to advance or turn to, and in other state sample implementations, it can also change setting position and make one of horse
It is for driving the carrier 21 to advance up to 221, another one motor 221 is then for driving the carrier 21 to turn to.
The barrier sensing unit 3 includes the ultrasonic sensing mould group 31 for being set to the carrier 21, the ultrasonic sense
It surveys mould group 31 and generates a space signal according to the sensed result.In this present embodiment, ultrasonic sensing mould group 31 is to set
It is placed in 21 front side of carrier, and is sensed forward, which is for judging the front whether have barrier for subsequent.
The signal generation unit 4 includes two antenna modules 41 for being set to the carrier 21, each antenna modules 41 is used
To emit an antenna signal.
The object element 5 is used to sense the antenna signal, and generates the intensity money of each corresponding antenna signal
News and an angle information.In this present embodiment, which is the remote controler carried for user, each antenna news
Number the intensity information and the angle information respectively represent the antenna that the respective antenna modules 41 measured are launched
The intensity and source angle of signal.
The wireless transmission unit 6 includes that a carrier bluetooth mould group 61 for being set to the carrier unit 2 and one are set to
The target Bluetooth mould group 62 of the object element 5, the carrier bluetooth mould group 61 are used for after being mutually paired with the target Bluetooth mould group 62
Mutually transmission information.
The angle calculation unit 7 is set to the object element 5, and is electrically connected the object element 5 and the target Bluetooth mould group
62。
The motor control unit 8 is set to the carrier 21, and is electrically connected the carrier bluetooth mould group 61 and the driving mould group 22.
In use, be to carry the object element 5 by the user, and followed by the carrier unit 2, the Supersonic at this time
Wave sensing 31 continued operation of mould group is to generate the space signal, after the antenna modules 41 emit the antenna signal respectively,
Sensed by the object element 5 and generated the intensity information and the angle information of each corresponding antenna signal, the angle calculation
Unit 7, which receives and calculates the object element 5 according to the intensity information of each antenna signal and the angle information, relatively should
One of carrier 21 is apart from information and a direction information.
Then this is transmitted to the carrier bluetooth mould group 61 apart from information and direction information by the target Bluetooth mould group 62,
The motor control unit 8 can provide according to this distance when the distance corresponding to the information is greater than a pre-determined distance
The space signal caused by news, direction information and ultrasonic sensing mould group 31 is driven with fuzzy control algorithm
The motor 221 operates, so that the carrier unit 2 follows the object element 5 mobile and turns to.
After the object element 5 senses and generates intensity information and the angle information of corresponding mutiple antennas signal, energy
It is enough that this is calculated apart from information and direction information, since the object element 5 receives the antenna news by the angle calculation unit 7
Number and non-angular limitation, therefore then can cooperate without the relative position of the acquisition at the dead angle object element 5 and the carrier unit 2
The space signal that ultrasonic sensing mould group 31 is measured can be used in judging
The no presence for having barrier, then with the fuzzy control algorithm operation after, can be derived that travelling route appropriate with avoid barrier
Hinder object, and then control the motor 221 and operate, and enables the carrier unit 2 effectively automatic tracing carries the object element 5
The user.
It is noted that in other state sample implementations, it also can be through the more antenna modules 41 of setting and ultrasonic
Mould group 31 is sensed, and further promotes the accuracy of tracking, and the motor 221 can also regard increase in demand quantity.
Since the spider gear 23 is to work as the spider gear 23 in criss-cross cross-over configuration with the universal wheel 24
When rotating the carrier 21 because of differential, it can be rotated by the universal wheel 24 with lesser rotary resistance to provide auxiliary,
The carrier 21 can be enable with the rotation of the smallest radius of gyration, be using two front wheels and two compared to existing golf cart
The mode of rear-wheel carries out the rotation of wide-angle, and the radius of gyration rotation of this automatic tracking device is significantly smaller, and helps manipulation.
In addition, the automatic tracking device other than it can be applied to golf cart, can also apply to sales field trolley,
Factory's carrier, medical care vehicle, self-propelled luggage case, perambulator or lightweight aircraft ... wait carriers.
Refering to Fig. 3, a second embodiment of the invention is analogous to first preferred embodiment, difference be in:
The angle calculation unit 7 is set to the carrier 21, and is electrically connected the carrier bluetooth mould group 61 and the motor control list
Member 8, the target Bluetooth mould group 62 are electrically connected the object element 5.
Through the intensity for each antenna signal that the target Bluetooth mould group 62 will be generated by the object element 5 sensing
After information and the angle information are transferred to the carrier bluetooth mould group 61, it will be able to calculate that generate should be away from by the angle calculation unit 7
It from information and direction information, and is directly output to the motor control unit 8 and carries out subsequent processing, and can generate identical automatic
Track effect.
In this way, the second embodiment can also reach purpose identical with above-mentioned first preferred embodiment and beneficial effect.
In conclusion by the setting of the object element 5 and the signal generation unit 4, and can be by the angle calculation unit 7
This is calculated apart from information and direction information, so from the motor control unit 8 again with the barrier sensing unit 3 amount
It surveys result and carries out operation and control, and enable the carrier unit 2 without dead angle automatic tracing object element 5, so really can
Reach the purpose of the present invention.
Claims (5)
1. a kind of automatic tracking device, includes a carrier unit, which includes that a carrier and a connection are used in combination
Come the driving mould group for driving carrier movement and turning to, which has multiple motors, it is characterised in that: the automatic tracing
Device also includes a barrier sensing unit, a signal generation unit, an object element, an angle calculation unit,
And a motor control unit, the barrier sensing unit include the ultrasonic sensing mould group that at least one is set to the carrier,
Ultrasonic sensing mould group generates a space signal according to the sensed result, which includes multiple be set to
The antenna modules of the carrier, each antenna modules are used to emit an antenna signal, which is used to sense the day
Line signal, and generate an intensity information of each corresponding antenna signal and an angle information, the angle calculation unit connect
It receives and one of the object element with respect to the carrier is calculated according to the intensity information of each antenna signal and the angle information
It is a apart from information and a direction information, the motor control unit are set to the carrier and are electrically connected the driving mould group, and in this
When the distance corresponding to the information is greater than a pre-determined distance, information, direction information and ultrasonic sense according to this distance
It surveys the space signal caused by mould group and the motor operation is driven with a fuzzy control algorithm, so that the carrier unit
It follows the object element mobile and turns to.
2. automatic tracking device according to claim 1, it is characterised in that: the automatic tracking device also includes one wireless
Transmission unit, the wireless transmission unit include that the carrier bluetooth mould group for being set to the carrier unit and one are set to this
The target Bluetooth mould group of object element, the carrier bluetooth mould group and the target Bluetooth mould group provide after being mutually paired for mutually transmitting
News.
3. automatic tracking device according to claim 2, it is characterised in that: the angle calculation unit is electrically connected the target list
Member, the target Bluetooth mould group are electrically connected the angle calculation unit, which is electrically connected the motor control unit.
4. automatic tracking device according to claim 2, it is characterised in that: the angle calculation unit is electrically connected the motor control
Unit processed, the target Bluetooth mould group are electrically connected the object element, which is electrically connected the angle calculation unit.
5. automatic tracking device according to claim 1, it is characterised in that: the carrier unit further includes two and is respectively set
In the carrier the left and right sides and can by the motor drive spider gear and two be respectively arranged at the carrier base before
The universal wheel of two sides afterwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710717556.6A CN109426246A (en) | 2017-08-21 | 2017-08-21 | Automatic tracking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710717556.6A CN109426246A (en) | 2017-08-21 | 2017-08-21 | Automatic tracking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109426246A true CN109426246A (en) | 2019-03-05 |
Family
ID=65497711
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710717556.6A Pending CN109426246A (en) | 2017-08-21 | 2017-08-21 | Automatic tracking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109426246A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003066129A (en) * | 2001-08-29 | 2003-03-05 | Hitachi Kokusai Electric Inc | Tracking receiver |
| CN101497420A (en) * | 2008-02-03 | 2009-08-05 | 大叶大学 | Automatic carrier system for industry and operation method thereof |
| CN201647653U (en) * | 2010-04-06 | 2010-11-24 | 铨宝工业股份有限公司 | Blank drawing device of bottle blowing machine |
| CN104905520A (en) * | 2015-06-05 | 2015-09-16 | 刘毅 | Automatic-advancing intelligent suitcase and system |
| 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 |
| CN106231971A (en) * | 2014-02-28 | 2016-12-14 | 三星电子株式会社 | Sweeping robot and the remote controllers being incorporated herein |
| CN106970627A (en) * | 2017-05-17 | 2017-07-21 | 深圳市元时科技有限公司 | A kind of intelligent system for tracking |
| CN106997205A (en) * | 2017-04-27 | 2017-08-01 | 西南科技大学 | A kind of system and method for positioning and tracking to target for mobile robot |
-
2017
- 2017-08-21 CN CN201710717556.6A patent/CN109426246A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003066129A (en) * | 2001-08-29 | 2003-03-05 | Hitachi Kokusai Electric Inc | Tracking receiver |
| CN101497420A (en) * | 2008-02-03 | 2009-08-05 | 大叶大学 | Automatic carrier system for industry and operation method thereof |
| CN201647653U (en) * | 2010-04-06 | 2010-11-24 | 铨宝工业股份有限公司 | Blank drawing device of bottle blowing machine |
| CN106231971A (en) * | 2014-02-28 | 2016-12-14 | 三星电子株式会社 | Sweeping robot and the remote controllers being incorporated herein |
| 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 |
| CN104905520A (en) * | 2015-06-05 | 2015-09-16 | 刘毅 | Automatic-advancing intelligent suitcase and system |
| CN106997205A (en) * | 2017-04-27 | 2017-08-01 | 西南科技大学 | A kind of system and method for positioning and tracking to target for mobile robot |
| CN106970627A (en) * | 2017-05-17 | 2017-07-21 | 深圳市元时科技有限公司 | A kind of intelligent system for tracking |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190305 |
|
| WD01 | Invention patent application deemed withdrawn after publication |