CN109602131A - From driving luggage case and from driving chassis - Google Patents
From driving luggage case and from driving chassis Download PDFInfo
- Publication number
- CN109602131A CN109602131A CN201810810519.4A CN201810810519A CN109602131A CN 109602131 A CN109602131 A CN 109602131A CN 201810810519 A CN201810810519 A CN 201810810519A CN 109602131 A CN109602131 A CN 109602131A
- Authority
- CN
- China
- Prior art keywords
- module
- vector
- wheel module
- actuator wheel
- actuator
- 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.)
- Granted
Links
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 43
- 238000012545 processing Methods 0.000 claims description 112
- 210000005069 ears Anatomy 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 6
- 230000001960 triggered effect Effects 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 16
- 238000006073 displacement reaction Methods 0.000 description 14
- 238000013461 design Methods 0.000 description 9
- 238000004891 communication Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 241001463913 Pinna Species 0.000 description 6
- 210000000624 ear auricle Anatomy 0.000 description 6
- 238000004880 explosion Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 210000003128 head Anatomy 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000005284 basis set Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000001568 sexual effect Effects 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
Classifications
-
- 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- A—HUMAN NECESSITIES
- A45—HAND OR TRAVELLING ARTICLES
- A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
- A45C13/00—Details; Accessories
- A45C13/001—Accessories
-
- 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
- A45C5/04—Trunks; Travelling baskets
- A45C5/045—Travelling baskets
-
- 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
- A45C5/141—Rigid or semi-rigid luggage with built-in rolling means the rolling means being formed by the trunk itself
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- 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
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
-
- 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
- A45C2005/142—Rigid or semi-rigid luggage with built-in rolling means with spherical rolling means, e.g. ball casters
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Handcart (AREA)
- Rehabilitation Tools (AREA)
Abstract
Luggage case and certainly driving chassis are driven certainly the invention discloses a kind of, it is described to include a cabinet (disk body) and an actuator wheel module from driving luggage case (from driving chassis), the actuator wheel module couples are in the cabinet and include a pedestal and a wheel, the pedestal has a first axle and a second axis, the pedestal is coupled to the cabinet (disk body) and can rotate relative to the cabinet (disk body) around the first axle, the wheel is coupled to the pedestal and can rotate relative to the pedestal around the second axis, the wheel includes a wheel body and an advance motor, the advance motor setting is internal in the wheel and includes a motor stator and a rotor, the motor stator is fixed in the pedestal, the rotor is fixed in the wheel body and is rotationally sheathed on the motor stator , the motor stator rolls the wheel physical efficiency on the ground to drive the rotor to rotate.
Description
Technical field
The present invention relates to a kind of from driving luggage case and from driving chassis, has the function of to follow automatically more particularly to one kind
From driving luggage case and from driving chassis.
Background technique
Existing luggage case can provide a material-putting space, so that user places personal luggage, so that user can be outgoing
Personal luggage is carried when travelling or going on a public errand.However, existing luggage case has no power source of the configuration to mobile luggage case.Cause
This needs user to need manpower mobile in mobile luggage case, and in addition to using more inconvenience, the structure of existing luggage case is configured
And in design, also do not have intelligentized basis, do not meet the trend of contemporary product, it can not also provide using further
Usage experience.
In addition, though there is part existing file or product to disclose the concept of Intelligent luggage carrier, however these driving wheels are all
The design wheeled using fixation, manipulation freedom degree it is small cause it is inconvenient for use.Multidirectional driving wheel concept is even mentioned,
Also all lack rigorous research and structure implementation detail, the product across the epoch can not be become.
Summary of the invention
Therefore, the present invention provides a kind of with the driving luggage case certainly for following function automatically and from driving chassis, to solve
The above problem.
To solve the above problems, the present invention discloses a kind of from driving luggage case, it include a cabinet and an actuator wheel module,
The actuator wheel module is coupled to the cabinet, and each actuator wheel module includes a pedestal and a wheel, and the pedestal has
One first axle and a second axis, the pedestal be coupled to the cabinet and can the relatively described cabinet revolved around the first axle
Turn, the wheel is coupled to the pedestal and can rotate relative to the pedestal around the second axis, and the wheel includes a wheel
Body and an advance motor, the wheel body are adapted for contact with a ground, and the advance motor setting is internal in the wheel, the advance
Motor includes a motor stator and a rotor, and the motor stator is fixed in the pedestal, and the rotor is affixed
It in the wheel body and is rotationally sheathed on the motor stator, wherein the motor stator drives when reception one controls signal
It moves the rotor rotation and drives the wheel body, roll the wheel physical efficiency on the ground.
According to an embodiment of the present invention, the present invention separately discloses the pedestal with two ears, and the second axis runs through
Two ear, for the wheel between two ear, the wheel also includes a fixed link, have a first end,
One the second end and a stator fixed part, the fixed link by the first end be fixed on two ear wherein it
One, the fixed link is fixed on the wherein another of two ear by the second end, and the stator fixed part setting exists
Between the first end and the second end, and the motor stator is fixed on the fixation by the stator fixed part
Bar.
According to an embodiment of the present invention, it includes one first wheel cap and one second wheel that the present invention, which separately discloses the wheel also,
Lid, first wheel cap are fixed in the side of the rotor, and second wheel cap is fixed in the another of the rotor
Side, first wheel cap and second wheel cap are connected to the fixed link in a manner of it can rotate relative to the fixed link respectively
The first end and the second end, rotate the rotor with the wheel physical efficiency relative to the fixed link.
According to an embodiment of the present invention, first wheel cap has a first bearing placement portion, the second wheel cap tool
There is a second bearing placement portion, the wheel also includes a first motor bearing and one second motor bearings, first electricity
Machine bearing is arranged in the first bearing placement portion, and the first end of the fixed link is arranged in the first motor axis
It holds, so that first wheel cap is rotated by the first motor bearing relative to the fixed link, second motor bearings is set
It sets in the second bearing placement portion, the second end of the fixed link is arranged in second motor bearings, makes described
Second wheel cap can be rotated by second motor bearings relative to the fixed link.
According to an embodiment of the present invention, the wheel body has a rotor accommodating space, and the rotor accommodating space is along institute
It states the axially extending of wheel body and respectively forms wheel body opening at opposite two ends of the wheel body, the rotor passes through the wheel
Body opening is mounted in the rotor accommodating space, and the wheel body also has the fixed elongated slot of multiple rotors, and the multiple rotor is solid
Fixed length slot is arranged in the wall surface of the rotor accommodating space and extends to opposite two ends of the wheel body, and the rotor has
Multiple first fixed parts and multiple second fixed parts, every one first fixed part and every one second fixed part are mounted on the multiple turn
One of fixed elongated slot of son, to prevent the relatively described wheeling thereof of the rotor, first wheel cap forms multiple
The perforation of first wheel cap, second wheel cap form the perforation of multiple second wheel caps, the wheel also include multiple first screws and
Multiple second screws, every one first screw are attached to the motor by the corresponding first wheel cap perforation of first wheel cap
Corresponding first fixed part of rotor, every one second screw pass through the corresponding second wheel cap perforation lock of second wheel cap
Invest corresponding second fixed part of the rotor.
According to an embodiment of the present invention, the luggage case of driving certainly also includes a wheel sub-control unit, is coupled to described
Advance motor, wherein the rotor has a stator accommodating space, the stator accommodating space is along the rotor
Axially extending and respectively form a rotor openings at opposite two ends of the rotor, the motor stator and the wheel control
Unit is mounted in the stator accommodating space by the rotor openings.
According to an embodiment of the present invention, the luggage case of driving certainly also includes a central processing unit and a slip ring mould
Block, the slip ring modules include a slip ring fixing piece and a slip ring rotating member, are pivotally electrically connected at described
Slip ring fixing piece, the slip ring rotating member are coupled to the motor stator.
According to an embodiment of the present invention, the slip ring fixing piece has a rotating member accommodating space, and the rotating member holds
A fastener openings are formed in one end of the slip ring fixing piece between emptying, a part of the slip ring rotating member passes through described
Fastener openings are rotationally placed in the rotating member accommodating space.
According to an embodiment of the present invention, the slip ring rotating member has a rod piece mounting hole, and described from driving luggage
Case also includes a rod piece, is fixedly arranged on the pedestal, and the rod piece is arranged in the slip ring rotating member by the rod piece mounting hole,
The pedestal, the rod piece and the slip ring rotating member can rotate simultaneously around the first axle.
According to an embodiment of the present invention, the luggage case of driving certainly also includes a bearing seat and a slip ring shell, institute
State rod piece and be arranged in the bearing seat, the slip ring shell to coat the slip ring modules and include a slip ring lower case and
One slip ring upper housing, the slip ring lower case are fixedly arranged on the bearing seat, and the slip ring lower case is formed with slip ring accommodating
Space, the slip ring accommodating space are formed with shell nozzle, the slip ring fixing piece in one end of the slip ring lower case
It is arranged in the slip ring accommodating space by lower case opening, the slip ring upper housing is arranged in the slip ring lower case
The end and close lower case opening, wherein the bearing seat, the slip ring lower case and the slip ring upper housing are equal
It is fixed in the bottom side of the cabinet and is not rotated with the rod piece around the first axle.
According to an embodiment of the present invention, the rod piece mounting hole of the slip ring rotating member is in the slip ring rotating member
One end is formed with rotating member opening, and the luggage case of driving certainly also includes a wheel position detecting module, is arranged in the slip ring
In accommodating space, the wheel position detecting module includes a magnetic part and an orientation decoding module, and the magnetic part is arranged in institute
It states one end of rod piece and is located in the rod piece mounting hole, the magnetic part can turn simultaneously with the rod piece around the first axle
Dynamic, the orientation decoder module is fixedly arranged on the slip ring upper housing, and the orientation decoder module passes through rotating member opening sense
Survey the magnetic part, with detect the one of the relatively described first axle of the wheel take turns to.
According to an embodiment of the present invention, the luggage case of driving certainly also includes that a battery module and touch-control stopping are opened
It closes, the battery module is coupled to the central processing unit, and the battery module is to provide power supply to the actuating wheel model
Block, the touch-control shutdown switch are coupled to the central processing unit, and the central processing unit is in the touch-control shutdown switch
The battery module is controlled when being triggered stops providing power supply to the actuator wheel module.
According to an embodiment of the present invention, the luggage case of driving certainly also includes a pull rod module, is mounted on the cabinet,
Wherein the touch-control shutdown switch is mounted in the pull rod module.
According to an embodiment of the present invention, the cabinet have a front, a back side, a top side, a bottom side, by one first
Side and one second side, the actuator wheel module are mounted on the bottom side, and the top side is opposite with the bottom side, by the of described first
Side connects the top side and the bottom side, second side connect the top side and the bottom side and with the first side phase
Right, the front is opposite with the back side and is separately connected the top side, the bottom side, by first side and described second
Side is that a cabinet moves towards vector from second side towards first side and along the direction definition of cabinet trend,
The actuator wheel module include one first actuator wheel module and one second actuator wheel module, the first actuator wheel module with it is described
Second actuator wheel module is adjacent to second side, and the luggage case of driving certainly also includes one first driven wheel module and one
Second driven wheel module, the first driven wheel module are arranged in the bottom side and are adjacent to first side, and described second
Driven wheel module is arranged in the bottom side and is adjacent to first side, wherein the first actuator wheel module and described second
Actuator wheel module is to drive the cabinet in the ground moving, wherein the first actuator wheel module, second actuating
Module, the first driven wheel module and the second driven wheel module are taken turns jointly by the case supports on the ground,
Wherein the first actuator wheel module, the second actuator wheel module, the first driven wheel module and second driven wheel
Module can be rotated relative to the cabinet around the first axle.
According to an embodiment of the present invention, the luggage case of driving certainly also includes a central processing unit, the centre
Reason unit determines a direction of advance vector, wherein case described in the first actuator wheel module and the second actuator wheel module drive
Body moves on the ground along the direction of advance vector, wherein the first actuator wheel module and the second actuator wheel module
A wheel position detecting module is separately included, wheel position detecting module is coupled to the central processing unit, and mould is detected in the wheel position
Block is to detect first round of the relatively described cabinet of the first actuator wheel module to vector and the second actuator wheel module
The one second of the relatively described cabinet takes turns to vector, and the central processing unit is to according to the direction of advance vector and described the
One takes turns one first current value for determining to be provided to the first actuator wheel module to vector;And according to the direction of advance to
Amount takes turns one second current value for determining to be provided to the second actuator wheel module to vector with described second.
According to an embodiment of the present invention, the central processing unit also to calculate the direction of advance vector with it is described
One first difference from the first round to vector and calculate the direction of advance vector and take turns with described second to the one second poor of vector
Value, when the direction of advance vector is greater than the direction of advance vector and institute to first difference of vector with the first round
When stating second difference of second wheel to vector, the central processing unit is provided to the described of the first actuator wheel module
First current value is less than second current value for being provided to the second actuator wheel module;When the direction of advance vector and institute
State the first round to first difference of vector be less than the direction of advance vector with described second take turns to vector described second
When difference, first current value for being provided to the first actuator wheel module, which is greater than, is provided to the second actuator wheel module
Second current value.
According to an embodiment of the present invention, the luggage case of driving certainly also includes a camera module and a central processing
Unit, an object image of the camera module to capture an object, the central processing unit are coupled to the camera shooting
Head module, the object image that the central processing unit is captured according to the camera module, determines that one follows direction
Vector, wherein cabinet described in the first actuator wheel module and the second actuator wheel module drive the ground along it is described with
It is mobile with direction vector, wherein the first actuator wheel module and the second actuator wheel module separately include wheel position detecting mould
Block, wheel position detecting module are coupled to the central processing unit, and the wheel position detecting module is caused to detect described first
One first round of the relatively described cabinet of driving wheel module to vector and the relatively described cabinet of the second actuator wheel module one second
It takes turns to vector, wherein the central processing unit is determined to follow direction vector and the first round to vector according to
Be provided to the first actuator wheel module one first current value and according to it is described follow direction vector with described second take turns to
Vector determines one second current value for being provided to the second actuator wheel module.
According to an embodiment of the present invention, the cabinet have a front, a back side, a top side, a bottom side, by one first
Side and one second side, the actuator wheel module are mounted on the bottom side, and the top side is opposite with the bottom side, by the of described first
Side connects the top side and the bottom side, second side connect the top side and the bottom side and with the first side phase
Right, the front is opposite with the back side and is separately connected the top side, the bottom side, by first side and described second
Side is that a cabinet moves towards vector from second side towards first side and along the direction definition of cabinet trend,
The actuator wheel module includes one first actuator wheel module, one second actuator wheel module, a third actuator wheel module and one the
Four actuator wheel modules, the first actuator wheel module are adjacent to first side, and the second actuator wheel module is adjacent to institute
The first side is stated, the third actuator wheel module is adjacent to second side, and the 4th actuator wheel module is adjacent to described
Second side, wherein the first actuator wheel module, the second actuator wheel module, the third actuator wheel module and described the
Four actuator wheel modules are to support and drive the cabinet in the ground moving, wherein the first actuator wheel module, described
Second actuator wheel module, the third actuator wheel module and the 4th actuator wheel module can the relatively described cabinet around described the
The rotation of one axis.
According to an embodiment of the present invention, the luggage case of driving certainly also includes a central processing unit, the centre
Reason unit determines a direction of advance vector, wherein the first actuator wheel module, the second actuator wheel module, the third cause
Driving wheel module moves on the ground along the direction of advance vector with cabinet described in the 4th actuator wheel module drive, wherein
The first actuator wheel module, the second actuator wheel module, the third actuator wheel module and the 4th actuator wheel module
A wheel position detecting module is separately included, wheel position detecting module is coupled to the central processing unit, and mould is detected in the wheel position
Block is to detect first round of the relatively described cabinet of the first actuator wheel module to vector, the second actuator wheel module phase
To the one second of the cabinet take turns to vector, the relatively described cabinet of third actuator wheel module a third round to vector and
One fourth round of the relatively described cabinet of the 4th actuator wheel module is to vector, wherein the central processing unit is to according to institute
Direction of advance vector and the first round are stated to vector, determines one first current value for being provided to the first actuator wheel module;
It is taken turns with described second to vector according to the direction of advance vector, determines one second electricity for being provided to the second actuator wheel module
Flow valuve;According to the direction of advance vector and the third round to vector, decision is provided to the one of the third actuator wheel module
Third current value;And according to the direction of advance vector and the fourth round to vector, decision is provided to the 4th actuating
Take turns one the 4th current value of module.
According to an embodiment of the present invention, the central processing unit also to calculate the direction of advance vector with it is described
One first difference of the first round to vector;It calculates the direction of advance vector and takes turns one second difference to vector with described second;
Calculate the third difference of the direction of advance vector and the third round to vector;Calculate the direction of advance vector with it is described
One fourth difference of the fourth round to vector;Wherein the central processing unit is provided to the first actuator wheel module, institute respectively
State first current value, described of the second actuator wheel module, the third actuator wheel module and the 4th actuator wheel module
Second current value, the third current value and the 4th current value, with first difference, second difference, described the
Three differences are inversely proportional with the 4th difference.
According to an embodiment of the present invention, the luggage case of driving certainly also includes a camera module and a central processing
First side of the cabinet is arranged in unit, the camera module, and the camera module is to capture an object
Image, the central processing unit is coupled to the camera module, and the central processing unit is according to the camera mould
The image for the object that block is captured determines that one follows direction vector, wherein the first actuator wheel module, second cause
Cabinet described in driving wheel module, the third actuator wheel module and the 4th actuator wheel module drive the ground along it is described with
It is mobile with direction vector, wherein the first actuator wheel module, the second actuator wheel module, the third actuator wheel module with
The 4th actuator wheel module separately includes a wheel position detecting module, and wheel position detecting module is coupled to the central processing list
Member, the wheel position detecting module is to detect first round of the relatively described cabinet of the first actuator wheel module to vector, institute
The one second of the relatively described cabinet of the second actuator wheel module is stated to take turns to vector, the relatively described cabinet of third actuator wheel module
One third round is to a fourth round of vector and the relatively described cabinet of the 4th actuator wheel module to vector, wherein the center
For processing unit to follow direction vector and the first round to vector according to, decision is provided to the first actuating wheel model
One first current value of block;Direction vector is followed to take turns with described second to vector according to described, decision is provided to described second and causes
One second current value of driving wheel module;Follow direction vector and the third round to vector according to described, decision is provided to described
One third current value of third actuator wheel module;And follow direction vector and the fourth round to vector according to described, it determines
It is provided to one the 4th current value of the 4th actuator wheel module.
According to an embodiment of the present invention, the central processing unit also to calculate the direction of advance vector with it is described
One first difference of the first round to vector;It calculates the direction of advance vector and takes turns one second difference to vector with described second;
Calculate the third difference of the direction of advance vector and the third round to vector;Calculate the direction of advance vector with it is described
One fourth difference of the fourth round to vector;Wherein the central processing unit is provided to the first actuator wheel module, institute respectively
State first current value, described of the second actuator wheel module, the third actuator wheel module and the 4th actuator wheel module
Second current value, the third current value and the 4th current value, with first difference, second difference, described the
Three differences are inversely proportional with the 4th difference.
According to an embodiment of the present invention, invention additionally discloses a kind of from driving chassis, includes a disk body and institute as above
The actuator wheel module stated.
In conclusion the present invention all has power source (the i.e. more described actuating wheel model from driving luggage case and from driving chassis
Block), to generate the driving force for following user, therefore in mobile luggage case or from when driving chassis, need manpower to move without user
It is dynamic, once into using upper convenience.In addition, the present invention is all separately configured with camera module from driving luggage case and from driving chassis
And/or range sensor (i.e. first sensor, second sensor, 3rd sensor and the 4th sensor), to user's shadow
It is controlled as carrying out image procossing and following distance, therefore structure of the present invention from driving luggage case and from driving chassis is configured and set
On meter, all have intelligentized basis, meet the trend of contemporary product, also can provide and use further usage experience.
In relation to aforementioned and other technology contents, feature and effect of the invention, drawings and the embodiments are referred to specifically in following cooperation
In bright, can clearly it present.
In addition it should be noted that, the actuator wheel that the present invention refers to is integrated among design of electrical motor, includes dual rotary axis, wheel
The contents such as position detecting module, motor and slip ring structure implementation detail, each wheel input current difference judgement are all by countless experiments
With the innovation after test, have detail content rather than only stay in the simple concept sexual stage, there is actual product really
Ability.
Detailed description of the invention
Fig. 1 is appearance diagram of the general embodiments of the present invention from driving luggage case.
Fig. 2 is part perspective view of the explosion of the general embodiments of the present invention from driving luggage case.
Fig. 3 is the appearance diagram of first embodiment of the invention actuator wheel module.
Fig. 4 is the perspective view of the explosion of first embodiment of the invention actuator wheel module.
Fig. 5 A is the perspective view of the explosion of general embodiments wheel of the present invention.
Fig. 5 B is perspective view of the explosion of the general embodiments wheel of the present invention at another visual angle.
Fig. 6 is the diagrammatic cross-section of first embodiment of the invention actuator wheel module.
Fig. 7 is function block schematic diagram of the first embodiment of the invention from driving luggage case.
Fig. 8 is the schematic diagram that general embodiments of the present invention follow user from driving luggage case.
Fig. 9 A is the bottom schematic view that first embodiment of the invention (two actuator wheels) follows user from driving luggage case.
Fig. 9 B be first embodiment of the invention (two actuator wheels) follow direction vector, the first round to vector and second take turns to
The schematic diagram of vector.
Fig. 9 C is the signal graph of first embodiment of the invention (two actuator wheels) first current value and the second current value.
Figure 10 A is the bottom schematic view that first embodiment of the invention (four actuator wheels) follows user from driving luggage case.
Figure 10 B be first embodiment of the invention (four actuator wheels) follow direction vector, the first round to vector, second take turns to
Vector, third round are to vector and fourth round to the schematic diagram of vector.
Figure 10 C be first embodiment of the invention (four actuator wheels) first current value, the second current value, third current value with
The signal graph of 4th current value.
Figure 11 A is that first embodiment of the invention (four actuator wheels) driving luggage case edge follows the bottom that direction vector moves certainly
Portion's schematic diagram.
Figure 11 B is that first embodiment of the invention (four actuator wheels) driving luggage case edge follows direction vector to move and locate certainly
In the bottom schematic view of an emergency situations.
Figure 11 C is that first embodiment of the invention (four actuator wheels) driving luggage case edge follows direction vector to move and locate certainly
In the bottom schematic view of another emergency situations.
Figure 12 A is that the first current value, the second current value, the third current value of state shown in Figure 11 A show with the 4th current value
It is intended to.
Figure 12 B is that the first current value, the second current value, the third current value of state shown in Figure 11 B show with the 4th current value
It is intended to.
Figure 12 C is that the first current value, the second current value, the third current value of state shown in Figure 11 C show with the 4th current value
It is intended to.
Figure 13 is the appearance diagram of second embodiment of the invention actuator wheel module.
Figure 14 is the partial interior structural scheme of mechanism of second embodiment of the invention actuator wheel module.
Figure 15 is the perspective view of the explosion of second embodiment of the invention actuator wheel module.
Figure 16 is the diagrammatic cross-section of second embodiment of the invention actuator wheel module.
Figure 17 is function block schematic diagram of the second embodiment of the invention from driving luggage case.
Figure 18 is schematic top plan view of the general embodiments of the present invention from driving luggage case.
Figure 19 A is the schematic diagram that general embodiments of the present invention execute the second follow the mode from driving luggage case.
Figure 19 B for the institute of camera module shown in Figure 19 A pick-up image schematic diagram.
Figure 20 A is that general embodiments of the present invention execute the second follow the mode from driving luggage case and are in an emergency situations
Schematic diagram.
Figure 20 B for the institute of camera module shown in Figure 20 A pick-up image image schematic diagram.
Figure 20 C for the institute's pick-up image of camera module shown in Figure 20 A another time point image schematic diagram.
Figure 21 A to Figure 21 C is that driving luggage case executes the second follow the mode and avoidance mould to second embodiment of the invention certainly
The schematic diagram of formula.
Wherein, the reference numerals are as follows:
1000,1001,1002,1003 luggage case is driven certainly
2000 cabinets
2001 fronts
2002 back sides
2003 first sides
2003 ' second sides
3000,3000 ' actuator wheel module
3001,3,005 first actuator wheel module
3001 ', 3001 " the first driven wheel module
3002,3,006 second actuator wheel module
3002 ', 3002 " the second driven wheel module
3003,3007 third actuator wheel module
3004,3008 the 4th actuator wheel module
4000 pull rod modules
7000 first follow sensing module
5000 camera modules
6001 first sensors
6002 second sensors
8000 second follow sensing module
8001 3rd sensors
8002 the 4th sensors
1 wheel
10 first wheel caps
101 first bearing placement portions
The perforation of 102 first wheel caps
11 second wheel caps
110 second bearing placement portions
The perforation of 111 second wheel caps
12 advance motors
120 rotors
122 first fixed parts
123 second fixed parts
124 stator accommodating spaces
125 rotor openings
121 motor stators
13 wheel bodys
130 rotor accommodating spaces
131 wheel bodys opening
132 rotors fix elongated slot
14 first screws
15 second screws
16 first motor bearings
17 second motor bearings
18 fixed links
180 first ends
181 the second ends
182 stator fixed parts
2 pedestals
20 ears
A1 first axle
Bis- axis of A2
3 slip ring modules
30 slip ring fixing pieces
301 rotating member accommodating spaces
302 fastener openings
303 fixed ears
31 slip ring rotating members
310 rod piece mounting holes
311 rotating members opening
4 slip ring shells
40 slip ring upper housings
41 slip ring lower cases
410 slip ring accommodating spaces
411 lower cases opening
412 flange parts
5 bearing seats
50 protruding pinnas
6 steering motors
7 rod pieces
8 wheel position detecting modules
80 magnetic parts
81 orientation decoder modules
90 nuts
91 bearing parts
D central processing list
E takes turns sub-control unit
E0 Speed sensing unit
F accelerometer
G locating module
H portable device communication module
I portable device
J battery module
K power source design module
L inertia measurement unit
M touch-control shutdown switch
O barrier
T distance
U, U ' user
UI, UI ' user image
The visual field FOV
The first pane of IF1
The second pane of IF2
IF3 third pane
X1 first axis
X2 second is axial
Y1 cabinet moves towards vector
Y2 follows direction vector
Y3 direction of travel vector
The Z1 first round is to vector
Z2 second takes turns to vector
Z3 third round is to vector
Z4 fourth round is to vector
1 first angular displacement of α
2 second angular displacement of α
θ cabinet angular displacement
The first electric current of EC1
The second electric current of EC2
EC3 third electric current
The 4th electric current of EC4
Specific embodiment
The direction term being previously mentioned in following implementation, such as: upper and lower, left and right, front or rear etc. are only with reference to additional
The direction of attached drawing.Therefore, the direction term used is intended to be illustrative and not intended to limit the present invention.As shown in Figure 1 and Figure 2,
The present invention discloses a kind of driving luggage case 1000 certainly, includes a cabinet 2000, an actuator wheel module 3000, a pull rod module 4000
And one first follow sensing module 7000, cabinet 2000 has a front 2001, a back side 2002, a top side 2004, a bottom side
2005, one first side 2003 and one second side, 2003 ', actuator wheel module 3000 are mounted on bottom side 2005, top side 2004 with
Bottom side 2005 is opposite, and the first side 2003 connects top side 2004 and bottom side 2005,2003 ' connection top side 2004 of the second side and bottom
Side 2005 and opposite with the first side 2003, front 2001 it is opposite with the back side 2002 and be separately connected top side 2004, bottom side 2005,
2003 ' of first side 2003 and the second side.First follows sensing module 7000 that the first side 2003 of cabinet 2000 is arranged in,
It is located at the object before the first side 2003 of cabinet 2000 to sense.
In the present embodiment, first sensing module 7000 is followed to include a camera module 5000, a first sensor
6001 and a second sensor 6002, but the present invention is not limited, such as first follows sensing module 7000 can also be only comprising taking the photograph
As head module 5000, hold depending on actual demand.Camera module 5000 can be used to capture an object image of the object, the
One sensor 6001 can be used to sense a first distance value of the object opposite case 2000, and second sensor 6002 can be used to
Sense a second distance value of the object opposite case 2000.As shown in fig. 7, from driving luggage case 1000 also comprising a center
Processing unit D is coupled to camera module 5000, first sensor 6001 and second sensor 6002.In the present embodiment,
Central processing unit D can be a central processing unit (Central Processing Unit, CPU), but the present invention is not by this
Limit, such as central processing unit D are also possible to a graphics processor (Graphics Processing Unit, GPU), and end view is real
Depending on the demand of border.In addition, actuator wheel module 3000 is coupled to cabinet 2000, central processing unit D can follow sensing according to first
The sensing result of module 7000, control 3000 drive case 2000 of actuator wheel module move on a ground.In present embodiment
In, it include four actuator wheel modules 3000 from driving luggage case 1000, but the present invention is not limited, such as driving luggage case certainly
1000 also only include an actuator wheel module 3000, i.e., includes the structure of an actuator wheel module 3000 from driving luggage case 1000,
In the scope that the present invention is protected.
It is noted that from driving luggage case 1000 only actuator wheel module 3000 of the present invention depicted in Fig. 1 and Fig. 2
An application implementation mode, and actuator wheel module 3000 of the present invention application can be not limited to this, such as the present invention actuating wheel model
Block 3000 can also be applied to one from driving chassis (or automatic drive device), i.e., described driving chassis (automatic drive device) certainly includes
One disk body (ontology) and actuator wheel module 3000 of the invention, wherein actuator wheel module 3000 is coupled to the disk body, and causes
The detailed knot of driving wheel module 3000 is said and action principle is as described below.
As shown in Figures 3 to 6, each actuator wheel module 3000 includes a wheel 1, a pedestal 2 and a slip ring modules 3, bottom
Seat 2 have an a first axle A1 and second axis A2, pedestal 2 be coupled to cabinet 2000 and can opposite case 2000 around first axle
Line A1 rotation, wheel 1 are coupled to pedestal 2 and can rotate relative to pedestal 2 around second axis A2.In addition, pedestal 2 has two ears
20, second axis A2 run through two ears 20, and wheel 1 is between two ears 20.Further, wheel 1 includes a first round
Lid 10, one second wheel cap 11, an advance motor 12, a wheel body 13, multiple first screws 14, multiple second screws 15, one first
Motor bearings 16, one second motor bearings 17 and a fixed link 18.Wheel body 13 is adapted for contact with the ground, and advance motor 12 is arranged
It in wheel body 13 and include a rotor 120 and a motor stator 121, fixed link 18 has a first end 180,1 the
Two ends 181 and a stator fixed part 182, fixed link 18 are fixed on one of two ears 20 by first end 180, Gu
Fixed pole 18 is fixed on the wherein another of two ears 20 by the second end 181, and stator fixed part 182 is arranged in first end 180
Between the second end 181, and motor stator 121 is fixed on fixed link 18 by stator fixed part 182.
In addition, the first wheel cap 10 has a first bearing placement portion 101, the second wheel cap 11 has a second bearing placement portion
110, first motor bearing 16 is arranged in first bearing placement portion 101, and the first end 180 of fixed link 18 is arranged in first motor
Bearing 16 enables the first wheel cap 10 to rotate by first motor bearing 16 relative to fixed bar 18.The setting of second motor bearings 17 exists
Second bearing placement portion 110, the second end 181 of fixed link 18 are arranged in the second motor bearings 17, pass through the second wheel cap 11
Second motor bearings 17 can be rotated relative to fixed bar 18.Further, wheel body 13 has a rotor accommodating space 130, and rotor holds
130 respectively form wheel body opening 131 along the axially extending of wheel body 13 and at opposite two ends of wheel body 13 between emptying.Wheel body 13 also has
There is the fixed elongated slot 132 of multiple rotors, the fixed elongated slot 132 of multiple rotors is arranged in the wall surface of rotor accommodating space 130 and extends to
Opposite two ends of wheel body 13, rotor 120 have multiple first fixed parts 122 and multiple second fixed parts 123, wherein motor
Rotor 120 is mounted in rotor accommodating space 130 by wheel body opening 131, at this time every one first fixed part 122 and every one second
Fixed part 123 is mounted on one of fixed elongated slot 132 of multiple rotors, to prevent rotor 120 from rotating relative to wheel body 13.
In addition, rotor 120 has a stator accommodating space 124, stator accommodating space 124 is along rotor 120
It is axially extending and respectively form a rotor openings 125 at opposite two ends of rotor 120.It also include one from driving luggage case 1000
Sub-control unit E is taken turns, and takes turns sub-control unit E and is coupled to advance motor 12.In the present embodiment, wheel sub-control unit E can
For a circuit board, the circuit board with central processing unit D to cooperate, to control the actuation of advance motor 12, for example (,) it is described
Circuit board (i.e. wheel sub-control unit E) can cooperate with central processing unit D, to generate the electricity of a control signal to advance motor 12
Machine stator 121, and motor stator 121 is when receiving the control signal, driving motor rotor 120 rotates and drives wheel body 13,
Wheel body 13 is set to roll on the ground.In another embodiment, wheel sub-control unit E can be placed in cabinet 2000
Rather than among wheel 1.In another embodiment, wheel sub-control unit E can be integrated into an integrated electricity with central processing unit D
Road chip SOC.
In addition, motor stator 121 and wheel sub-control unit E are mounted on stator accommodating space 124 by rotor openings 125
It is interior.First wheel cap 10 forms multiple first wheel cap perforation 102, and the second wheel cap 11 forms multiple second wheel cap perforation 111, wherein often
One first screw 14 is attached to rotor 120 corresponding first by the corresponding first wheel cap perforation 102 of the first wheel cap 10 and consolidates
Determine portion 122, the first wheel cap 10 is made to be fixed in the side of rotor 120, every one second screw 15 is corresponding by the second wheel cap 11
The perforation of the second wheel cap 111 be attached to corresponding second fixed part 123 of rotor 120, so that the second wheel cap 11 is fixed in motor
The other side of rotor 120, and the first wheel cap 10 and the second wheel cap 11 are connected in a manner of it can rotate relative to fixed bar 18 respectively
The first end 180 and the second end 181 of fixed link 18, enable rotor 120 and wheel body 13 to rotate relative to fixed bar 18.This
Sample one, motor stator 121 can be fixed in pedestal 2, and rotor 120 can be fixed in wheel body 13 and rotationally be sheathed on
Motor stator 121.
As shown in Figures 3 to 6, slip ring modules 3 include a slip ring fixing piece 30 and a slip ring rotating member 31, and slip ring is fixed
Part 30 is coupled to central processing unit D, and slip ring rotating member 31 is pivotally electrically connected at slip ring fixing piece 30, slip ring
Rotating member 31 is coupled to motor stator 121.Further, slip ring fixing piece 30 has a rotating member accommodating space 301, rotating member
Accommodating space 301 is formed with a fastener openings 302 in one end of slip ring fixing piece 30, and a part of slip ring rotating member 31 passes through
Fastener openings 302 are rotationally placed in rotating member accommodating space 301.In addition, slip ring rotating member 31 is pacified with a rod piece
Hole 310 is filled, and is also fixedly arranged on from driving luggage case 1000 comprising a slip ring shell 4, a bearing seat 5 and a rod piece 7, rod piece 7
Pedestal 2, rod piece 7 is arranged in slip ring rotating member 31 by rod piece mounting hole 310, and rod piece 7 is arranged in bearing seat 5, wherein working as wheel
Son 1 opposite case 2000 when being rotated around first axle A1, pedestal 2, rod piece 7 and 31 energy of slip ring rotating member in the ground moving
It is rotated simultaneously around first axle A1.Slip ring shell 4 is to coat slip ring modules 3, to protect slip ring modules 3.
Further, slip ring shell 4 includes a slip ring upper housing 40 and a slip ring lower case 41, and slip ring lower case 41 is solid
On bearing seat 5, slip ring lower case 41 is formed with a slip ring accommodating space 410, and slip ring accommodating space 410 is in slip ring lower case
41 one end is formed with shell nozzle 411, and slip ring fixing piece 30 is arranged by lower case opening 411 in slip ring accommodating space
In 410.In the present embodiment, slip ring fixing piece 30 has a fixed ear 303, and fixed ear 303 is to be fixed in slip ring
The bottom wall of accommodating space 410 is capable of fixing slip ring fixing piece 30 in the slip ring accommodating space 410 of slip ring lower case 41.Slip ring
Upper housing 40 is arranged in the end of slip ring lower case 41 and closes lower case opening 411, wherein bearing seat 2, slip ring lower case
41 are fixed in the bottom side 2005 of cabinet 2000 with slip ring upper housing 40, and when pedestal 2, rod piece 7 and slip ring rotating member 31 are around the
When one axis A1 is rotated simultaneously, bearing seat 2, slip ring lower case 41 and slip ring upper housing 40 do not turn with pedestal 2, rod piece 7 and slip ring
Moving part 31 is rotated around the first axle.
As shown in Figure 3 and 4, bearing seat 5 has two protruding pinnas 50, and slip ring lower case 41 has two flanges portion 412, often
One of one protruding pinna, 50 corresponding flange portion 412, protruding pinna 50 and flange part 412 are jointly by bearing seat 5 and slip ring lower casing
Body 41 is fixed in the bottom side 2005 of cabinet 2000.In the present embodiment, on each protruding pinna 50 on each flange part 412
Be formed with a fixation hole, in assembling when, can by a screw (not being illustrated in figure) pass through protruding pinna 50 on described fixation hole with
After the fixation hole on flange part 412, it is attached to the bottom side 2005 of cabinet 2000.It is above-mentioned to will be under bearing seat 5 and slip ring
The structure that shell 41 is fixed in the bottom side 2005 of cabinet 2000 is only an illustrated embodiment of the invention, and the present invention is not by this
Limit.
As shown in Fig. 4 and Fig. 6, the rod piece mounting hole 310 of slip ring rotating member 31 is formed in one end of slip ring rotating member 31
There is rotating member opening 311, and takes turns the setting of position detecting module 8 also comprising a wheel position detecting module 8 from driving luggage case 1000 and exists
It in slip ring accommodating space 410 and include that the one of rod piece 7 is arranged in a magnetic part 80 and an orientation decoding module 81, magnetic part 80
It holds and is located in the rod piece mounting hole 310 of slip ring rotating member 31, wherein when rod piece 7 is rotated around first axle A1, magnetic part 80
It can be rotated simultaneously with rod piece 7.Orientation decoder module 81 is fixedly arranged on slip ring upper housing 40, and orientation decoder module 81 is rotated by slip ring
The 311 sensing magnetic parts 80 of rotating member opening of part 31, to detect wheel 1 in opposite case 2000 or with respect to the one of first axle A1
Take turns to.
As shown in Fig. 1 and Fig. 7, from drive luggage case 1000 also comprising a battery module J, a touch-control shutdown switch M with
And a pull rod module 4000, pull rod module 4000 be mounted on cabinet 2000 and can opposite case 2000 stretch out or fold, battery
Module J is coupled to central processing unit D, and battery module D makes actuator wheel module to provide power supply to actuator wheel module 3000
3000 can drive case 2000 moved on the ground, touch-control shutdown switch M is coupled to central processing unit D.Work as actuator wheel
For 3000 drive case 2000 of module when moving on the ground, user can make battery module by triggering touch-control shutdown switch M
J stops providing power supply to actuator wheel module 3000, i.e. central processing unit D can be controlled when touch-control shutdown switch M is triggered by user
Battery module J processed stops providing power supply to actuator wheel module 3000, makes losing actuator wheel module from driving luggage case 1000
Can manually it be stopped after power source provided by 3000, to advance in response to emergency situations, such as from driving luggage case 1000
Path on there is child or pet to swarm into suddenly.In the present embodiment, touch-control shutdown switch M is mounted on pull rod module 4000
On, but the present invention is not limited, such as the also mountable side (such as front 2001) in cabinet 2000 touch-control shutdown switch M
On or touch-control shutdown switch M be mounted on the side of pull rod module 4000 and cabinet 2000, hold depending on actual demand.
According further to above-mentioned electric machine structure, when being switched to manual mode, actuator wheel still can be more according to first axle and second axis
Direction freely manual control operation, without advance can not be continued to rotate because motor is locked.
As shown in fig. 7, can also be carried comprising a power source design module K, a locating module G, one from driving luggage case 1000
Formula device communication module H, an inertia measurement unit L, a Speed sensing unit E0 and an accelerometer F, power source design module K coupling
It is connected to central processing unit D and battery module J, power source design module K can assist central processing unit D to distribute battery module J
Mould is communicated to camera module 5000, first sensor 6001, second sensor 6002, locating module G and portable device
Block H, wherein portable device communication module H can be used to establish with a portable device I online, make portable device I
It can be carried out data exchange, such as setting, the switching of follow the mode of following distance etc. with from driving luggage case 1000, wherein can take
Belt type apparatus communication module H may include a super broad band radio communication module (Ultra Wideband Wireless module,
UWB), a radio frequency identification module (Radio Frequency ldentification module, RFID), a bluetooth mould
Block (Bluetooth module) and a wireless fidelity module (Wireless Fidelity module, Wi-Fi module).
Wherein for locating module G to position from the position for driving luggage case 1000, locating module G may include a global positioning system
(Global Position System, GPS), a wireless fidelity module (Wireless Fidelity module, Wi-Fi
Module), bluetooth module (Bluetooth module) etc..Inertia measurement unit L is coupled to central processing unit D and can be used
To sense moving direction of the cabinet 2000 in the ground moving, accelerometer F is coupled to central processing unit D and can be used to
Acceleration of the cabinet 2000 in the ground moving is sensed, therefore central processing unit D by inertia measurement unit L and accelerates
Degree meter F can acquire moving direction of the cabinet 2000 in the ground moving and inertia force size.
As shown in figure 8, moved towards from 2003 ' of the second side of cabinet 2000 towards the first side 2003 and along cabinet 2000
Direction definition is that a cabinet moves towards vector Y1 (or an ontology moves towards vector or a disk body moves towards vector), due to it is of the invention from
Driving luggage case 1000 follows sensing module 7000 configured with first, wherein first to follow sensing module 7000 may include camera
Module 5000, first sensor 6001 and second sensor 6002, therefore the centre from driving luggage case 1000 of the invention
Reason cells D can follow sensing module 7000 to the sensing result of a user U (the i.e. described object) according to first, and according to camera
The first distance value and second sensed using image, first sensor 6001 that module 5000 captures user U
The second distance value that sensor 6002 is sensed, differentiates a traveling direction vector Y3 of user U, while calculating cabinet 2000
A position vector of opposite user U, and the position vector of the cabinet 2000 with respect to user U may be defined as one and follow direction vector
Y2, wherein cabinet moves towards vector Y1, direction vector Y2 and direction of travel vector Y3 is followed to may respectively be a unit vector, i.e. cabinet
Move towards vector Y1 be indicating that from move towards direction and the size for driving luggage case 1000 be 1, follow direction vector Y2 be to
Indicate that from the direction of advance and size of driving luggage case 1000 be 1, and direction of travel vector Y3 is the advance to indicate user U
Direction and size are 1.
It is noted that the present invention can not also follow sensing module 7000 by first, only certainly by central processing unit D
Row determines a direction of advance vector, wherein the direction of advance vector can be an assigned direction of cabinet 2000 (or the disk body),
It can be for comprising making cabinet 2000 (or the disk body) either to advance to moving towards vector Y1 comprising cabinet, follow direction vector Y2
Or direction of travel vector Y3 etc..
Further, due to actuator wheel module 3000 can opposite case 2000 around first axle A1 rotate, centre
Reason cells D can control the rotation of actuator wheel module 3000 and make the trend (or take turns to) of actuator wheel module 3000 side of following in parallel
To vector Y2.So, of the invention can opposite case 2000 by actuator wheel module 3000 from driving luggage case 1000
Around the mechanism of first axle A1 rotation, make to follow user U's direction vector Y2 and cabinet is followed to move towards from driving luggage case 1000
Vector Y1 is identical, or make from drive luggage case 1000 follow user U to follow direction vector Y2 and cabinet to move towards vector Y1 different,
End is depending on actual demand.
It include two actuator wheels from driving luggage case 1000 in the present embodiment as shown in Fig. 9 A, Fig. 9 B and Fig. 9 C
Module 3000 is indicated respectively with one first actuator wheel module 3001 and one second actuator wheel module 3002, wherein the first actuator wheel
Module 3001 and the second actuator wheel module 3002 are adjacent to the second side 2003 ', the i.e. driving to drive luggage case 1000 certainly
For system, the present invention is a rear wheel drive system from the collocation actuator wheel module 3000 of luggage case 1000 is driven.In addition, from driving
Luggage case 1000 also includes one first driven wheel module, 3001 ' and one second driven wheel module 3002 ', the first driven wheel module
3001 ' and 3002 ' of the second driven wheel module is arranged at the bottom side 2005 of cabinet 2000 and is adjacent to the first side 2003.It is worth
One is mentioned that, in the present embodiment, the first actuator wheel module 3001 and the second actuator wheel module 3002 are to drive case
2000 in the ground moving, and the first driven wheel module 3001 ' and the second driven wheel module 3002 ' do not have power configuration, only
It is to assist the first actuator wheel module 3001 and the second actuator wheel module 3002, cabinet 2000 is supported on the ground jointly
On, wherein the first actuator wheel module 3001, the second actuator wheel module 3002, the first driven wheel module 3001 ' and the second driven wheel
3002 ' of module can be rotated relative to the cabinet 2000 around first axle A1.
In the present embodiment, central processing unit D is the first distance sensed according to first sensor 6001
The object image that the second distance value and camera module 5000 that value, second sensor 6002 are sensed are captured
(i.e. the user image of user U), decision follows direction vector Y2, but the present invention is not limited, such as central processing unit D
Also the object image (i.e. the user image of user U) captured only on the basis of camera module 5000, determines to follow
Direction vector Y2 is held depending on actual demand.As shown in Fig. 7, Fig. 9 A and Fig. 9 B, the first actuator wheel module 3001 and the second actuating
Wheel module 3002 separately includes wheel position detecting module 8, and wheel position detecting module 8 is coupled to central processing unit D.Further, such as
Shown in Fig. 4 and Fig. 6, wheel position detecting module 8 include magnetic part 80 and orientation decoding module 81, wherein magnetic part 80 can with rod piece 7,
Pedestal 2 and wheel 1 rotate, and orientation decoder module 81 is not rotated with rod piece 7, pedestal 2 and wheel 1.Therefore, when magnetic part 80 with
When rod piece 7, pedestal 2 and wheel 1 rotate, it can relatively rotate between orientation decoding module 81 and magnetic part 80, decode orientation
Module 81 can sense the angular displacement of (or wheel 1) relative bearing of magnetic part 80 decoder module 81 (or cabinet 2000), to detect
One first round of 3001 opposite case 2000 of (calculating) first actuator wheel module is to 3002 phase of vector Z 1 and the second actuator wheel module
Take turns to the one second of cabinet 2000 to vector Z 2, wherein the first round to vector Z 1 and second take turns to vector Z 2 be respectively a unit to
Amount.
In conclusion the opposite first round of the first actuator wheel module 3001 can be obtained to vector Z 1 by orientation decoder module 81
First angular displacement alpha 1 and the second actuator wheel module 3002 opposite second take turns one second angular displacement alpha 2 to vector Z 2, pass through first
The opposite cabinet angular displacement for following direction vector Y2 of cabinet 2000 can be obtained by following sensing module 7000, thus the first round to
Measuring component of the Z1 in first axis X1 (i.e. X-axis) is cos α 1, and the first round is to vector Z 1 on the second axial direction X2 (i.e. Y-axis)
Component is sin α 1;Second to take turns component to vector Z 2 in first axis X1 (i.e. X-axis) be cos α 2, and second takes turns to vector Z 2 and exist
Component on second axial direction X2 (i.e. Y-axis) is sin α 2;Component of the direction vector Y2 in first axis X1 (i.e. X-axis) is followed to be
Cos θ, following component of the direction vector Y2 on the second axial direction X2 (i.e. Y-axis) is sin θ.Further, from driving luggage case
1000 central processing unit D can calculate cabinet 2000 by inertia measurement unit L and accelerometer F and follow direction vector Y2
On inertia force size (i.e. force ρ of the cabinet 2000 in a known direction).In one embodiment, force ρ can
It is determined according to the weight that cabinet loads.Therefore, cabinet 2000 to be made along follow direction vector Y2 advance, the first actuator wheel module
Driving force f2 needed for driving force f1 needed for 3001 and the second actuator wheel module 3002, meets following equation:
F1*cos α 1+f2*cosa2=λ 1* ρ * cos θ --- -- (1-1)
F1*sin α 1+f2*sin α 2=λ 1* ρ * sin θ ----(1-2)
According to formula (1-1) and formula (1-2), driving force f1 and second needed for the first actuator wheel module 3001 can be acquired
Driving force f2 needed for actuator wheel module 3002, and then it is defeated needed for driving force f1 that the first actuator wheel module 3001 can must be made to obtain
The one first electric current EC1 entered and one second electric current for making the second actuator wheel module 3002 obtain driving force f2 required input
EC2 (as shown in Figure 9 C), to make cabinet 2000 along following direction vector Y2 to advance, wherein λ 1 is an empirical.
It as shown in Figure 10 A, include one first actuator wheel module 3001, one second actuator wheel module from driving luggage case 1001
3002, a third actuator wheel module 3003 and one the 4th actuator wheel module 3004, the first actuator wheel module 3001 and second cause
Driving wheel module 3002 is adjacent to the first side 2003, and third actuator wheel module 3003 is adjacent to the 4th actuator wheel module 3004
Second side 2003 ', the first actuator wheel module 3001, the second actuator wheel module 3002, third actuator wheel module 3003 and the 4th
To support and drive case 2000 is in the ground moving, the first actuator wheel module 3001, second causes actuator wheel module 3004
Driving wheel module 3002, third actuator wheel module 3003 and the 4th actuator wheel module 3004 can opposite case 2000 around first axle
A1 rotation.
As shown in Figure 10 B, it for the first actuator wheel module 3001 and the second actuator wheel module 3002, is decoded by orientation
Module 81 can obtain first angular displacement alpha 1 and second actuating wheel model of the opposite first round of the first actuator wheel module 3001 to vector Z 1
Block 3002 opposite second takes turns one second angular displacement alpha 2 to vector Z 2, follows sensing module 7000 that can obtain cabinet 2000 by first
The opposite cabinet angular displacement for following direction vector Y2, therefore point of the first round to vector Z 1 in first axis X1 (i.e. X-axis)
Amount is cos α 1, the first round to component of the vector Z 1 on the second axial direction X2 (i.e. Y-axis) be sin α 1;Second takes turns to vector Z 2
Component on one axial direction X1 (i.e. X-axis) is cos α 2, and the second component taken turns to vector Z 2 on the second axial direction X2 (i.e. Y-axis) is sin
α2;Following component of the direction vector Y2 in first axis X1 (i.e. X-axis) is cos θ, follows direction vector Y2 in the second axial direction X2
Component in (i.e. Y-axis) is sin θ.Further, it is measured from the central processing unit D of driving luggage case 1000 by inertia single
First L and accelerometer F can calculate cabinet 2000, and following the inertia force size on direction vector Y2, (i.e. cabinet 2000 is known to one
Force ρ on direction).In one embodiment, force ρ can be determined according to the weight that cabinet loads.
As shown in Figure 10 B, it for third actuator wheel module 3003 and the 4th actuator wheel module 3004, is decoded by orientation
Module 81 can obtain third actuator wheel module 3003 and activate wheel model to the third angular displacement alpha 3 of vector Z 3 and the 4th with respect to third round
Block 3004 is displaced α 4 to a fourth angle of vector Z 4 with respect to fourth round, follows sensing module 7000 that can obtain cabinet 2000 by first
The opposite cabinet angular displacement for following direction vector Y2, therefore point of the third round to vector Z 3 in first axis X1 (i.e. X-axis)
Amount is cos α 3, third round to component of the vector Z 3 on the second axial direction X2 (i.e. Y-axis) be sin α 3;Fourth round is to vector Z 4
Component on one axial direction X1 (i.e. X-axis) is cos α 4, fourth round to component of the vector Z 4 on the second axial direction X2 (i.e. Y-axis) be sin
α4;Following component of the direction vector Y2 in first axis X1 (i.e. X-axis) is cos θ, follows direction vector Y2 in the second axial direction X2
Component in (i.e. Y-axis) is sin θ.Further, it is measured from the central processing unit D of driving luggage case 1000 by inertia single
First L and accelerometer F can calculate cabinet 2000, and following the inertia force size on direction vector Y2, (i.e. cabinet 2000 is known to one
Force ρ on direction).In one embodiment, force ρ can be determined according to the weight that cabinet loads.Therefore, make
Cabinet 2000 is along following direction vector Y2 to advance, driving force f1, the second actuator wheel module needed for the first actuator wheel module 3001
Needed for driving force f2 needed for 3002, driving force f3 needed for third actuator wheel module 3003 and the 4th actuator wheel module 3004
Driving force f4, meet following equation:
∑ fi*cos α i=λ 2* ρ * cos θ --- -- (2-1)
∑ fi*sin α i=λ 2* ρ * sin θ ----(2-2)
According to formula (2-1) and formula (2-2), driving force f1-f4 needed for actuator wheel module can be acquired, and then can must be intended to
Make actuator wheel module obtain driving force required input first, second, third and fourth electric current EC1~EC4, thus make cabinet 2000 along with
It advances with direction vector Y2, wherein λ 2 is an empirical.Wherein, it can be given according to calculating demand when implementing this mode certain
Wheel drive force preset value is activated, is calculated with facilitating.According further to Figure 10 A~Figure 10 C it is found that the actuator wheel module of the present invention has
Be characterized in: deviation follows the actuator wheel module of direction vector Y2 the more, and input current is smaller;For example, due in Figure 10 A
The second actuator wheel module 3002 second take turns to vector Z 2 compared to other actuator wheel modules deviation follow direction vector Y2 compared with
It is more, therefore the second electric current EC2 for inputting the second actuator wheel module 3002 is smaller.
In other words, one of emphasis of first embodiment of the invention (Fig. 3,4,6,7,9-12) is: not using motor
Or other elements control each wheel direction, therefore when the situation for encountering out-of-flatness when advancing from driving luggage case 1001 or other because
Element cause wheel to when changing, carried out using the above-mentioned calculation of the present invention based on can the speed difference control of dual-axis rotation wheel be base
The whole method of advance of plinth, the method comprise the steps of:
Step S100: central processing unit D calculating the first round to vector Z 1 with follow direction vector Y2 one first difference,
Second takes turns to vector Z 2 and follows one second difference of direction vector Y2, third round to vector Z 3 and follow the one of direction vector Y2
Third difference and fourth round are to vector Z 4 and one the 4th difference for following direction vector Y2;
Step S102: central processing unit D judges first difference, second difference, the third difference and institute
State whether one of the 4th difference is greater than a threshold value? if so, executing step S104;If it is not, returning to step S106;
Step S104: corresponding first difference, second difference, the third difference and the 4th difference are reduced
One of electric current.
As shown in Figure 11 A and Figure 12 A, when from driving luggage case 1001 the ground advance when, central processing unit D
The first actuator wheel is supplied respectively with the first equivalent electric current EC1, the second electric current EC2, third electric current EC3 and the 4th electric current EC4
Module 3001, the second actuator wheel module 3002, third actuator wheel module 3003 and the 4th actuator wheel module 3004, it is central at this time
Processing unit D calculate the first round to vector Z 1 with follow one first difference of direction vector Y2, second take turns to vector Z 2 with follow
One second difference of direction vector Y2, third round to vector Z 3 and the third difference and fourth round that follow direction vector Y2 to
Amount Z4 and one the 4th difference for following direction vector Y2.As shown in Figure 11 B and Figure 12 B and Figure 11 C and Figure 12 C, work as self-powered
When dynamic luggage case 1001 encounters the situation of the ground out-of-flatness, such as the second actuator wheel module of luggage case 1001 is driven certainly
3002 pass through pothole or convex stone when, the second of the second actuator wheel module 3002, which is taken turns to vector Z 2, substantially to be changed, at this time second
The threshold value can be greater than with second difference of direction vector Y2 is followed by taking turns to vector Z 2, when central processing unit D judges
Second difference is greater than the threshold value, and central processing unit D reduces the second electric current EC2, to reduce the second actuator wheel module
3002 driving force f2, make the first actuator wheel module 3001, third actuator wheel module 3003 and the 4th actuator wheel module 3004 at
For main power plant module, to carry out correction for direction to the second actuator wheel module 3002, until the second actuator wheel module 3002 is returned to
Until central processing unit D judges that second difference is greater than the threshold value.Wherein, above-mentioned threshold value is in embodiment
A kind of form, is in addition subject to another form being calculated as in embodiment in real time of formula (2-1) and formula (2-2).
Wherein, either above-mentioned any form, central processing unit D to calculate follow direction vector Y2 (or advance
Direction vector) and first difference from the first round to vector Z 1, calculate follow direction vector Y2 (or the direction of advance to
Amount) with second second difference to vector Z 2 taken turns, calculate and follow direction vector Y2 (or described direction of advance vector) and the
The third difference from three-wheel to vector Z 3, and calculate follow direction vector Y2 (or described direction of advance vector) and fourth round to
The 4th difference of vector Z 4, wherein central processing unit D is provided to the first actuator wheel module 3001, the second actuator wheel respectively
Module 3002, the first current value EC1 of third actuator wheel module 3003 and the 4th actuator wheel module 3004, the second current value EC2,
Third current value EC3 and the 4th current value of EC4, with first difference, second difference, the third difference and described the
Four differences are inversely proportional.Using it is above-mentioned based on can whole method of advance based on the speed difference control of dual-axis rotation wheel, may make this
The actuator wheel module of invention controls its direction without using steering motor, but whole luggage case or chassis can be made towards certain party
March forward, hence it is evident that be different from it is previous using fast pulley (i.e. fixed-direction wheel) or it is non-can dual-axis rotation wheel wheel speed control method.
As shown in Figure 13 to Figure 17, second embodiment of the invention discloses a kind of 3000 ' of actuator wheel module, actuator wheel module
3000 ' are with the main difference of the actuator wheel module 3000 of above-mentioned first embodiment, and actuator wheel module 3000 ' also includes one
Steering motor 6, the steering motor 6 are coupled to one end and the pedestal 2 of rod piece 7, wherein the steering motor 6 is turned in reception one
When signal, driving 2 opposite case 2000 of pedestal is rotated around first axle A1.In other words, above-mentioned actuator wheel module 3000 is
Utilize the first electric current EC1 and the second electric current for being provided to the first actuator wheel module 3001 and the second actuator wheel module 3002 respectively
The combination of EC2 and/or be provided to respectively the third electric current EC3 of third actuator wheel module 3003 and third actuator wheel module 3003 with
The combination of 4th electric current EC4, control 3000 drive case 2000 of actuator wheel module (such as follow direction vector along a specific direction
Y2) mobile, and 3000 ' of actuator wheel module is to be turned the wheel of each 3000 ' of actuator wheel module to vector using the steering motor 6
In the same direction, enable 3000 ' drive case 2000 of actuator wheel module along institute to the specific direction (such as following direction vector Y2)
It is mobile to state specific direction (such as following direction vector Y2).In addition, actuator wheel module 3000 ' also includes a nut 90 and a bearing
Part 91, bearing part 91 are mounted on rod piece 7, and bearing part 91 is rotated to auxiliary bar 7 relative to bearing seat 5.
It is noted that the present invention can not also follow sensing module 7000 by first, only certainly by central processing unit D
Row determines a direction of advance vector, wherein the direction of advance vector can be an assigned direction of cabinet 2000 (or the disk body),
It can be for comprising making cabinet 2000 (or the disk body) either to advance to moving towards vector Y1 comprising cabinet, follow direction vector Y2
Or direction of travel vector Y3 etc..In addition, in the present embodiment, each actuator wheel module 3000 ' is each equipped with steering motor 6,
But the present invention is not limited.For example, steering motor 6 is also optionally configured at the actuator wheel module 3000 ' of part,
I.e. in another embodiment, a part of actuator wheel module 3000 ' is configured with steering motor 6, the actuating wheel model of another part
Block 3000 ' has no the configuration of steering motor 6, and those actuator wheel modules 3000 ' all have power source, i.e. those actuator wheel modules
3000 ' all have advance motor 12.Preferably, the actuator wheel module 3000 ' with steering motor 6 is arranged in the portion of front-wheel
Point, and the part of rear-wheel is arranged in without 3000 ' of actuator wheel module that steering motor 6 configures.In another embodiment, described
The quantity of the advance motor 12 of a little actuator wheel modules 3000 ' is greater than the quantity of steering motor 6.
In conclusion second embodiment directly controls the direction of actuator wheel module using steering motor, it is different from first
Embodiment by based on can whole method of advance based on the speed difference control of dual-axis rotation wheel, the two can control row well
Lee's case or the direction of travel on chassis.Wherein aforementioned two embodiment, which can mix, is used in combination, such as the three-wheel in four-wheel uses first
Actuator wheel module 3000 (have advance motor and without steering motor) in embodiment, in addition a wheel uses second embodiment
In actuator wheel module 3000 ' (having advance motor and steering motor) directly control the direction of actuator wheel module;Or four-wheel
Middle two-wheeled is using actuator wheel module 3000 (have advance motor and without steering motor), and in addition two-wheeled uses actuator wheel module
3000 ' directly control the direction of actuator wheel module using steering motor, those skilled in the art can self assemble application and it is not subject to the limits.
In addition, in another embodiment, actuator wheel module 3000 " and have steering motor and without advance motor, it is aforementioned
Actuator wheel module 3000 " can be with actuator wheel module 3000 (having advance motor and without steering motor) and actuator wheel module
3000 ' (having advance motor and steering motor) mixing is used in combination, such as the three-wheel in four-wheel uses the cause in first embodiment
Driving wheel module 3000 (have advance motor and without steering motor), in addition a wheel " (only has steering using actuator wheel module 3000
Motor and without advance motor) directly control the direction of actuator wheel module;Or two-wheeled uses actuator wheel module 3000 in four-wheel, separately
Outer two-wheeled " directly controls the direction of actuator wheel module using steering motor using actuator wheel module 3000;Or two-wheeled in four-wheel
Using actuator wheel module 3000 ' (having advance motor and steering motor), in addition two-wheeled " (is only had using actuator wheel module 3000
Standby steering motor), those skilled in the art can self assemble application and it is not subject to the limits.In addition aforementioned citing also can be applicable to three-wheel or more
Complex wheel group in, however it is not limited to four-wheel wheel group.
As shown in figure 18, sensing module 7000 is followed comprising one first from driving luggage case 1001, first follows sensing mould
Block 7000 is arranged in the first side 2003 of cabinet 2000 and is located at the institute before the first side 2003 of cabinet 2000 to sense
Object is stated, wherein central processing unit D follows sensing module 7000 to the sensing result of the object, control first according to first
Actuator wheel module 3001, the second actuator wheel module 3002, third actuator wheel module 3003 and the 4th actuator wheel module 3004 are opposite
Cabinet 2000 is rotated around first axle A1, makes the first actuator wheel module 3001, the second actuator wheel module 3002, third actuating wheel model
Block 3003 and the 4th actuator wheel module 3004 can drive case 2000 along following direction vector Y2 to follow the positioned at cabinet 2000
The object (user U) before one side 2003, to execute one first follow the mode.Due to the first actuator wheel module 3001,
Two actuator wheel modules 3002, third actuator wheel module 3003 and the 4th energy opposite case 2000 of actuator wheel module 3004 are around first
Axis A1 rotation, therefore when central processing unit D executes first follow the mode, follow direction vector Y2 to be identical to cabinet
Vector Y1 is moved towards, or follows direction vector Y2 to be different from cabinet and moves towards vector Y1.
In the present embodiment, first sensing module 7000 is followed to include camera module 5000, first sensor 6001
And second sensor 6002, camera module 5000 can be to capture an object image of the object, first sensor
6001 can be to sense the first distance value of the object opposite case 2000, and second sensor 6002 can be to sense
The second distance value of object opposite case 2000 is stated, wherein the central processing unit carries out image to the object image
Processing, with determine the cabinet and the object relative bearing or central processing unit D according to the object image, institute
First distance value and the second distance value are stated, the relative bearing of cabinet 2000 and the object is calculated.
As shown in figure 18, sensing module 8000 also is followed comprising one second from driving luggage case 1001, second follows sensing
Module 8000 is arranged in the back side 2002 of cabinet 2000 and is located at described in the one side at the back side 2002 of cabinet 2000 to sense
Object, wherein central processing unit D follows sensing module 8000 to the sensing result of the object according to second, and control first causes
Driving wheel module 3001, the second actuator wheel module 3002, third actuator wheel module 3003 and the opposite case of the 4th actuator wheel module 3004
Body 2000 is rotated around first axle A1, makes the first actuator wheel module 3001, the second actuator wheel module 3002, third actuator wheel module
3003 and the 4th actuator wheel module 3004 can drive case 2000 along following direction vector Y2 to follow positioned at the back side of cabinet 2000
The object of 2002 one side, to execute one second follow the mode.
As shown in Figure 19 A, in the present embodiment, second to follow sensing module 8000 may include a 3rd sensor 8001
And one the 4th sensor 8002, when user U (the i.e. described object) is located at the one side at the back side 2002 of cabinet 2000, third is passed
Sensor 8001 can be to sense a third distance value of user U (the i.e. described object) opposite case 2000, and the 4th sensor
8002 can be to sense one the 4th distance value of user U (the i.e. described object) opposite case 2000, wherein the central processing list
Member calculates one between cabinet 2000 and user U (the i.e. described object) according to the third distance value and/or the 4th distance value
Distance T, and central processing unit D can be sensed when executing second follow the mode by 3rd sensor 8001 and the 4th
Device 8002, the first actuator wheel module 3001 of control, the second actuator wheel module 3002, third actuator wheel module 3003 and the 4th actuating
Wheel module 3004 will remain distance T at a distance between cabinet 2000 and user U (the i.e. described object).Wherein, 3rd sensor
8001 and the 4th sensor 8002 can be all camera, i.e., second to follow sensing module 8000 may include two cameras, thoroughly
Cross the distance value that binocular vision algorithm obtains sensing user U opposite case 2000.It is noted that due to driving luggage certainly
Case 1001 is furnished with portable device communication module H, and portable device communication module H with portable device I to build
Vertical communication, user U can pass through the value of portable device I set distance T on demand whereby.
In addition, the present invention second follows the type of sensing module 8000 that can be not limited to described in above embodiment, illustrate
For, as shown in Figure 19 A and Figure 19 B, second follows sensing module 8000 can also be for a camera module, the camera mould
Block (i.e. second follows sensing module 8000) can be used to a user image UI of extract user U, and camera module 5000 has
One visual field FOV, central processing unit D can execute described second and follow according to relative position of the user image UI in the FOV of the visual field
Mode.For example, central processing unit D can be divided into three panes according to the image that camera module 5000 is captured, i.e., and one
First pane IF1, one second pane IF2 and a third pane IF3, wherein the second pane IF2 in the first pane IF1 and third
Between pane IF3, the user image UI that central processing unit D can be captured according to camera module 5000 falls in that pane,
To control the first actuator wheel module 3001, the second actuator wheel module 3002, third actuator wheel module 3003 and the 4th actuating wheel model
Block 3004 is to 2000 acceleration or deceleration of cabinet.
For example, when the user image UI that camera module 5000 is captured falls in the first pane IF1, central processing
Cells D controls the first actuator wheel module 3001, the second actuator wheel module 3002, third actuator wheel module 3003 and the 4th actuator wheel
Module 3004 slows down to cabinet 2000, so that user U can be caught up with from driving luggage case 1001;When camera module 5000 is captured
User image UI when falling in third pane IF3, central processing unit D controls the first actuator wheel module 3001, the second actuator wheel
Module 3002, third actuator wheel module 3003 and the 4th actuator wheel module 3004 accelerate cabinet 2000, to drive luggage certainly
Case 1001 can catch up with user U;When the user image UI that camera module 5000 is captured falls in the second pane IF2, centre
It manages cells D and controls the first actuator wheel module 3001, the second actuator wheel module 3002, third actuator wheel module 3003 and the 4th actuating
Wheel module 3004 maintains former speed to cabinet 2000, so as to can walk abreast from driving luggage case 1001 with user U.In other words,
The image that central processing unit D follows sensing module 8000 to be captured according to second, one user is maintained in sensing range
In presumptive area (for this example, i.e. the second pane IF2), when user exceeds the presumptive area, then actuator wheel module accelerates
Or slowing down is held in cabinet 2000 in the presumptive area.When can thus guarantee to execute the second follow the mode, cabinet
2000 will not be too forward or too rearward, is able to maintain in a side following distance appropriate.In addition the width of this presumptive area can
To be set through portable device.
As shown in Figure 20 A, Figure 20 B and Figure 20 C, when central processing unit D executes second follow the mode and another use
Family U ' be faster than by rear user U travel speed it is close when, at this time central processing unit D can using image procossing differentiate user
The travel speed of U ' is faster than the travel speed of user U, and then can identify that user U is actively to follow object by speed difference.Whereby,
When user U ' catches up with user U, the user image UI ' of the user image UI and user U ' of user U can generate overlapping (such as Figure 20 C
It is shown), since central processing unit D identifies that user U is actively to follow object according to the speed difference between two user images, because
And it can avoid generating with the situation of wrong people in these cases from driving luggage case 1001.That is, central processing unit D root
The velocity of displacement for the material computation user U for following sensing module 8000 to provide according to second, when user U and described second follows sensing
When there is shelter between module 8000, central processing unit D controls an at least actuator wheel module with the user U's of precedence record
Velocity of displacement is advanced.It should be noted that user U or user U ' described herein can not be people but any object followed
Body, this place explanation be only signal and it is non-limiting.
As shown in Figure 21 A, Figure 21 B and Figure 21 C, when central processing unit D executes second follow the mode and when first
When the sensing of sensing module 7000 being followed to have a barrier 0 before the first side 2003 of cabinet 2000, central processing unit D is first
Second follow the mode is switched to first follow the mode, is made from driving luggage case 1001 by position as illustrated in fig. 21
Set around the position proceeded to as illustrated in fig. 21b, then central processing unit D again by described in the first follow the mode switchback second with
With mode, make from driving luggage case 1001 by position as illustrated in fig. 21b around the position proceeded to as shown in fig. 21 c, so,
From driving luggage case 1001 just can avoiding obstacles 0, and can prevent from drive luggage case 1001 avoiding obstacles 0 process
In, it remains to effectively follow user U.In one embodiment, since the driving luggage case 1001 around proceeding to position as shown in fig. 21 c
The opportunity judgment basis set is: the first data judgement for following sensing module 7000 to be returned has been bypassed from driving luggage case 1001
The barrier.In another embodiment, after a preset time or a default travel distance, from driving luggage case
First follow the mode is switched back into second follow the mode by 1001.When switching between two follow the mode of the invention, with
Cabinet, which can be different from, with direction vector Y2 moves towards vector Y1.It is noted that due to the unique actuator wheel module of the present invention
Design so that with freedom degree at any time it is higher (all actuator wheel modules can based on first axle A1 and second axis A2 from
By rotating, it no matter is powered off rear or non-off-position) so that the conditional design of the actuator wheel than with effect at any time
It is more smoothly flexible.
In another embodiment, first follow sensing module 7000 and second that sensing module 8000 is followed to can be together
What one range sensor (such as laser radar range sensor) was realized follows sensing module, and sensing module is followed to be set to
From the back side 2002 of driving luggage case 1001 and the angle of the first side 2003, to sense the back side for being located at cabinet 2000
Object before the object of 2002 one side or the first side 2003.This integration after range sensor be placed in the back side 2002 and
The angle of first side 2003, thus can be obtained with lower cost good side follow (the second follow the mode) and
Rear follows the effect of (the first follow the mode).
It should be strongly noted that content and its diagram schematically described above all can be applicable to the self-powered except luggage case
On dynamic device, such as has and the supermarket of sensing module is followed to drive the devices such as shopping cart or remote-controlled robot certainly.This place is only
Illustrate rather than limits.
Compared to the prior art, the present invention all has power source (the i.e. more described cause from driving luggage case and from driving chassis
Driving wheel module), to generate the driving force for following user, therefore in mobile luggage case or from when driving chassis, needed without user
Manpower is mobile, once into using upper convenience.In addition, the present invention is from driving luggage case and from driving chassis all separately configured with camera shooting
Head module and/or range sensor (i.e. first sensor, second sensor, 3rd sensor and the 4th sensor), to right
User image carries out image procossing and following distance control, therefore structure of the present invention from driving luggage case and from driving chassis is matched
On setting and designing, all have intelligentized basis, meet the trend of contemporary product, also can provide and used using further
Experience.
In addition compared to current existing Intelligent luggage carrier concept, the integration that first embodiment of the invention proposes is advanced electric
Machine, slip ring and wheel position detecting module can dual-axis rotation wheel, and based on can dual-axis rotation wheel speed difference control based on it is whole
The contents such as integration advance motor, slip ring and the steering motor that body method of advance and second embodiment of the invention propose, all
For the innovative technology after countless experiments and test, it is more provided simultaneously with rigorous research and structure implementation detail.
The foregoing is merely the preferred embodiment of the present invention, are not intended to restrict the invention, for this field
For technical staff, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. it is a kind of from driving luggage case, characterized by comprising:
One cabinet;And
One actuator wheel module is coupled to the cabinet, and each actuator wheel module includes:
One pedestal, has a first axle and a second axis, and the pedestal is coupled to the cabinet and can the relatively described cabinet
It is rotated around the first axle;And
One wheel is coupled to the pedestal and can rotate relative to the pedestal around the second axis,
The wheel includes:
One wheel body is adapted for contact with a ground;And
One advance motor, setting is internal in the wheel, and the advance motor includes:
One motor stator is fixed in the pedestal;And
One rotor is fixed in the wheel body and is rotationally sheathed on the motor stator;
Wherein the motor stator drives the rotor to rotate and drive the wheel body, makes when reception one controls signal
The wheel physical efficiency rolls on the ground.
2. as described in claim 1 from driving luggage case, which is characterized in that the pedestal has two ears, second axis
Line runs through two ear, and between two ear, the wheel also includes the wheel:
There is one fixed link a first end, a second end and a stator fixed part, the fixed link to pass through the first end
One of described two ear is fixed in portion, and the fixed link is fixed on two ear wherein by the second end
Another, the stator fixed part is arranged between the first end and the second end, and the motor stator passes through institute
It states stator fixed part and is fixed on the fixed link;
One first wheel cap, is fixed in the side of the rotor, and first wheel cap has a first bearing placement portion;
One second wheel cap, is fixed in the other side of the rotor, and second wheel cap has a second bearing placement portion, institute
State the institute that the first wheel cap and second wheel cap are connected to the fixed link in a manner of it can rotate relative to the fixed link respectively
First end and the second end are stated, rotates the rotor with the wheel physical efficiency relative to the fixed link;
One first motor bearing is arranged in the first bearing placement portion, and the first end of the fixed link is arranged in institute
First motor bearing is stated, first wheel cap is enable to rotate by the first motor bearing relative to the fixed link;
One second motor bearings is arranged in the second bearing placement portion, and the second end of the fixed link is arranged in institute
The second motor bearings is stated, so that second wheel cap is rotated by second motor bearings relative to the fixed link, the wheel
Body has a rotor accommodating space, and the rotor accommodating space is along the axially extending of the wheel body and opposite the two of the wheel body
One wheel body of each formation is held to be open, the rotor is mounted in the rotor accommodating space by wheel body opening, described
Wheel body also has a fixed elongated slots of multiple rotors, the fixed elongated slot of the multiple rotor be arranged in the wall surface of the rotor accommodating space and
Opposite two ends of the wheel body are extended to, the rotor has multiple first fixed parts and multiple second fixed parts, each
First fixed part and every one second fixed part are mounted on one of fixed elongated slot of the multiple rotor, to prevent the motor
The relatively described wheeling thereof of rotor, first wheel cap form the perforation of multiple first wheel caps, and second wheel cap forms multiple the
The perforation of two wheel caps;
Multiple first screws, every one first screw are attached to described by the corresponding first wheel cap perforation of first wheel cap
Corresponding first fixed part of rotor;And
Multiple second screws, every one second screw are attached to described by the corresponding second wheel cap perforation of second wheel cap
Corresponding second fixed part of rotor.
3. as described in claim 1 from driving luggage case, which is characterized in that also include:
One wheel sub-control unit, is coupled to the advance motor, wherein the rotor has a stator accommodating space, it is described
Stator accommodating space is along the axially extending of the rotor and respectively forms a rotor at opposite two ends of the rotor and opens
Mouthful, the motor stator and the wheel sub-control unit are mounted in the stator accommodating space by the rotor openings.
4. as described in claim 1 from driving luggage case, which is characterized in that also include a central processing unit, and the cause
Driving wheel module also includes:
One slip ring modules include:
One slip ring fixing piece, is coupled to the central processing unit, and the slip ring rotating member has a rod piece mounting hole, the cunning
The rod piece mounting hole of ring rotating member is formed with rotating member opening in one end of the slip ring rotating member;And
One slip ring rotating member, is pivotally electrically connected at the slip ring fixing piece, and the slip ring rotating member is coupled to
The motor stator;
One rod piece is fixedly arranged on the pedestal, and the rod piece is arranged in the slip ring rotating member by the rod piece mounting hole, described
Pedestal, the rod piece and the slip ring rotating member can rotate simultaneously around the first axle;
One bearing seat, wherein the rod piece is arranged in the bearing seat;
One slip ring shell, to coat the slip ring modules, the slip ring shell includes:
One slip ring lower case, is fixedly arranged on the bearing seat, and the slip ring lower case is formed with a slip ring accommodating space, the cunning
Ring accommodating space is formed with shell nozzle in one end of the slip ring lower case, and the slip ring fixing piece passes through the lower casing
Body opening is arranged in the slip ring accommodating space;And
One slip ring upper housing is arranged in the end of the slip ring lower case and closes the lower case opening;
One wheel position detecting module, is arranged in the slip ring accommodating space, wheel position detecting module includes:
One magnetic part is arranged in one end of the rod piece and is located in the rod piece mounting hole, and the magnetic part can be with the bar
Part rotates simultaneously around the first axle;And
One orientation decoder module, is fixedly arranged on the slip ring upper housing, and the orientation decoder module passes through rotating member opening sense
Survey the magnetic part, with detect the one of the relatively described first axle of the wheel take turns to;
Wherein, the slip ring fixing piece has a rotating member accommodating space, and the rotating member accommodating space is fixed in the slip ring
One end of part is formed with a fastener openings, and a part of the slip ring rotating member is rotationally held by the fastener openings
It is placed in the rotating member accommodating space, the bearing seat, the slip ring lower case and the slip ring upper housing are fixed in institute
It states the bottom side of cabinet and is not rotated with the rod piece around the first axle.
5. as described in claim 1 from driving luggage case, which is characterized in that also include:
One battery module is coupled to a central processing unit, and the battery module is to provide power supply to the actuator wheel module;
One touch-control shutdown switch is coupled to the central processing unit, and the central processing unit is in the touch-control shutdown switch
The battery module is controlled when being triggered stops providing power supply to the actuator wheel module;And
One pull rod module, is mounted on the cabinet, wherein the touch-control shutdown switch is mounted in the pull rod module.
6. as described in claim 1 from driving luggage case, which is characterized in that the cabinet has a front, a back side, a top
Side, a bottom side, one first side and one second side, the actuator wheel module are mounted on the bottom side, the top side with it is described
Bottom side is opposite, and first side connects the top side and the bottom side, and second side connects the top side and the bottom
Side and opposite with first side, the front is opposite with the back side and is separately connected the top side, bottom side, described
First side and second side, it is from second side towards first side and fixed along the direction of cabinet trend
Justice is that a cabinet moves towards vector, and the actuator wheel module includes one first actuator wheel module and one second actuator wheel module, described
First actuator wheel module and the second actuator wheel module are adjacent to second side, described also to include from driving luggage case:
One first driven wheel module is arranged in the bottom side and is adjacent to first side;And
One second driven wheel module is arranged in the bottom side and is adjacent to first side;
One central processing unit, the central processing unit determine a direction of advance vector, wherein the first actuator wheel module
It is moved on the ground along the direction of advance vector with cabinet described in the second actuator wheel module drive;
Wherein the first actuator wheel module and the second actuator wheel module are to drive the cabinet in the ground moving;
Wherein the first actuator wheel module, the second actuator wheel module, the first driven wheel module with described second from
Driving wheel module is jointly by the case supports on the ground;
Wherein the first actuator wheel module, the second actuator wheel module, the first driven wheel module with described second from
Driving wheel module can be rotated relative to the cabinet around the first axle;
Wherein the first actuator wheel module and the second actuator wheel module separately include a wheel position detecting module, the wheel position
Detecting module is coupled to the central processing unit, and the wheel position detecting module is opposite to detect the first actuator wheel module
One first round of the cabinet takes turns to the one second of vector and the relatively described cabinet of the second actuator wheel module to vector;
Wherein the central processing unit to:
According to the direction of advance vector and the first round to vector, determine to be provided to the one the of the first actuator wheel module
One current value;And
It is taken turns with described second to vector according to the direction of advance vector, determines to be provided to the one the of the second actuator wheel module
Two current values;
Wherein the central processing unit is also to calculate the direction of advance vector and the first round to the one first of vector
It difference and calculates the direction of advance vector and takes turns one second difference to vector with described second, when the direction of advance vector
It is greater than the direction of advance vector and described second to first difference of vector with the first round to take turns to described in vector
When the second difference, first current value that the central processing unit is provided to the first actuator wheel module, which is less than, to be provided to
Second current value of the second actuator wheel module;When the direction of advance vector and the first round are to described in vector
First difference is less than the direction of advance vector when taking turns with described second to second difference of vector, is provided to described first
First current value of actuator wheel module is greater than second current value for being provided to the second actuator wheel module.
7. as described in claim 1 from driving luggage case, which is characterized in that the cabinet has a front, a back side, a top
Side, a bottom side, one first side and one second side, the actuator wheel module are mounted on the bottom side, the top side with it is described
Bottom side is opposite, and first side connects the top side and the bottom side, and second side connects the top side and the bottom
Side and opposite with first side, the front is opposite with the back side and is separately connected the top side, bottom side, described
First side and second side, it is from second side towards first side and fixed along the direction of cabinet trend
Justice is that a cabinet moves towards vector, and the actuator wheel module includes one first actuator wheel module and one second actuator wheel module, described
First actuator wheel module and the second actuator wheel module are adjacent to second side, described also to include from driving luggage case:
One first driven wheel module is arranged in the bottom side and is adjacent to first side;And
One second driven wheel module is arranged in the bottom side and is adjacent to first side;
One camera module, to capture an object image of an object;And
One central processing unit is coupled to the camera module, and the central processing unit is according to the camera module institute
The object image captured, determines that one follows direction vector, wherein the first actuator wheel module and second actuator wheel
Cabinet described in module drive follows direction vector to move on the ground along described;
Wherein the first actuator wheel module and the second actuator wheel module are to drive the cabinet in the ground moving;
Wherein the first actuator wheel module, the second actuator wheel module, the first driven wheel module with described second from
Driving wheel module is jointly by the case supports on the ground;
Wherein the first actuator wheel module, the second actuator wheel module, the first driven wheel module with described second from
Driving wheel module can be rotated relative to the cabinet around the first axle;
Wherein the first actuator wheel module and the second actuator wheel module separately include a wheel position detecting module, the wheel position
Detecting module is coupled to the central processing unit, and the wheel position detecting module is opposite to detect the first actuator wheel module
One first round of the cabinet takes turns to the one second of vector and the relatively described cabinet of the second actuator wheel module to vector;
Wherein the central processing unit to:
It follows direction vector and the first round to vector according to described, determines to be provided to the one the of the first actuator wheel module
One current value;And
It follows direction vector to take turns with described second to vector according to described, determines to be provided to the one the of the second actuator wheel module
Two current values;
Wherein the central processing unit is also to calculate the direction of advance vector and the first round to the one first of vector
It difference and calculates the direction of advance vector and takes turns one second difference to vector with described second, when the direction of advance vector
It is greater than the direction of advance vector and described second to first difference of vector with the first round to take turns to described in vector
When the second difference, first current value that the central processing unit is provided to the first actuator wheel module, which is less than, to be provided to
Second current value of the second actuator wheel module;When the direction of advance vector and the first round are to described in vector
First difference is less than the direction of advance vector when taking turns with described second to second difference of vector, is provided to described first
First current value of actuator wheel module is greater than second current value for being provided to the second actuator wheel module.
8. as described in claim 1 from driving luggage case, which is characterized in that the cabinet has a front, a back side, a top
Side, a bottom side, one first side and one second side, the actuator wheel module are mounted on the bottom side, the top side with it is described
Bottom side is opposite, and first side connects the top side and the bottom side, and second side connects the top side and the bottom
Side and opposite with first side, the front is opposite with the back side and is separately connected the top side, bottom side, described
First side and second side, it is from second side towards first side and fixed along the direction of cabinet trend
Justice is that a cabinet moves towards vector, and the actuator wheel module includes:
One first actuator wheel module is adjacent to first side;
One second actuator wheel module is adjacent to first side;
One third actuator wheel module, is adjacent to second side;And
One the 4th actuator wheel module is adjacent to second side;
One central processing unit, the central processing unit determine a direction of advance vector, wherein the first actuator wheel module,
Cabinet described in the second actuator wheel module, the third actuator wheel module and the 4th actuator wheel module drive is described
It is moved along the direction of advance vector in face;
Wherein the first actuator wheel module, the second actuator wheel module, the third actuator wheel module and the described 4th cause
Driving wheel module is to support and drive the cabinet in the ground moving;
Wherein the first actuator wheel module, the second actuator wheel module, the third actuator wheel module and the described 4th cause
Driving wheel module can be rotated relative to the cabinet around the first axle;
Wherein the first actuator wheel module, the second actuator wheel module, the third actuator wheel module and the described 4th cause
Driving wheel module separately includes a wheel position detecting module, and wheel position detecting module is coupled to the central processing unit, the wheel
Position detecting module is activated to detect a first round of the relatively described cabinet of the first actuator wheel module to vector, described second
Wheel the relatively described cabinet of module one second take turns to vector, the relatively described cabinet of third actuator wheel module a third round to
One fourth round of vector and the relatively described cabinet of the 4th actuator wheel module is to vector;
Wherein the central processing unit to:
According to the direction of advance vector and the first round to vector, determine to be provided to the one the of the first actuator wheel module
One current value;
It is taken turns with described second to vector according to the direction of advance vector, determines to be provided to the one the of the second actuator wheel module
Two current values;
According to the direction of advance vector and the third round to vector, determine to be provided to the one the of the third actuator wheel module
Three current values;And
According to the direction of advance vector and the fourth round to vector, determine to be provided to the one the of the 4th actuator wheel module
Four current values;
Calculate one first difference of the direction of advance vector and the first round to vector;
It calculates the direction of advance vector and takes turns one second difference to vector with described second;
Calculate the third difference of the direction of advance vector and the third round to vector;
Calculate one the 4th difference of the direction of advance vector and the fourth round to vector;
Wherein the central processing unit is provided to the first actuator wheel module, the second actuator wheel module, described respectively
First current value of third actuator wheel module and the 4th actuator wheel module, second current value, third electricity
Flow valuve and the 4th current value, with first difference, second difference, the third difference and the 4th difference at
Inverse ratio.
9. as described in claim 1 from driving luggage case, which is characterized in that the cabinet has a front, a back side, a top
Side, a bottom side, one first side and one second side, the actuator wheel module are mounted on the bottom side, the top side with it is described
Bottom side is opposite, and first side connects the top side and the bottom side, and second side connects the top side and the bottom
Side and opposite with first side, the front is opposite with the back side and is separately connected the top side, bottom side, described
First side and second side, it is from second side towards first side and fixed along the direction of cabinet trend
Justice is that a cabinet moves towards vector, and the actuator wheel module includes:
One first actuator wheel module is adjacent to first side;
One second actuator wheel module is adjacent to first side;
One third actuator wheel module, is adjacent to second side;
One the 4th actuator wheel module is adjacent to second side;
First side of the cabinet is arranged in one camera module, and the camera module is to capture an object
Image;And
One central processing unit is coupled to the camera module, and the central processing unit is according to the camera module institute
The image of the object captured, determines that one follows direction vector, wherein the first actuator wheel module, second actuator wheel
Cabinet described in module, the third actuator wheel module and the 4th actuator wheel module drive is on the ground along the side of following
It is mobile to vector;
Wherein the first actuator wheel module, the second actuator wheel module, the third actuator wheel module and the described 4th cause
Driving wheel module is to support and drive the cabinet in the ground moving;
Wherein the first actuator wheel module, the second actuator wheel module, the third actuator wheel module and the described 4th cause
Driving wheel module can be rotated relative to the cabinet around the first axle;
Wherein the first actuator wheel module, the second actuator wheel module, the third actuator wheel module and the described 4th cause
Driving wheel module separately includes a wheel position detecting module, and wheel position detecting module is coupled to the central processing unit, the wheel
Position detecting module is activated to detect a first round of the relatively described cabinet of the first actuator wheel module to vector, described second
Wheel the relatively described cabinet of module one second take turns to vector, the relatively described cabinet of third actuator wheel module a third round to
One fourth round of vector and the relatively described cabinet of the 4th actuator wheel module is to vector;
Wherein the central processing unit to:
It follows direction vector and the first round to vector according to described, determines to be provided to the one the of the first actuator wheel module
One current value;
It follows direction vector to take turns with described second to vector according to described, determines to be provided to the one the of the second actuator wheel module
Two current values;
It follows direction vector and the third round to vector according to described, determines to be provided to the one the of the third actuator wheel module
Three current values;And
It follows direction vector and the fourth round to vector according to described, determines to be provided to the one the of the 4th actuator wheel module
Four current values;
Calculate one first difference of the direction of advance vector and the first round to vector;
It calculates the direction of advance vector and takes turns one second difference to vector with described second;
Calculate the third difference of the direction of advance vector and the third round to vector;
Calculate one the 4th difference of the direction of advance vector and the fourth round to vector;
Wherein the central processing unit is provided to the first actuator wheel module, the second actuator wheel module, described respectively
First current value of third actuator wheel module and the 4th actuator wheel module, second current value, third electricity
Flow valuve and the 4th current value, with first difference, second difference, the third difference and the 4th difference at
Inverse ratio.
10. it is a kind of from driving chassis, include:
One disk body;And
One actuator wheel module is coupled to the disk body, and each actuator wheel module includes:
One pedestal, has a first axle and a second axis, and the pedestal is coupled to the disk body and can the relatively described disk body
It is rotated around the first axle;And
One wheel is coupled to the pedestal and can rotate relative to the pedestal around the second axis,
The wheel includes:
One wheel body is adapted for contact with a ground;And
One advance motor, setting is internal in the wheel, and the advance motor includes:
One motor stator is fixed in the pedestal;And
One rotor is fixed in the wheel body and is rotationally sheathed on the motor stator;
Wherein the motor stator drives the rotor to rotate and drive the wheel body, makes when reception one controls signal
The wheel physical efficiency rolls on the ground.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201711030488.2A CN107640016A (en) | 2017-10-27 | 2017-10-27 | Intelligent mobile chassis, intelligent mobile device based on universal wheel and traveling method is controlled accordingly |
CN2017110304882 | 2017-10-27 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN109602131A true CN109602131A (en) | 2019-04-12 |
CN109602131B CN109602131B (en) | 2023-10-27 |
Family
ID=61124364
Family Applications (7)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201711030488.2A Withdrawn CN107640016A (en) | 2017-10-27 | 2017-10-27 | Intelligent mobile chassis, intelligent mobile device based on universal wheel and traveling method is controlled accordingly |
CN201821164672.6U Active CN209449955U (en) | 2017-10-27 | 2018-07-20 | From driving luggage case and from driving chassis |
CN201810810519.4A Active CN109602131B (en) | 2017-10-27 | 2018-07-20 | Self-driven luggage case and self-driven chassis |
CN201810810676.5A Active CN109674162B (en) | 2017-10-27 | 2018-07-20 | Self-driven luggage case and self-driving device |
CN201821164125.8U Active CN209594953U (en) | 2017-10-27 | 2018-07-20 | From driving luggage case and from driving chassis |
CN201911090341.1A Active CN110786609B (en) | 2017-10-27 | 2018-07-20 | Self-driven luggage case and self-driving device |
CN201911090338.XA Active CN110764508B (en) | 2017-10-27 | 2018-07-20 | Self-driven luggage case and self-driven device |
Family Applications Before (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201711030488.2A Withdrawn CN107640016A (en) | 2017-10-27 | 2017-10-27 | Intelligent mobile chassis, intelligent mobile device based on universal wheel and traveling method is controlled accordingly |
CN201821164672.6U Active CN209449955U (en) | 2017-10-27 | 2018-07-20 | From driving luggage case and from driving chassis |
Family Applications After (4)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201810810676.5A Active CN109674162B (en) | 2017-10-27 | 2018-07-20 | Self-driven luggage case and self-driving device |
CN201821164125.8U Active CN209594953U (en) | 2017-10-27 | 2018-07-20 | From driving luggage case and from driving chassis |
CN201911090341.1A Active CN110786609B (en) | 2017-10-27 | 2018-07-20 | Self-driven luggage case and self-driving device |
CN201911090338.XA Active CN110764508B (en) | 2017-10-27 | 2018-07-20 | Self-driven luggage case and self-driven device |
Country Status (1)
Country | Link |
---|---|
CN (7) | CN107640016A (en) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019080559A1 (en) | 2017-10-27 | 2019-05-02 | Lingdong Technology (Beijing) Co. Ltd | Smart self-driving systems with motorized wheels |
CN107640016A (en) * | 2017-10-27 | 2018-01-30 | 灵动科技(北京)有限公司 | Intelligent mobile chassis, intelligent mobile device based on universal wheel and traveling method is controlled accordingly |
CN108563227B (en) * | 2018-04-20 | 2020-12-18 | 武汉大学 | Motion control method of 2D wheeled robot based on movable caster |
CN108945158A (en) * | 2018-08-29 | 2018-12-07 | 北京极智嘉科技有限公司 | A kind of chassis assembly and transport device of transport device |
CN109245205B (en) * | 2018-09-14 | 2020-09-25 | 江苏美的清洁电器股份有限公司 | Charging device, position adjusting method thereof, device, storage medium, and charging system |
EP3697252B1 (en) | 2019-01-04 | 2021-07-07 | Lingdong Technology (Beijing) Co. Ltd | Smart luggage system with camera installed in pull rod |
WO2020248109A1 (en) | 2019-06-11 | 2020-12-17 | Lingdong Technology (Beijing) Co., Ltd | Self-driving systems |
CN111202330A (en) * | 2020-01-07 | 2020-05-29 | 灵动科技(北京)有限公司 | Self-driven system and method |
CN111751599A (en) * | 2020-07-08 | 2020-10-09 | 广东电网有限责任公司 | Movable capacitive voltage transformer device and online monitoring system |
KR102606623B1 (en) * | 2021-08-31 | 2023-11-29 | (주)신성테크 | Patient Self-Following Smart Pole |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN201445064U (en) * | 2009-05-15 | 2010-05-05 | 张洪伟 | Boot and castor thereof |
CN204378181U (en) * | 2015-01-08 | 2015-06-10 | 上海海琛国际贸易有限公司 | The luggage case of automatic walking |
CN104856408A (en) * | 2015-04-29 | 2015-08-26 | 无锡市崇安区科技创业服务中心 | Trunk of automatic control device based on runner direction |
CN104932402A (en) * | 2015-04-29 | 2015-09-23 | 无锡市崇安区科技创业服务中心 | Intelligent luggage case based on rotating wheel directional control mechanism |
US20170220040A1 (en) * | 2016-02-02 | 2017-08-03 | Justin London | Smart luggage systems |
CN209594953U (en) * | 2017-10-27 | 2019-11-08 | 灵动科技(北京)有限公司 | From driving luggage case and from driving chassis |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3738694B2 (en) * | 2001-02-28 | 2006-01-25 | 株式会社日本自動車部品総合研究所 | Movable case |
CN108292469B (en) * | 2015-12-09 | 2021-02-05 | 笠原一 | Position information determining method, position information determining device and computer storage medium |
CN205285360U (en) * | 2015-12-24 | 2016-06-08 | 泉州市范特西智能科技有限公司 | Suitcase with intelligence feature recognition function |
CN105807775A (en) * | 2016-05-17 | 2016-07-27 | 上海酷哇机器人有限公司 | Movable robot with autonomous following and obstacle-avoidance function |
CN106127117B (en) * | 2016-06-16 | 2020-01-31 | 哈尔滨工程大学 | Automatic following luggage case based on binocular vision rapid high-robustness recognition and positioning |
CN105911999A (en) * | 2016-06-21 | 2016-08-31 | 上海酷哇机器人有限公司 | Mobile luggage case with automatic following and obstacle avoiding functions and using method thereof |
CN206576442U (en) * | 2017-02-22 | 2017-10-24 | 韩喆珩 | A kind of luggage case of energy auto-tracking shooting |
CN207370256U (en) * | 2017-06-12 | 2018-05-18 | 灵动科技(北京)有限公司 | Luggage case, smart machine and the system of automatically walk |
CN107292907B (en) * | 2017-07-14 | 2020-08-21 | 灵动科技(北京)有限公司 | Method for positioning following target and following equipment |
CN107168343B (en) * | 2017-07-14 | 2020-09-15 | 灵动科技(北京)有限公司 | Control method of luggage case and luggage case |
CN107811375A (en) * | 2017-11-10 | 2018-03-20 | 左国刚 | From following luggage case and its follower method |
CN108255199A (en) * | 2018-01-09 | 2018-07-06 | 昆明理工大学 | A kind of luggage case and its intelligent control method |
CN108279685B (en) * | 2018-03-21 | 2024-01-16 | 福建工程学院 | Carrier based on visual following and working method |
-
2017
- 2017-10-27 CN CN201711030488.2A patent/CN107640016A/en not_active Withdrawn
-
2018
- 2018-07-20 CN CN201821164672.6U patent/CN209449955U/en active Active
- 2018-07-20 CN CN201810810519.4A patent/CN109602131B/en active Active
- 2018-07-20 CN CN201810810676.5A patent/CN109674162B/en active Active
- 2018-07-20 CN CN201821164125.8U patent/CN209594953U/en active Active
- 2018-07-20 CN CN201911090341.1A patent/CN110786609B/en active Active
- 2018-07-20 CN CN201911090338.XA patent/CN110764508B/en active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN201445064U (en) * | 2009-05-15 | 2010-05-05 | 张洪伟 | Boot and castor thereof |
CN204378181U (en) * | 2015-01-08 | 2015-06-10 | 上海海琛国际贸易有限公司 | The luggage case of automatic walking |
CN104856408A (en) * | 2015-04-29 | 2015-08-26 | 无锡市崇安区科技创业服务中心 | Trunk of automatic control device based on runner direction |
CN104932402A (en) * | 2015-04-29 | 2015-09-23 | 无锡市崇安区科技创业服务中心 | Intelligent luggage case based on rotating wheel directional control mechanism |
US20170220040A1 (en) * | 2016-02-02 | 2017-08-03 | Justin London | Smart luggage systems |
CN209594953U (en) * | 2017-10-27 | 2019-11-08 | 灵动科技(北京)有限公司 | From driving luggage case and from driving chassis |
Also Published As
Publication number | Publication date |
---|---|
CN110786609A (en) | 2020-02-14 |
CN109602131B (en) | 2023-10-27 |
CN110786609B (en) | 2021-12-07 |
CN109674162B (en) | 2019-12-13 |
CN107640016A (en) | 2018-01-30 |
CN110764508B (en) | 2023-05-23 |
CN209449955U (en) | 2019-10-01 |
CN109674162A (en) | 2019-04-26 |
CN209594953U (en) | 2019-11-08 |
CN110764508A (en) | 2020-02-07 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN209449955U (en) | From driving luggage case and from driving chassis | |
KR101977116B1 (en) | Electric luggage | |
US11439215B2 (en) | Smart self-driving systems with motorized wheels | |
US10059397B2 (en) | Self-balancing vehicle with gravity control | |
TR201807640T4 (en) | Electric balance tool. | |
US20180360177A1 (en) | Robotic suitcase | |
EP1921940A2 (en) | Power-assisted transport device | |
CN104802910B (en) | Self-balancing vehicle and its method of controlling security | |
CN202879697U (en) | Intelligent self-balancing traffic robot | |
JP2017509525A (en) | Trolley | |
CN109204830A (en) | The cart moved along surface and the method for moving cart along surface | |
US11492030B2 (en) | Mobility apparatus | |
CN107972781B (en) | Two-wheel self-balancing reconnaissance trolley based on wireless transmission and control method | |
US20200070922A1 (en) | Balancing board | |
CN208746162U (en) | A kind of wheel of self-balancing two loading balance car | |
EP3805081A1 (en) | Balancing board | |
KR20190031078A (en) | A movable carrier | |
US20240100989A1 (en) | Wheel movement trigger for battery wake-up systems and methods | |
CN110203312B (en) | Movable device | |
CN111084976B (en) | Movement device of omnidirectional sliding plate chassis and control method thereof | |
WO2023001238A2 (en) | Personal mobility vehicle |
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 | ||
GR01 | Patent grant | ||
GR01 | Patent grant |