CN109674162A

CN109674162A - From driving luggage case and automatic drive device

Info

Publication number: CN109674162A
Application number: CN201810810676.5A
Authority: CN
Inventors: 齐欧; 陈召强; 廉兴宇; 任国荣; 樊斌
Original assignee: Smart Technology (beijing) Co Ltd
Current assignee: Smart Technology (beijing) Co Ltd
Priority date: 2017-10-27
Filing date: 2018-07-20
Publication date: 2019-04-26
Anticipated expiration: 2038-07-20
Also published as: CN110764508A; CN209594953U; CN110764508B; CN110786609A; CN209449955U; CN109602131B; CN109674162B; CN109602131A; CN110786609B; CN107640016A

Abstract

The present invention discloses a kind of from driving luggage case and automatic drive device, it is described to include a cabinet (ontology) from driving luggage case (automatic drive device), one actuator wheel module, one first follows sensing module and a central processing unit, 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 installed on the cabinet and can rotate around the first axle, the wheel is coupled to the pedestal and can rotate around the second axis, described first follows sensing module to be set to the cabinet and to sense a pair of of picture before being located at the cabinet, the central processing unit follows sensing module to the sensing result of the object according to described first, it controls cabinet described in the actuator wheel module drive and follows the object before the cabinet.

Description

From driving luggage case and automatic drive device

Technical field

The present invention relates to a kind of from driving luggage case and automatic drive device, has the function of to follow automatically more particularly to one kind From driving luggage case and automatic drive device.

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 driving luggage case and the automatic drive device certainly that follow function automatically, to solve The above problem.

To solve the above problems, the present invention disclose it is a kind of with follow automatically function from driving luggage case, include a case Body, at least an actuator wheel module, one first follow sensing module and a central processing unit.The cabinet have one front, One back side, a top side, a bottom side, one first side and one second side, 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. For an at least actuator wheel module couples in the cabinet, each actuator wheel module includes a pedestal and a wheel, the bottom Seat tool has a first axle and a second axis, and the pedestal is installed on the bottom side of the cabinet and can the relatively described cabinet It is rotated around the first axle, the wheel is coupled to the pedestal and can rotate relative to the pedestal around the second axis. Described first follows sensing module to be set to first side of the cabinet and be located at described in the cabinet to sense A pair of of picture before first side, the central processing unit are coupled to described first and follow sensing module and at least one actuating Module is taken turns, the central processing unit follows sensing module to the sensing result of the object according to described first, described in control Cabinet described in an at least actuator wheel module drive follows the object before first side of the cabinet, to execute One first follow the mode.

According to an embodiment of the present invention, described first sensing module is followed to include a camera module, to capture An object image of object is stated, wherein the central processing unit carries out image procossing to the object image, described in determining The relative bearing of cabinet and the object.

According to an embodiment of the present invention, described first to follow sensing module also include a first sensor and one second Sensor, a first distance value of the first sensor to sense the relatively described cabinet of the object, second sensing A second distance value of the device to sense the relatively described cabinet of the object, wherein the central processing unit is according to the object Image, the first distance value and the second distance value, calculate the relative bearing of the cabinet Yu the object.

According to an embodiment of the present invention, described from driving luggage case also includes one second to follow sensing module, is set to The back side of the cabinet and the object to sense one side positioned at the back side of the cabinet, wherein in described Central Processing Unit follows sensing module to the sensing result of the object according to described second, controls an at least actuator wheel mould Block is rotated relative to the cabinet around the first axle, enable an at least actuator wheel module drive the cabinet along it is described with The object of one side positioned at the back side of the cabinet is followed, with direction vector to execute one second follow the mode.

According to an embodiment of the present invention, described second sensing module is followed to include two cameras, uses binocular vision Algorithm calculates the distance between the cabinet and the object.

According to an embodiment of the present invention, the luggage case of driving certainly also includes a portable device communication module, coupling It is connected to the central processing unit, the portable device communication module communicates to establish with a portable device, makes The portable device can set the value of the distance.

According to an embodiment of the present invention, when the central processing unit executes second follow the mode and when described the When one, which follows sensing module to sense before first side of the cabinet, has a barrier, the central processing unit will Second follow the mode is switched to first follow the mode, to avoid the barrier.

According to an embodiment of the present invention, when the central processing unit judges that the cabinet has bypassed the barrier When, first follow the mode is separately switched back into second follow the mode by the central processing unit.

According to an embodiment of the present invention, after a preset time or a default travel distance, the central processing First follow the mode is switched back into second follow the mode by unit.

According to an embodiment of the present invention, when the switching between the central processing unit two follow the mode of execution, institute It states and follows direction vector to be different from the cabinet to move towards vector.

According to an embodiment of the present invention, invention additionally discloses a kind of with the automatic drive device for following function automatically, packet Containing an ontology, an at least actuator wheel module, one second follow sensing module and a central processing unit.The ontology has one Front, a back side, a top side, a bottom side, one first side and one second side, the top side is opposite with the bottom side, described First side connects the top side and the bottom side, and second side connects the top side and the bottom side and with described first Side is opposite, the front it is opposite with the back side and be separately connected the top side, the bottom side, first side with it is described Second side is ontology trend from second side towards first side and along the direction definition of ontology trend Vector.An at least actuator wheel module is coupled to the ontology, and each actuator wheel module includes a pedestal and a wheel, The pedestal has a first axle and a second axis, and the pedestal is installed on the bottom side of the ontology and can be with respect to institute Ontology is stated to rotate around the first axle, the wheel be coupled to the pedestal and can the relatively described pedestal around the second axis Rotation.Described second follows sensing module to be set to the back side of the ontology and be located at described in the ontology to sense The object of the one side at the back side, the central processing unit are coupled to described second and follow sensing module and an at least actuator wheel Module, the central processing unit follow sensing module to the sensing result of the object according to described second, and control is described extremely A few actuator wheel module is to drive the ontology to follow the object of one side positioned at the back side of the ontology, to execute One second follow the mode.

According to an embodiment of the present invention, the central processing unit follows sensing module to described right according to described second The object is maintained in the presumptive area in sensing range by the sensing result of elephant, when the object is beyond described predetermined Region, then an at least actuator wheel module acceleration or deceleration is held in the luggage case of driving certainly in the presumptive area.

According to an embodiment of the present invention, the money that the central processing unit follows sensing module to provide according to described second Material calculates one first velocity of displacement of the object, when the object and described second follows and occurs shelter between sensing module When, an at least actuator wheel module described in the central processing unit controls is advanced with first velocity of displacement.

According to an embodiment of the present invention, the automatic drive device also includes one first to follow sensing module, and described first Sensing module is followed to be set to first side of the cabinet and to sense first side for being located at the cabinet Preceding a pair of of picture, wherein when the central processing unit executes second follow the mode and when described first follows sensing module When sensing has a barrier before first side of the cabinet, the central processing unit follows mould for described second Formula is switched to one first follow the mode, to avoid the barrier；When the central processing unit judges that the cabinet has bypassed When the barrier, first follow the mode is separately switched back into second follow the mode by the central processing unit.

According to an embodiment of the present invention, invention additionally discloses a kind of with the automatic drive device for following function automatically, It is characterized in that, comprising an ontology, an at least actuator wheel module, one follows sensing module and a central processing unit.Described Body has a front, a back side, a top side, a bottom side, one first side and one second side, the top side and the bottom side phase Right, first side connects the top side and the bottom side, second side connect the top side and the bottom side and with First side is opposite, and the front is opposite with the back side and is separately connected the top side, the bottom side, by described first Side and second side are one from second side towards first side and along the direction definition of ontology trend Ontology moves towards vector.An at least actuator wheel module couples in the ontology, each actuator wheel module include a pedestal and One wheel, the pedestal have a first axle and a second axis, the pedestal be installed on the bottom side of the ontology and Can be rotated relative to the ontology around the first axle, the wheel be coupled to the pedestal and can the relatively described pedestal around described The angle of second axis rotation, the back side for following sensing module to be set to the ontology and first side, It is located at the object before the object or first side of the one side at the back side of the ontology to sense.The centre Reason unit follows sensing module and an at least actuator wheel module described in being coupled to, wherein the central processing unit is according to institute It states and follows sensing module to the sensing result of the object, control ontology described in an at least actuator wheel module drive and follow position The object before first side of the ontology, to execute one first follow the mode, or the driving ontology follows The object positioned at the one side at the back side of the ontology, to execute one second follow the mode.

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, and the second side 2003 ' connects top side 2004 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, First side 2003 and the second side 2003 '.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 Identification 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*cos α 2=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 only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.

Claims

1. it is a kind of with follow automatically function from driving luggage case, characterized by comprising:

One cabinet, have a front, a back side, a top side, a bottom side, one first side and one second side, the top side and The bottom side is opposite, and first side connects the top side and the bottom side, and second side connects the top side and institute State bottom side and opposite with first side, the front it is opposite with the back side and be separately connected the top side, the bottom side, First side and second side, from second side towards first side and along the side of cabinet trend Vector is moved towards to a cabinet is defined as；

An at least 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 installed on the bottom side of the cabinet and can phase The cabinet 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；One first follows sensing mould Block is set to first side of the cabinet and is located to sense

A pair of of picture before first side of the cabinet；And

One central processing unit is coupled to described first and follows sensing module and an at least actuator wheel module, the center Processing unit follows sensing module to the sensing result of the object according to described first, controls an at least actuator wheel module The cabinet is driven to follow the object before first side of the cabinet, to execute one first follow the mode.

2. as described in claim 1 from driving luggage case, which is characterized in that described first follows the sensing module to include:

One camera module, to capture an object image of the object；

Wherein the central processing unit carries out image procossing to the object image, to determine the cabinet and the object Relative bearing.

3. as claimed in claim 2 from driving luggage case, which is characterized in that described first follows the sensing module also to include:

One first sensor, to sense a first distance value of the relatively described cabinet of the object；And

One second sensor, to sense a second distance value of the relatively described cabinet of the object；

Wherein the central processing unit is calculated according to the object image, the first distance value and the second distance value The relative bearing of the cabinet and the object.

4. as described in claim 1 from driving luggage case, which is characterized in that also include:

One second follows sensing module, is set to the back side of the cabinet and to sense the back for being located at the cabinet The object of the one side in face；

Wherein the central processing unit follows sensing module to the sensing result of the object according to described second, described in control At least an actuator wheel module is rotated relative to the cabinet around the first axle, and an at least actuator wheel module is enable to drive institute The object of one side that cabinet follows direction vector to follow positioned at the back side of the cabinet described in is stated, to execute one the Two follow the mode.

5. as claimed in claim 4 from driving luggage case, which is characterized in that described second follows the sensing module to include:

Two cameras calculate the distance between the cabinet and the object using binocular vision algorithm.

6. as claimed in claim 4 from driving luggage case, which is characterized in that also include:

One portable device communication module, is coupled to the central processing unit, and the portable device communication module is used It is communicated with being established with a portable device, the portable device is enable to set the value of the distance.

7. as claimed in claim 4 from driving luggage case, which is characterized in that when the central processing unit executes described second Follow the mode and when described first follow sensing module sensing before first side of the cabinet have a barrier when, Second follow the mode is switched to first follow the mode by the central processing unit, to avoid the barrier.

8. as claimed in claim 7 from driving luggage case, which is characterized in that when the central processing unit judges the cabinet When having bypassed the barrier, first follow the mode is separately switched back into described second and follows mould by the central processing unit Formula.

9. as claimed in claim 7 from driving luggage case, which is characterized in that advance when by a preset time or one are default After distance, first follow the mode is switched back into second follow the mode by the central processing unit.

10. as claimed in claim 8 from driving luggage case, which is characterized in that followed when the central processing unit executes two It is described to follow direction vector to be different from the cabinet to move towards vector when switching between mode.

11. it is a kind of with the automatic drive device for following function automatically, characterized by comprising:

One ontology, have a front, a back side, a top side, a bottom side, one first side and one second side, the top side and The bottom side is opposite, and first side connects the top side and the bottom side, and second side connects the top side and institute State bottom side and opposite with first side, the front it is opposite with the back side and be separately connected the top side, the bottom side, First side and second side, from second side towards first side and along the side of ontology trend Vector is moved towards to an ontology is defined as；

An at least actuator wheel module is coupled to the ontology, and each actuator wheel module includes:

One pedestal, has a first axle and a second axis, and the pedestal is installed on the bottom side of the ontology and can phase The ontology 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；

One second follows sensing module, is set to the back side of the ontology and to sense the back for being located at the ontology The object of the one side in face；And

One central processing unit is coupled to described second and follows sensing module and an at least actuator wheel module, the center Processing unit follows sensing module to the sensing result of the object according to described second, controls an at least actuator wheel module To drive the ontology to follow the object of one side positioned at the back side of the ontology, mould is followed to execute one second Formula.

12. automatic drive device as claimed in claim 11, which is characterized in that the central processing unit according to described second with With sensing module to the sensing result of the object, the object is maintained in the presumptive area in sensing range, institute is worked as Object is stated beyond the presumptive area, then an at least actuator wheel module acceleration or deceleration keeps the luggage case of driving certainly In the presumptive area.

13. automatic drive device as claimed in claim 11, which is characterized in that the central processing unit according to described second with One first velocity of displacement of object described in the material computation provided with sensing module, when the object and described second follows sensing When occurring shelter between module, an at least actuator wheel module described in the central processing unit controls is with the first displacement speed Degree is advanced.

14. automatic drive device as claimed in claim 11, which is characterized in that sensing module also is followed comprising one first, it is described First follows sensing module to be set to first side of the cabinet and is located at described the first of the cabinet to sense A pair of of picture before side, in which:

When the central processing unit executes second follow the mode and when described first follows sensing module sensing described When having a barrier before first side of cabinet, second follow the mode is switched to one by the central processing unit First follow the mode, to avoid the barrier；

When the central processing unit judges that the cabinet has bypassed the barrier, the central processing unit separately will be described First follow the mode switches back into second follow the mode.

15. it is a kind of with the automatic drive device for following function automatically, characterized by comprising:

One wheel is coupled to the pedestal and can rotate relative to the pedestal around the second axis；One follows sensing module, if It is placed in the back side of the ontology and the angle of first side,

It is located at the object before the object or first side of the one side at the back side of the ontology to sense；And

One central processing unit is coupled to and described follows sensing module and an at least actuator wheel module；Wherein, the center Processing unit follows sensing module to the sensing result of the object according to,

It controls ontology described in an at least actuator wheel module drive and follows the institute before first side of the ontology Object is stated, to execute one first follow the mode, or the driving ontology is followed positioned at the one side at the back side of the ontology The object, to execute one second follow the mode.