CN110376588A - A kind of automatic follower method of two-wheel balance car - Google Patents
A kind of automatic follower method of two-wheel balance car Download PDFInfo
- Publication number
- CN110376588A CN110376588A CN201910520364.5A CN201910520364A CN110376588A CN 110376588 A CN110376588 A CN 110376588A CN 201910520364 A CN201910520364 A CN 201910520364A CN 110376588 A CN110376588 A CN 110376588A
- Authority
- CN
- China
- Prior art keywords
- balance car
- wheel balance
- hand
- held intelligent
- intelligent end
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of automatic follower methods of two-wheel balance car, one integration module is respectively installed in left, forward and backward, the right isometry position of two-wheel balance car, the integration module includes ultrasonic wave receiving module and infrared receiver module, and each ultrasonic wave receiving module respectively connects a timer；This method further includes the hand-held intelligent end with integration module cooperation, integrated ultrasonic transmitting module and infrared emission module in hand-held intelligent end；With at any time, hand-held intelligent terminal sends infrared signal simultaneously to each integration module according to fixed time interval and ultrasonic wave believes signal；Every time after transmitting signal, the synchronization that the time is carried out using infrared signal is carried out the metering of time using timer, finally calculates each integration module at a distance from hand-held intelligent end, it is followed according to distance relation realization, and avoidance is carried out using obstacle avoidance algorithm during following.This programme follows function to be realized with a low cost the automatic of balance car, has very high commercial value.
Description
Technical field
The present invention relates to automatic control technology fields, and in particular to a kind of automatic follower method of two-wheel balance car.
Background technique
In recent years, it is steadily improved with the continuous progress of science and technology with people's living standard, life intelligence has been in
The period of one high speed development, controlling intelligent household appliances have been deep into each corner in life.Japan's electricity is logical big within 1985
Professor mountain rattan one is male to utilize inverted pendulum principle, leads team that year is spent to develop First two-wheel in the world flat
Weigh vehicle.With the rapid development of sensor and processor, two-wheel balance car also enters the stage of high speed development, balances in recent years
Vehicle has become a kind of essential vehicles of people's trip, and plays key player in short distance trip.
The high speed development of electric detective technology now can Successful utilization ultrasonic wave come precise measurement distance, ultrasound
Away from will not be influenced by light.Now the traveling and anticollision of the extensive specific automobile of ultrasonic ranging system
On, it combines to be transplanted on this basis with infrared sensor and is realized on Double-wheel self-balancing vehicle function followed in real time to target
Energy.Stage two-wheel balance car largely solves the problems, such as the short distance trip of people now, but carries after use heavy
Problem always is that user is more worried.If can be realized two-wheel balance car to carry out following function in real time to car owner, just
It can be very good to solve the problems, such as that the carrying after balance car use is heavy.
The identification for following solution to the problem to be mainly based upon machine vision balance car currently on the market follows, wherein
The comparative maturity done be balance car renowned company Segway design a New Generation of Intelligent balance car Loomo, pass through
The computer vision technique of Segway Robotics independent research, Loomo may recognize that personage, identify the environment of surrounding, it is known that
The location of oneself, where it can avoid dynamic obstacle automatically with step at pleasure for you.Although intelligent balance vehicle
Loomo can reach very high identification and follow precision, powerful, but the component valuableness used due to it skill used in addition
Art complexity causes its two-wheel balance car cost to steeply rise up to nearly ten thousand yuan, is as many as five times of the price of usual balance car.Intelligence
Although balance car Loomo function is improved but since its high cost of manufacture is not to be able to satisfy the demand of business promotion.
Summary of the invention
The object of the present invention is to provide a kind of automatic follower method of two-wheel balance car, be realized with a low cost balance car from
It is dynamic to follow function.
In order to realize above-mentioned task, the invention adopts the following technical scheme:
A kind of automatic follower method of two-wheel balance car, left, forward and backward, right isometry position of this method in two-wheel balance car
Respectively one integration module of installation, the integration module includes ultrasonic wave receiving module and infrared receiver module, Mei Gechao
Acoustic receiver module respectively connects a timer；This method further includes the hand-held intelligent end with integration module cooperation, hand
Hold integrated ultrasonic transmitting module and infrared emission module in intelligent end；
When two-wheel balance car is in light condition, hand-held intelligent terminal is according to fixed time interval to each integrated mould
Block sends infrared signal and ultrasonic wave letter signal simultaneously；Every time after transmitting signal:
(1) after the infrared receiver module in integration module receives infrared signal, with ultrasonic wave in the integration module
The timer of receiving module connection starts timing, and when ultrasonic wave receiving module receives ultrasonic signal, timer stops meter
When, obtain timing time；Same method obtains the timing time of other timers；
(2) by the spread speed of the timing time of each timer and ultrasonic wave calculate to obtain hand-held intelligent end with
The space length of each integration module then obtains space length in the projector distance on ground；
(3) using the relationship between the projector distance, judge position of the hand-held intelligent end relative to two-wheel balance car
It sets, turn to two-wheel balance car towards hand-held intelligent end and follows speed to advance with setting；
When integration module receives signal next time, repeat (1)-(3).
Further, the relationship using between the projector distance judges hand-held intelligent end relative to double
The position for taking turns balance car, specifically includes:
The projector distance of the space length on ground of integration module at note hand-held intelligent end to left, forward and backward, right place be respectively
S1, S2, S3, S4, then judgment rule is as follows:
The first step, as S2 < S3, hand-held intelligent end is likely located at two-wheel balance car left, front, right position；And work as
When S2 > S3, hand-held intelligent end is likely located at two-wheel balance car left, rear, right position；
Second step, as S4 < S1, hand-held intelligent end is likely located at the front, right, rear position of two-wheel balance car；And
As S4 > S1, hand-held intelligent end is likely located at the front, left, rear position of two-wheel balance car；
In conjunction with the judging result of the first step and second step, then:
As S2 < S3 and S4 < S1, hand-held intelligent end is likely located at the front of two-wheel balance car, right position；Pass through ratio again
Compared with S2 and S4, if S2>S4, final hand-held intelligent end is located at the right position to the front of two-wheel balance car, and if S2<S4,
Then final hand-held intelligent end is located at the front position to the right of two-wheel balance car；
As S2<S3 and S4>S1, hand-held intelligent end is likely located at the front of two-wheel balance car, left location；Pass through ratio again
Compared with S1 and S2, if S1>S2, final hand-held intelligent end is located at the front position to the left of two-wheel balance car, and if S1<S2,
Then final hand-held intelligent end is located at the left position to the front of two-wheel balance car；
As S2>S3 and S4<S1, hand-held intelligent end is likely located at the rear of two-wheel balance car, right position；Pass through ratio again
Compared with S3 and S4, if S3>S4, final hand-held intelligent end is located at the right position to the rear of two-wheel balance car, and if S3<S4,
Then final hand-held intelligent end is located at the rear position to the right of two-wheel balance car；
As S2 > S3 and S4 > S1, hand-held intelligent end is likely located at the left of two-wheel balance car, rear position；Pass through ratio again
Compared with S1 and S3, if S1>S3, final hand-held intelligent end is located at the rear position to the left of two-wheel balance car, and if S1<S3,
Then final hand-held intelligent end is located at the left position to the rear of two-wheel balance car.
Further, the two-wheel balance car is at any time, according to control strategy below:
Remember that two-wheel balance car is R at a distance from hand-held intelligent end, R0, R1 are respectively that preset two-wheel balance car follows
Minimum range and maximum distance；
As R < R0, two-wheel balance car following distance is excessively close, and pause follows process at this time, until restoring after R0≤R≤R1
Follow speed；
As R > R0, two-wheel balance car following distance too far, controls two-wheel balance car at this time and accelerates, until R0≤R≤R1
Restore to follow speed afterwards.
Further, as R<R0 or R>R0, two-wheel balance car starts infrared obstacle avoidance algorithm:
The two-wheel balance car front, rear, left and right are equipped with infrared obstacle avoidance module, which has
A pair of of infrared emission tube and a pair of of infrared receiver tube, judge whether corresponding direction has obstacle by the transmitting-receiving of infrared ray
Object controls two-wheel balance car when there is barrier and turns to get around barrier.
The present invention has following technical characterstic:
This programme using simple common infrared ray and ultrasonic wave module, using the propagation characteristic of ultrasonic wave and infrared ray with
Two-wheel balance car combines, and realizes that the time of hand-held intelligent end and two-wheel balance car ontology is same by the transmitting and receiving of infrared ray
Step judges that the size of distance is realized using the propagation characteristic of ultrasonic wave and judges specific objective orientation, to realize to hand-held intelligence
Energy end follows function in real time.The hardware configuration that this method is realized is simple, and cost is cheap to have very high commercial value, goes back
Suitable for the following demand (such as: market shopping vehicle) to specific objective of other scenes, and has and follow effect in real time well
Fruit.
Detailed description of the invention
Fig. 1 is distributing position schematic diagram of the integration module on two-wheel balance car；
Fig. 2 is that space length is converted into projector distance and the schematic diagram of drafting in the same plane；
Fig. 3 is the system architecture figure of two-wheel balance car control section in this programme；
Fig. 4 is the hardware structural diagram at hand-held intelligent end in this programme；
Fig. 5 is the control strategy flow chart during two-wheel balance car follows；
Fig. 6 follows flow chart for two-wheel balance car；
Fig. 7 be hand-held intelligent end and two-wheel balance car calculate apart from when perspective view.
Specific embodiment
The invention discloses a kind of automatic follower method of two-wheel balance car, in this method in addition to two-wheel balance car ontology it
Outside, there are one hand-held intelligent end, integrated ultrasonic transmitting module and infrared emission module in hand-held intelligent end.Hand-held intelligence
Energy end is gripped in user's hand, so that two-wheel balance car is followed, as shown in figure 4, hand-held intelligent end includes MCU, with
And power management module, ultrasonic wave transmitting module, infrared emission module.
In addition, left, forward and backward, the right isometry position in two-wheel balance car respectively installs an integration module, the integrated mould
Block includes ultrasonic wave receiving module and infrared receiver module, is respectively used to receive the ultrasonic signal of hand-held intelligent end transmitting
And infrared signal.As shown in Figure 1, preferably following effect to reach, four integration module lines are constituted just in this programme
Square structure.
When two-wheel balance car is in unmanned unloaded equilibrium state, hand-held intelligent terminal is according to fixed time interval to every
A integration module sends infrared signal and ultrasonic wave letter signal simultaneously；Every time after transmitting signal:
(1) after the infrared receiver module in integration module receives infrared signal, with ultrasonic wave in the integration module
The timer of receiving module connection starts timing, and when ultrasonic wave receiving module receives ultrasonic signal, timer stops meter
When, obtain timing time；Same method obtains the timing time of other timers.
In the present solution, the effect of hand-held intelligent end transmitting infrared signal is synchronous ultrasonic transmitting module and all integrated
The time of ultrasonic wave receiving module in module.Because infrared signal spread speed is the propagation speed that the light velocity is far longer than ultrasonic wave
Degree, and hand-held intelligent end is closer apart from two-wheel balance car from macro-scale, so herein it is considered that hand-held intelligent
The time of infrared receiver module is identical in the end transmitting infrared signal arrival integration module of front, rear, left and right four, this
Allowing for the timer connecting respectively with four infrared receiver modules, the time starts timing at the same time.Since ultrasonic wave is propagated
Speed is far below infrared ray, therefore on the scale of component measurement, each ultrasonic wave receiving module receives the time of ultrasonic wave
It is discrepant.
When specific implementation, the ultrasonic wave receiving module of each integration module is connected to the MCU of two-wheel balance car
GPIO (universal defeated of General-purpose input/output of (Microcontroller Unit micro-control unit)
Enter delivery outlet) external interrupt, each external interrupt preempting priority having the same are triggered, ultrasonic wave receiving module receives signal
Off Timer after triggering is interrupted afterwards obtains the data of timer, and it is super to reach this for as hand-held intelligent end transmitting ultrasonic signal
The time of acoustic receiver module.
(2) by the spread speed of the timing time of each timer and ultrasonic wave calculate to obtain hand-held intelligent end with
The space length of each integration module then obtains space length in the projector distance on ground；
For example, the time as ultrasonic wave reaches the ultrasonic wave receiving module of left part is t1, according to ultrasonic wave in air
In spread speed v, by v*t1 can be obtained hand-held intelligent end to left side integration module distance S1 '；Since two-wheel balances
Vehicle and hand-held intelligent end be in three-dimensional space, therefore the distance be space length.Same method obtains hand-held intelligent end and arrives it
Distance S2 ', the S3 ', S4 ' of his forward and backward, right integration module.
For ease of calculation, space length is projected on ground, obtains projector distance, as shown in Fig. 2, i.e. hand-held intelligent
Hold the line of position and each integration module position subpoint on the ground.All projector distances are drawn in Fig. 2
System is on a sheet of planar image, and wherein L is height of the hand-held intelligent away from ground；By Fig. 2 it can be seen that, since L immobilizes,
Therefore space length and projector distance are positively correlated, therefore when carrying out location determination, can substitute sky using projector distance
Between distance.
(3) using the relationship between the projector distance, judge position of the hand-held intelligent end relative to two-wheel balance car
It sets, then set two-wheel balance car follows speed to turn to and advance towards hand-held intelligent end.
It is top view referring to Fig. 1, Fig. 1 for the ease of intuitively illustrating, wherein distance S1, S2, S3, S4 for marking can be seen
Work is projector distance.
The projector distance of the space length on ground of integration module at note hand-held intelligent end to left, forward and backward, right place be respectively
S1, S2, S3, S4, then judgment rule is as follows:
The first step, as S2 < S3, according to geometrical relationship, hand-held intelligent end be likely located at two-wheel balance car left, front,
Right position；And as S2 > S3, hand-held intelligent end is likely located at two-wheel balance car left, rear, right position；
Second step, as S4 < S1, hand-held intelligent end is likely located at the front, right, rear position of two-wheel balance car；And
As S4 > S1, hand-held intelligent end is likely located at the front, left, rear position of two-wheel balance car；
In conjunction with the judging result of the first step and second step, then:
As S2 < S3 and S4 < S1, hand-held intelligent end is likely located at the front of two-wheel balance car, right position；Pass through ratio again
Compared with S2 and S4, if S2>S4, final hand-held intelligent end is located at the right position to the front of two-wheel balance car, and if S2<S4,
Then final hand-held intelligent end is located at the front position to the right of two-wheel balance car, i.e. position in Fig. 1 example.
Same reason:
As S2<S3 and S4>S1, hand-held intelligent end is likely located at the front of two-wheel balance car, left location；Pass through ratio again
Compared with S1 and S2, if S1>S2, final hand-held intelligent end is located at the front position to the left of two-wheel balance car, and if S1<S2,
Then final hand-held intelligent end is located at the left position to the front of two-wheel balance car；
As S2>S3 and S4<S1, hand-held intelligent end is likely located at the rear of two-wheel balance car, right position；Pass through ratio again
Compared with S3 and S4, if S3>S4, final hand-held intelligent end is located at the right position to the rear of two-wheel balance car, and if S3<S4,
Then final hand-held intelligent end is located at the rear position to the right of two-wheel balance car；
As S2 > S3 and S4 > S1, hand-held intelligent end is likely located at the left of two-wheel balance car, rear position；Pass through ratio again
Compared with S1 and S3, if S1>S3, final hand-held intelligent end is located at the rear position to the left of two-wheel balance car, and if S1<S3,
Then final hand-held intelligent end is located at the left position to the rear of two-wheel balance car.
After obtaining position of the hand-held intelligent end relative to two-wheel balance car, the MCU control two-wheel balance of two-wheel balance car
Vehicle is turned to towards intelligent terminal, and follows speed to advance with setting；Until repeating above-mentioned mistake when receiving signal next time
Journey；Then hand-held intelligent terminal sends signal according to fixed frequency, that is, realizes the uninterrupted of two-wheel balance car and follow automatically.
In most cases, hand-held intelligent end will not be located in the positive direction of two-wheel balance car, i.e., just before, just after, it is positive left
Or it is positive right；And judge that positive direction is also very simple, such as certain is once received after signal judged: S1=S4 and when S2 < S3, i.e.,
Hand-held intelligent end be can determine whether in the front of two-wheel balance car, do not have to turn at this time, to follow speed follower；Other are square
Identical to reason, difference is when just left, just right, and two-wheel balance car need to be rotated by 90 ° to the left or to the right followed by and just
When afterwards, two-wheel balance car can be made to follow in a manner of backward, can also rotate 180 ° followed by.Described follows speed that can set
It is set to the average walking speed of user, such as 0.6~1m/s.
As shown in figure 3, specifically, the MCU of two-wheel balance car is according to location information, and passes through the posture of two-wheel balance car
The posture information for the current two-wheel balance car that detection module obtains exports pwm control signal by PWM control module, acts on
The left motor of two-wheel balance car revolver or the right motor of right wheel are realized and are turned to.
As shown in fig. 7, in the present solution, when the distance R for carrying out two-wheel balance car and hand-held intelligent end is calculated, using
Apart from line distance S of the hand-held intelligent end between nearest integration module and hand-held intelligent endnProjection line on the ground
Length.Wherein, α indicates the angle between the line and ground, then R=Sn*cosα
So, the two-wheel balance car is at any time, according to control strategy below:
Remember that two-wheel balance car is R at a distance from hand-held intelligent end, R0, R1 are respectively that preset two-wheel balance car follows
Minimum range and maximum distance；
As R < R0, two-wheel balance car following distance is excessively close, and pause follows process at this time, until restoring after R0≤R≤R1
Follow speed；
As R > R0, two-wheel balance car following distance too far, controls two-wheel balance car at this time and accelerates, until R0≤R≤R1
Restore to follow speed afterwards.
In the present solution, two-wheel balance car is other than carrying integration module:
The two-wheel balance car front, rear, left and right are equipped with infrared obstacle avoidance module, which has
A pair of of infrared emission tube and a pair of of infrared receiver tube, judge whether corresponding direction has obstacle by the transmitting-receiving of infrared ray
Object: transmitting tube launches the infrared ray of certain frequency, and when detection direction encounters barrier (reflecting surface), infrared reflection is returned
It is received pipe reception, after handling by comparator circuit, green indicator light can be lighted, synchronous signal output interface output number
Signal (low level signal).When outer sensing module detects that direction of advance has barrier, green indicator light on circuit board
Level is lighted, while OUT (output) port must persistently export low level signal, give the GPIO (General-purpose of MCU
Input/output universal input/output port) mouth inquiry use, then when there is barrier, MCU controls the steering of two-wheel balance car
To get around barrier, two-wheel balance car may be implemented and carry out to target with barrier avoiding function at any time.
Claims (4)
1. a kind of automatic follower method of two-wheel balance car, which is characterized in that this method is in the left, forward and backward, right of two-wheel balance car
Isometry position respectively installs an integration module, and the integration module includes ultrasonic wave receiving module and infrared receiver mould
Block, each ultrasonic wave receiving module respectively connect a timer；This method further includes hand-held with integration module cooperation
Intelligent end, integrated ultrasonic transmitting module and infrared emission module in hand-held intelligent end；
When two-wheel balance car is in light condition, hand-held intelligent terminal is same to each integration module according to fixed time interval
When send infrared signal and ultrasonic signal；Every time after transmitting signal:
(1) it after the infrared receiver module in integration module receives infrared signal, is received with ultrasonic wave in the integration module
The timer of module connection starts timing, and when ultrasonic wave receiving module receives ultrasonic signal, timer stops timing, obtains
To timing time；Same method obtains the timing time of other timers；
(2) calculate to obtain hand-held intelligent end and each by the spread speed of the timing time of each timer and ultrasonic wave
The space length of integration module then obtains space length in the projector distance on ground；
(3) using the relationship between the projector distance, judge position of the hand-held intelligent end relative to two-wheel balance car, so
It turns to two-wheel balance car towards hand-held intelligent end and follows speed to advance with setting；
When integration module receives signal next time, repeat (1)-(3).
2. the automatic follower method of two-wheel balance car as described in claim 1, which is characterized in that described to utilize the throwing
Relationship between shadow distance, judges position of the hand-held intelligent end relative to two-wheel balance car, specifically includes:
Note hand-held intelligent end to left, forward and backward, right place integration module projector distance of the space length on ground be respectively S1,
S2, S3, S4, then judgment rule is as follows:
The first step, as S2 < S3, hand-held intelligent end is likely located at two-wheel balance car left, front, right position；And work as S2 > S3
When, hand-held intelligent end is likely located at two-wheel balance car left, rear, right position；
Second step, as S4 < S1, hand-held intelligent end is likely located at the front, right, rear position of two-wheel balance car；And work as S4 >
When S1, hand-held intelligent end is likely located at the front, left, rear position of two-wheel balance car；
In conjunction with the judging result of the first step and second step, then:
As S2 < S3 and S4 < S1, hand-held intelligent end is likely located at the front of two-wheel balance car, right position；Again by comparing S2
And S4, if S2>S4, final hand-held intelligent end is located at the right position to the front of two-wheel balance car, and if S2<S4, most
Whole hand-held intelligent end is located at the front position to the right of two-wheel balance car；
As S2<S3 and S4>S1, hand-held intelligent end is likely located at the front of two-wheel balance car, left location；Again by comparing S1
And S2, if S1>S2, final hand-held intelligent end is located at the front position to the left of two-wheel balance car, and if S1<S2, most
Whole hand-held intelligent end is located at the left position to the front of two-wheel balance car；
As S2>S3 and S4<S1, hand-held intelligent end is likely located at the rear of two-wheel balance car, right position；Again by comparing S3
And S4, if S3>S4, final hand-held intelligent end is located at the right position to the rear of two-wheel balance car, and if S3<S4, most
Whole hand-held intelligent end is located at the rear position to the right of two-wheel balance car；
As S2 > S3 and S4 > S1, hand-held intelligent end is likely located at the left of two-wheel balance car, rear position；Again by comparing S1
And S3, if S1>S3, final hand-held intelligent end is located at the rear position to the left of two-wheel balance car, and if S1<S3, most
Whole hand-held intelligent end is located at the left position to the rear of two-wheel balance car.
3. the automatic follower method of two-wheel balance car as described in claim 1, which is characterized in that the two-wheel balance car exists
With at any time, according to control strategy below:
Remember that two-wheel balance car is R at a distance from hand-held intelligent end, R0, R1 are respectively that preset two-wheel balance car follows most
Small distance and maximum distance；
As R < R0, two-wheel balance car following distance is excessively close, and pause follows process at this time, until restoring to follow after R0≤R≤R1
Speed；
As R > R0, two-wheel balance car following distance too far, controls two-wheel balance car at this time and accelerates, until extensive after R0≤R≤R1
Speed is followed again.
4. the automatic follower method of two-wheel balance car as described in claim 1, which is characterized in that double as R<R0 or R>R0
It takes turns balance car and starts infrared obstacle avoidance algorithm:
The two-wheel balance car front, rear, left and right are equipped with infrared obstacle avoidance module, which has a pair
Infrared emission tube and a pair of of infrared receiver tube, judge whether corresponding direction has barrier by the transmitting-receiving of infrared ray, when
Have and controls the steering of two-wheel balance car when barrier to get around barrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910520364.5A CN110376588A (en) | 2019-06-17 | 2019-06-17 | A kind of automatic follower method of two-wheel balance car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910520364.5A CN110376588A (en) | 2019-06-17 | 2019-06-17 | A kind of automatic follower method of two-wheel balance car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110376588A true CN110376588A (en) | 2019-10-25 |
Family
ID=68248934
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910520364.5A Pending CN110376588A (en) | 2019-06-17 | 2019-06-17 | A kind of automatic follower method of two-wheel balance car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110376588A (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203217408U (en) * | 2013-04-15 | 2013-09-25 | 上海电机学院 | Automatic-following dolly and automatic-following luggage case |
| CN104260092A (en) * | 2014-07-08 | 2015-01-07 | 大连理工大学 | Automatic tracking robot control device and automatic tracking robot |
| CN104991557A (en) * | 2015-07-02 | 2015-10-21 | 深圳乐行天下科技有限公司 | Autonomous following dolly and system thereof |
| CN205041882U (en) * | 2015-09-28 | 2016-02-24 | 张建卿 | Automatic trail infusion robot |
| CN205263647U (en) * | 2015-11-01 | 2016-05-25 | 郭敏强 | Novel mole robot of remote control formula |
| CN106184517A (en) * | 2016-07-25 | 2016-12-07 | 刘炳瑞 | Intelligence follows comprehensive Self-Balancing vehicle |
| CN106310430A (en) * | 2016-06-19 | 2017-01-11 | 郑金龙 | Walking control method for intelligent infusion robot based on Internet of things |
| CN106338999A (en) * | 2016-11-15 | 2017-01-18 | 王昊泓 | Intelligent following anti-collision dolly and anti-collision method thereof |
| CN106527425A (en) * | 2016-09-30 | 2017-03-22 | 张家港长安大学汽车工程研究院 | Omnibearing intelligent following trolley and controlling method thereof |
| CN107992091A (en) * | 2017-10-31 | 2018-05-04 | 深圳市博鑫创科科技有限公司 | A kind of balance car follower method and system based on signal strength |
| CN109144074A (en) * | 2018-10-26 | 2019-01-04 | 上海海事大学 | A kind of Intelligent golf vehicle and intelligent follower method based on DSP |
| CN109188412A (en) * | 2018-07-12 | 2019-01-11 | 江苏大学 | It is a kind of that luggage case and its positioning is followed to follow avoiding collision automatically |
-
2019
- 2019-06-17 CN CN201910520364.5A patent/CN110376588A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203217408U (en) * | 2013-04-15 | 2013-09-25 | 上海电机学院 | Automatic-following dolly and automatic-following luggage case |
| CN104260092A (en) * | 2014-07-08 | 2015-01-07 | 大连理工大学 | Automatic tracking robot control device and automatic tracking robot |
| CN104991557A (en) * | 2015-07-02 | 2015-10-21 | 深圳乐行天下科技有限公司 | Autonomous following dolly and system thereof |
| CN205041882U (en) * | 2015-09-28 | 2016-02-24 | 张建卿 | Automatic trail infusion robot |
| CN205263647U (en) * | 2015-11-01 | 2016-05-25 | 郭敏强 | Novel mole robot of remote control formula |
| CN106310430A (en) * | 2016-06-19 | 2017-01-11 | 郑金龙 | Walking control method for intelligent infusion robot based on Internet of things |
| CN106184517A (en) * | 2016-07-25 | 2016-12-07 | 刘炳瑞 | Intelligence follows comprehensive Self-Balancing vehicle |
| CN106527425A (en) * | 2016-09-30 | 2017-03-22 | 张家港长安大学汽车工程研究院 | Omnibearing intelligent following trolley and controlling method thereof |
| CN106338999A (en) * | 2016-11-15 | 2017-01-18 | 王昊泓 | Intelligent following anti-collision dolly and anti-collision method thereof |
| CN107992091A (en) * | 2017-10-31 | 2018-05-04 | 深圳市博鑫创科科技有限公司 | A kind of balance car follower method and system based on signal strength |
| CN109188412A (en) * | 2018-07-12 | 2019-01-11 | 江苏大学 | It is a kind of that luggage case and its positioning is followed to follow avoiding collision automatically |
| CN109144074A (en) * | 2018-10-26 | 2019-01-04 | 上海海事大学 | A kind of Intelligent golf vehicle and intelligent follower method based on DSP |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108725239B (en) | Alignment device and method for wireless charging of electric automobile | |
| CN1954974B (en) | Moving robot and moving robot battery recharge room return system | |
| CN102262407B (en) | Guide and operating system | |
| US9089249B2 (en) | Direction device and operation system utilizing the same | |
| US20230063047A1 (en) | Emergency vehicle detection system and method | |
| CN103336268A (en) | Induction type non-contact charging position alignment device and method | |
| RU2005114218A (en) | AUTOMATED CLEANING SYSTEM AND METHOD FOR ITS CHARGING FROM EXTERNAL CHARGING DEVICE | |
| CN205049975U (en) | Radio frequency RSSI value combines robot of infrared navigation technique to return storehouse charging system | |
| CN109360422A (en) | A kind of vehicle type recognition device and model recognizing method based on laser radar | |
| CN108958284B (en) | Unmanned aerial vehicle obstacle avoidance system and method | |
| CN104635728A (en) | Automatic charging system and automatic charging method for robot | |
| CN113460033A (en) | Automatic parking method and device | |
| CN107272675A (en) | Recharging system based on infrared ray and ultrasonic wave | |
| CN106060150B (en) | Information of vehicles wireless acquisition method based on car networking | |
| CN204178236U (en) | The indoor navigation positioning system of sweeping robot recharging | |
| CN110376588A (en) | A kind of automatic follower method of two-wheel balance car | |
| CN115465451A (en) | Unmanned aerial vehicle surveying control method and system based on geographic environment complexity optimization mutual charging strategy | |
| CN110096003A (en) | A kind of unmanned net controller based on built-in Linux | |
| CN204423152U (en) | Aerial barrage thing pick-up unit and automatical pilot transportation vehicle thereof | |
| CN207937864U (en) | The device that robot recharges automatically is realized using multichannel external environment detection module | |
| CN111540229A (en) | Parking space information guidance control system | |
| CN110673596A (en) | Automatic following method of double-wheel balance car | |
| CN109515324A (en) | Automobile automated parking system | |
| CN109557927B (en) | Path planning method, device, equipment and medium for robot to return to hanging basket | |
| CN109144074A (en) | A kind of Intelligent golf vehicle and intelligent follower method based on DSP |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20191025 |