CN111513443A

CN111513443A - Automatic following case based on infrared array temperature measurement sensor and UWB ranging

Info

Publication number: CN111513443A
Application number: CN201910109115.7A
Authority: CN
Inventors: 任海洲; 郭鸿儒; 曾鸣; 李鑫; 刘则之; 黄海鸿
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-02-03
Filing date: 2019-02-03
Publication date: 2020-08-11

Abstract

The invention discloses an automatic following luggage capable of following the movement of a human body by combining an infrared array temperature measuring sensor and a UWB (ultra wide band) distance measuring module. The method comprises the following steps: case and bag body, multi-functional handle, pull rod, infrared array sensor, vertical support, chassis, rechargeable battery, motor, power wheel, follow driving wheel, control circuit, UWB ranging module, barrier sensor, wireless charging coil and wireless charging base are kept away to the ultrasonic wave. The device can realize accurate following of people within a 10-meter range only by matching two UWB modules with the infrared array sensor, can also work in a dark environment, can adjust the following speed and direction of the device according to the walking speed and direction of people, and can automatically avoid obstacles in the walking process. When no follow-up is required, the manual mode can be entered by mode switching. When the battery power is not enough, the case can be charged in a wireless charging mode.

Description

Automatic following case based on infrared array temperature measurement sensor and UWB ranging

Technical Field

The invention relates to the technical field of bags and bags, in particular to an intelligent following type bag and bag.

Background

The infrared temperature measuring sensor is a device for measuring the temperature of an object by measuring infrared light generated by black body radiation of the object, and has the advantages of wide temperature detectable range, high precision and sensitive response. When a plurality of sensor units are integrated together to form an array, the temperature distribution of a plurality of points in space can be detected simultaneously to form a thermal imaging image, and the temperature measuring units of the general infrared array temperature measuring sensor are more than 16, can measure the temperature ranging from-40 ℃ to 300 ℃, and can accurately measure the error to be less than 1 ℃. When the human body is positioned in the detectable area in front of the infrared array sensor, the human body can be identified by the detector array due to the difference between the temperature of the human body and the ambient temperature. The angle between the human body and the sensor can be judged by judging the imaging position of the human body on the array, the angular resolution is below 10 degrees, and the following purpose is accurate enough.

The UWB wireless positioning technology is an accurate wireless positioning technology developed in recent years, distance measurement is achieved by measuring flight time of ultra-short pulses transmitted between UWB modules, the accuracy can reach 10cm-30cm, and compared with a GPS, the UWB wireless positioning technology is a more accurate and more convenient positioning technology, but in the application aspect of automatic luggage following, because the installation distance of the distance measurement module is too small, the angular resolution is lower, the following effect is achieved by simply relying on UWB positioning, the cost is high, and the difficulty is high.

Disclosure of Invention

The purpose of the invention is as follows:

at present student's classroom burden is heavy, and case and bag are heavy, and long-term back of the body case and bag is big to student's vertebra influence, and ordinary pull rod case and bag can not accomplish automatic following, and is difficult to realize effectively following with the UWB location simple at present stage, and the cost is higher. The image recognition function of the camera is utilized for following, and the defects of high development difficulty, high equipment requirement, high light requirement and insufficient reliability exist. Aiming at the problems, a following mode combining an infrared temperature measuring sensor array and UWB wireless distance measurement is provided, a reliable case capable of being automatically followed is realized, and only two UWB positioning modules are needed on the case. The luggage can automatically control the following route, speed and following distance according to the moving speed and direction of people. When the walking stick does not need to be automatically followed, the walking stick can be quickly switched into a manual mode to normally drag and walk. The wireless charging base can be charged when power is exhausted.

The technical scheme is as follows:

in order to achieve the purpose, the invention discloses an automatic following luggage based on the combination of an infrared array temperature measurement sensor and UWB positioning, which comprises the following modules:

the chassis is used as a main circuit installation and weight bearing structure, and a main control circuit board, a battery, a direct current speed reducing motor, a driven wheel and a luggage body are arranged on the chassis.

The direct-current speed reduction motor is positioned at the lower part of the chassis, the left and right speed reduction motors are respectively connected to the flywheel mechanisms through a motor shaft and then connected to the driving wheels through the flywheels, when the motor rotates, the flywheels are pushed to drive the driving wheels to walk, and when the motor does not rotate, the driving wheels can also be pulled to walk by the pull rod. The direct-current speed reduction motor is provided with the Hall counter, and the rotating speed of the motor can be accurately controlled through counting, so that the steering angle can be accurately controlled, and the direct-current speed reduction motor can walk along a straight line.

The driven wheel is a universal wheel and is positioned on the lower part of the chassis, and the left and the right of the driven wheel are respectively used for supporting weight and keeping balance.

The vertical support is located above the front portion of the chassis and forms a 90-degree right angle with the chassis, and the main effect of the support is that a UWB ranging module, an infrared array sensor, an ultrasonic obstacle avoidance sensor, a pull rod and a luggage are installed.

The UWB ranging module preferably uses a DW1000 module of Decawave corporation. Two UWB ranging module are located the left and right sides of vertical support, place at a certain distance apart.

An infrared array sensor, preferably, a loose MG8853/MG8833 or the MLX 90620/90632 series sensor available from Melexis, Inc., is used. The sensor is arranged on the top of the vertical bracket, and the detection surface is arranged forwards, so that the detection area of the sensor covers the area 60-150 degrees ahead of the travel.

The ultrasonic obstacle avoidance sensor is arranged at the lower part of the vertical support, is arranged from left to right at equal intervals and is used for avoiding obstacles during walking.

And the control circuit comprises a singlechip, a motor driving circuit, a battery charging management circuit and a gyroscope accelerometer module. The single chip microcomputer receives signals from the sensors, processes the signals, calculates a following path of the luggage, drives the motor to walk through the driving circuit, the accelerometer and the gyroscope module can sense the posture of the luggage, and the alarm battery charging management circuit is responsible for controlling charging and electric quantity detection of the battery when the luggage is toppled.

The telescopic pull rod is arranged on the chassis and pulled out when needed to drag the luggage to travel.

The multifunctional handle is arranged on the pull rod head through the quick-assembly interface. Inside from taking battery and charging circuit of multi-functional handle, simultaneously inside UWB ranging chip and the control circuit of having integrateed, the outside has the contact to be used for charging. If the handle is arranged above the pull rod, the handle can be used as a common handle to pull the luggage to walk, meanwhile, the luggage can be automatically switched to a full-manual mode, and meanwhile, a main battery at the bottom of the luggage can charge the handle. If take off it from the pull rod top, then case and bag automatic entering is followed the mode, and the UWB module of case and bag both sides is through with the UWB module communication on hand come the range finding, and the information of range finding obtains the information of distance and position through MCU processing on the chassis, calculates the speed that case and bag should follow simultaneously. The multifunctional handle is also provided with a remote control button, and the remote control button on the handle can be used for controlling the luggage to stop walking emergently under the condition that the luggage walking direction is wrong or the luggage needs to be stopped emergently.

Rechargeable battery and wireless charging coil, rechargeable battery places in the chassis, and the outside has waterproof design, and wireless charging coil is located the bottommost on chassis, and it can be for battery charging.

Charging base, charging base can place in fixed place, when case and bag need charge, can charge for case and bag through the wireless charging dish on the charging base with case and bag card in the specific draw-in groove of base.

The bottom of the case is fixed on the chassis, the backrest is fixed on the vertical support, the case can be detached, the case is subjected to waterproof treatment, and the case can be used in rainy days.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention.

In the drawings: FIG. 1 is a schematic diagram of the calculation method for realizing angle positioning by UWB ranging according to the invention; FIG. 2 is a schematic view of the orientation of an infrared array sensor of the present invention; FIG. 3 is a schematic view of the automatic following case of the present invention.

Detailed Description

The automatic following function of the luggage needs to measure the distance and angle of a person to be followed relative to the luggage, then the direction and speed of the luggage to be walked are calculated, and a control circuit inside the luggage drives a motor to walk and turn.

Distance measurement:

the distance measurement of case and bag and follower is realized by the UWB module, is held multi-functional handle by the follower, has a UWB ranging module in the handle, respectively with place two UWB module range measurements in case and bag both sides, according to the average value of two distances, obtains the case and bag distance for the follower. Different from a common UWB positioning mode that at least three anchor points are needed, only two UWB modules are used for ranging with a module held by a follower, and due to the fact that one module is omitted, power consumption is reduced, design difficulty is reduced, and meanwhile cost is also reduced.

Angle measurement:

the rough measurement of the angle is calculated from the UWB range difference and is shown in the schematic diagram of fig. 1. Assuming that the distances from the follower to the UWB modules at the two sides of the luggage are x1 and x2, respectively, and the distance between the UWB modules at the two sides of the luggage is a, the angle deviation value is

Because the value a is smaller than the values x1 and x2, and the values x1 and x2 are not accurate enough and can only reach the accuracy of 10cm and have fluctuation, the angle value obtained by UWB ranging is not accurate enough and can only be applied when the deviation angle is large, and when the angle needs to be accurately measured, an infrared array temperature measurement sensor is required to be introduced as a measurement sensor of the angle. The inside temperature measurement sensor unit to arranging by the horizontal more than 8 units of infrared array temperature measurement sensor constitutes, and external environment's temperature distribution can image on sensor array, and the temperature error that every unit sensor can be measured is within 1 degree to can distinguish the human body from ambient temperature well, according to the position of human body formation of image on the array, can judge what position that the human body is located array sensor, thereby the orientation that can be fine is by follower's angle. Moreover, thermal imaging is not affected by light and ambient temperature, and can be used in poor light environment or even no light environment.

Preferably, in the case of loose MG8853/8833, the sensor array is composed of 64 thermal infrared sensor units arranged 8 × 8, the detectable angle reaches 60 degrees, when the human body is located in different directions in front of the sensor, the image formed by the sensor falls on different columns on the sensor, and the offset angle of the human body in front of the sensor can be determined by the position and size of the image formed on the infrared sensor, and the distance between the human body and the sensor can be roughly determined. The principle of infrared array sensor orientation is shown in fig. 2.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. The scope of the claims is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures and functions.

Claims

1. The utility model provides a with directional automatic case and bag of following that combines together of infrared array temperature measurement sensor and UWB range finding which characterized in that: (1) the multifunctional wireless monitoring bag comprises a multifunctional handle, (2) a pull rod, (3) an infrared array sensor, (4) a vertical support, (5) a chassis, (6) a UWB ranging module, (7) a direct current speed reducing motor, (8) a power wheel, (9) a driven wheel, (10) a control circuit, (11) an ultrasonic obstacle avoidance sensor, (12) a rechargeable battery, (13) a wireless charging coil, (14) a wireless charging base and (15) a bag body.

2. The automated follower bag of claim 1, wherein: whole UWB system comprises three UWB module, including the multi-functional handle on pull rod top, wherein is equipped with rechargeable battery and a UWB ranging module, two UWB ranging modules of case and bag bilateral symmetry installation.

3. The automated follower bag of claim 1, wherein: the infrared array temperature measuring sensor is placed at the top of the vertical support, the detection surface of the infrared array temperature measuring sensor is installed forwards, the infrared array temperature measuring sensor detects the position of a followed person through sensing the distribution of the ambient temperature, and the infrared array temperature measuring sensor can normally work in a dark environment.

4. The multi-function handle of claim 2, wherein: the multifunctional handle is internally provided with a battery and a charging circuit, and simultaneously internally integrates a UWB ranging chip, a vibration motor, a buzzer and a control circuit, and a contact is arranged outside the multifunctional handle for charging; if the multifunctional handle is arranged above the pull-back rod, the multifunctional handle can be used as a common handle to pull a suitcase to walk, the suitcase is automatically switched to a full-manual mode, and a main battery at the bottom of the suitcase can charge the handle; if will the handle is taken off from the pull rod top, then case and bag automatic entry is followed the mode, multi-functional handle can communicate with between the case and bag, and case and bag can convey state information for the handle, and when meetting emergency, the handle can be through vibrations or vocal warning by the follower, multi-functional handle is last still to have remote control button, when case and bag walking direction has the mistake or meets emergency, can control case and bag with the remote control button on the handle and promptly stop the walking.

5. The UWB ranging module and infrared array sensor of claims 2 and 3, wherein: the following principle of the luggage lies in that the UWB modules in the multifunctional handle respectively measure the distance between the UWB modules and two UWB modules placed on two sides of the luggage, and the distance between the luggage and a person to be followed is obtained according to the average value of the two distances; and obtaining an angle value between the follower and the advancing direction of the luggage according to the imaging position of the follower on the infrared array sensor, and then obtaining the relative position between the follower and the luggage through calculation.

6. The angle measurement principle of claim 5, wherein: when the tracked object is positioned outside the detectable angle of the infrared array sensor, the approximate angle of the followed object can be calculated according to the difference value of the UWB detection distance, and the approximate angle is used as the supplement of the angle measured by the infrared array detector; assuming that the distances from the follower to the UWB modules on the two sides of the luggage are x1 and x2, respectively, and the distance between the UWB modules on the two sides of the luggage is a, the angular deviation θ is:

。

7. the automated follower bag of claim 1, wherein: the walking mechanism can control steering through differential speed of the left wheel and the right wheel, so as to always follow the walking direction of people; meanwhile, the case can record the walking track of the follower, so that the follower can follow the walking track of people completely, and obstacles on the road are avoided.

8. The automatic follower luggage of claim 1, wherein: the front part of the chassis is provided with three ultrasonic obstacle avoidance sensors, so that the following case can automatically avoid obstacles when walking.

9. The automatic follower luggage of claim 1, wherein: the power wheel is provided with a flywheel, when the motor is used as power, the power wheel can be driven by the motor to rotate, when the manual mode is switched, the motor stops rotating, and due to the flywheel mechanism, transmission between the motor and the power wheel is cut off, and the power wheel can be pulled easily by people.

10. An automatic following luggage according to claim 1, wherein: the control circuit comprises a single chip microcomputer, a motor driving circuit, a battery charging management circuit and a gyroscope accelerometer module, and the accelerometer and the gyroscope module can sense the posture of the luggage and give an alarm when the luggage is toppled.