CN206525681U - A kind of intelligent barrier avoiding follows luggage case - Google Patents
A kind of intelligent barrier avoiding follows luggage case Download PDFInfo
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- CN206525681U CN206525681U CN201621437464.XU CN201621437464U CN206525681U CN 206525681 U CN206525681 U CN 206525681U CN 201621437464 U CN201621437464 U CN 201621437464U CN 206525681 U CN206525681 U CN 206525681U
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- luggage case
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- bluetooth
- speed
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Abstract
The utility model provides a kind of intelligent barrier avoiding and follows luggage case, including luggage case body, in addition to controller module, sensor assembly, bluetooth module, drive module, power module；Controller module includes a microcontroller, and is installed in inside case housing cover；Bluetooth module includes a Bluetooth transmission module and two Bluetooth receptions modules at a distance of L meters of installings, and the bluetooth signal intensity received according to Bluetooth receptions module calculates the distance between two Bluetooth receptions modules and Bluetooth transmission module L1 and L2 respectively；Obtain one group of newest L1 and L2, the speed and steering angle of luggage case carrier is calculated according to the front and rear L1 measured twice and L2, the distance of the barrier detected further according to sensor assembly and direction, the speed between two trailing wheels is adjusted by two servomotors, the speed of two trailing wheels is created a difference, and then reach the purpose that steering avoidance is followed.
Description
Technical field
Luggage case is followed the invention belongs to luggage art, more particularly to a kind of intelligent barrier avoiding.
Background technology
Present luggage case is typically all to pull trunk draw bar by people to be drawn, if the article filled in luggage case
It is too many too heavy, then to draw the people of luggage case relatively to tire out.Also a kind of situation is exactly, if drawing the people of luggage case by luggage
Case is placed on somewhere, is then finished and is forgotten luggage case to pull away when thing is left, it is possible to causes the loss of luggage case.
The content of the invention
Luggage case is followed it is an object of the invention to provide a kind of intelligent barrier avoiding easy to use, with low cost, the luggage
Case has the function of following luggage case carrier and automatic avoiding obstacles automatically.
A kind of intelligent barrier avoiding of the present invention follows luggage case, including luggage case body, in addition to controller module, sensor die
Block, bluetooth module, drive module, power module.The controller module includes a microprocessor controller, and is installed in case sheet
Covered on body internal.
Wherein, the bluetooth module includes a Bluetooth transmission module and two Bluetooth receptions modules, described two bluetooths
L meters of receiving module interval is installed in case housing cover top, and the Bluetooth transmission module is worn on luggage case carrier；Institute
State luggage case and follow luggage case carrier by receiving the Bluetooth signal that Bluetooth transmission module is launched；Further according on the luggage case
The bluetooth signal intensity that the Bluetooth receptions module of the L meters of installings in interval is received calculates two Bluetooth receptions modules and sent out with bluetooth respectively
Penetrate the distance between module L1 and L2；Obtain newest one group of L1 and L2, according to the front and rear Bluetooth transmission module measured twice with
The speed that luggage case carrier is calculated apart from L1 and L2 of two Bluetooth receptions modules, and according to the luggage case carrier's of acquisition
The speed of speed adjustment luggage case is consistent with the speed of luggage case carrier；Further according to the front and rear Bluetooth transmission module measured twice
The steering angle of luggage case carrier is calculated apart from L1 and L2 with two Bluetooth receptions modules, and is taken according to the luggage case of acquisition
The direction of steering angle adjustment luggage case with person is consistent with the direction of luggage case carrier.
Wherein, the sensor assembly includes ultrasonic sensor and infrared sensor.
Wherein, the drive module includes four rolling and two drivers.The power module is chargeable including one piece
Lithium battery, the lithium battery is installed in case housing cover.
Wherein, one ultrasonic sensor infrared sensor adjacent with its constitutes a sensor group, and
Take the result of detection as the sensor group of distance minimum in two sensor result of detections in the sensor group；The sensing
Device module includes three sensor groups, is respectively installed in case body left side, front and right side, and relatively more described three sensings
The result of detection of device group, direction representated by the minimum sensor group of result of detection distance and apart from the direction of as barrier and
Distance, adjusts luggage case avoiding obstacles according to result of detection and continues to follow luggage case carrier.
Wherein, the driver of the drive module is servomotor；The four rolling is divided into front and rear two pairs, each trailing wheel
As driving wheel, and each trailing wheel connects a driver, and front-wheel is as driven pulley, and it upper in any direction can be rotated；It is logical
Cross described two drivers to be adjusted the speed of two trailing wheels, the speed of two trailing wheels is created a difference, so reach turn
To purpose.
The technical scheme that embodiments of the invention are provided can include the following benefits：
For above feature, a kind of intelligent barrier avoiding of the invention follows luggage case, with automatic obstacle-avoiding luggage case can be followed to carry
Person moves, and mitigates the physical labor intensity of luggage case carrier, and is also prevented from the loss of luggage case.
Brief description of the drawings
Fig. 1 is the structural representation that intelligent barrier avoiding follows luggage case.
Fig. 2 is the integrated modules schematic diagram of luggage box cover.
Fig. 3 is bluetooth module schematic diagram.
Fig. 4 is sensor assembly schematic diagram.
Fig. 5 is drive module schematic diagram.
Embodiment
Below with reference to accompanying drawing, give the present invention further elaboration.
Accompanying drawing 1 and accompanying drawing 2 are referred to, in the present embodiment, a kind of intelligent barrier avoiding follows luggage case, including luggage case sheet
Body 1, in addition to controller module 28, sensor assembly 4, bluetooth module 2, drive module 8, power module 29.The controller
Module 28 includes a microprocessor controller, and is installed in inside case housing cover 12.
Wherein, refering to accompanying drawing 3, the bluetooth module 2 includes a Bluetooth transmission module 30 and two Bluetooth receptions moulds
Block, wherein one Bluetooth receptions module 13 and another described Bluetooth receptions module 3 are spaced L meters and are installed in case housing cover
12 tops, the Bluetooth transmission module 30 is worn on luggage case carrier；
Wherein, in the control circuit at described 28 pieces of places of controller mould, monitoring receives the device of Bluetooth signal power,
The Bluetooth signal power size received by monitoring two Bluetooth receptions modules 13 and 3 is taken to measure luggage case with luggage case
The distance between band person.
Wherein, the mode of measurement distance uses diving filtering and gaussian filtering by the way of based on RSSI wireless locations
Combination filtering method, in the RSSI value received, remove maximum and minimum value, then obtained again by weighted average
RSSI value, to reduce due to the error for the RSSI value that interference fringe comes.Passed through using offline BP neural network algorithm above-mentioned required
The RSSI value gone out calculates the distance at Bluetooth transmission end and receiving terminal.The propagation formula of signal in free space is
Wherein, d is the distance between 2 points, and p is the power of decay, and k is the stochastic variable factor, and α is the signal attenuation factor.
Because use environment is complicated, k and α have very big uncertainty.Using the non-linear Continuous Mappings work(of BP neural network algorithm
Off-line measurement emulation can be carried out, BP neural network is made up of input layer, middle hidden layer and output layer, obtained in actual experiment
Under RSSI and distance value, emulated when being respectively a, b, c, d to hidden neuron number, then by imitative
Modal distance and actual error curve diagram after very, select the minimum neuron number of error and hair are calculated as input parameter
The distance between exit point and receiving point.
Wherein, the intelligent barrier avoiding follows luggage case by receiving the Bluetooth signal of the transmitting of Bluetooth transmission module 30 with retinue
Lee case carrier；The Bluetooth signal received further according to the Bluetooth receptions module 13 and 3 that L meters of installings are spaced on the luggage case is strong
Degree calculates the distance between two Bluetooth receptions modules 13 and 3 and Bluetooth transmission module L1 and L2 respectively；Obtain newest one group
L1 and L2, according to being counted apart from L1 and L2 for the front and rear Bluetooth transmission module 30 measured twice and two Bluetooth receptions modules 13 and 3
The speed of luggage case carrier is calculated, and the speed that intelligent barrier avoiding follows luggage case is adjusted according to the speed of the luggage case carrier of acquisition
Degree is consistent with the speed of luggage case carrier；Further according to the front and rear Bluetooth transmission module 30 measured twice and two Bluetooth receptions moulds
The steering angle that luggage case carrier is followed apart from L1 and L2 computational intelligence avoidances of block 13 and 3, and according to the luggage case of acquisition
The steering angle adjustment intelligent barrier avoiding of carrier follows the direction of luggage case consistent with the direction of luggage case carrier.
Wherein, refering to accompanying drawing 4, the intelligent barrier avoiding in the present invention follows the sensor assembly 4 in luggage case to include institute
Three sensor groups are stated, case body left side, front and right side, i.e. left sensor group 19, upfront sensor group is respectively installed in
18 and right sensor group 17；The left sensor group 19 includes a ultrasonic sensor 11 and an infrared sensor
10；The upfront sensor group 18 includes a ultrasonic sensor 9 and an infrared sensor 7；The right sensor group
17 include a ultrasonic sensor 6 and an infrared sensor 5；Wherein, two sensors in the left sensor group 19 are taken
The minimum result of detection as the sensor group of distance in result of detection；Two sensors in the upfront sensor group 18 are taken again
The minimum result of detection as the sensor group of distance in result of detection；Two sensors in the right sensor group 17 are taken again
The minimum result of detection as the sensor group of distance in result of detection；And relatively more described left sensor group 19, front are passed
The result of detection of 17 3 sensor groups of sensor group 18 and right sensor group, result of detection distance minimum sensor group institute's generation
The direction of table and apart from the direction of as barrier and distance, adjusts luggage case avoiding obstacles according to result of detection and continues to follow
Luggage case carrier.
Wherein, refering to accompanying drawing 5, the driver of the drive module 8 is servomotor；The four rolling is divided into front and rear two
It is right, respectively the near front wheel 20, off-front wheel 25, left rear wheel 21 and off hind wheel 24, each trailing wheel is as driving wheel, and each trailing wheel connects
A driver is connect, wherein left rear wheel connects a driver 22, off hind wheel and connects a driver 23, and front-wheel is as driven
Wheel, it upper in any direction can be rotated.
Wherein, the servomotor is by its rotating speed of PID control, so that controller speed.Motor internal has a Hall
Sensor, when motor is rotated, motor per revolution, Hall sensor will send some groups of signals, choose these signals
In one as test foundation, and record the time between two adjacent pulse, then luggage wheel assembly is followed with intelligent barrier avoiding
The diameter of son is for the burst length, you can calculate the current speed of wheel.Servomotor is carried out by pid control algorithm again
Speed regulating control.
Wherein, the intelligent barrier avoiding follows the trailing wheel of luggage case to be fast pulley, and front-wheel upper in any direction can be rotated, adopted
Turned to, the speed between two trailing wheels is adjusted by two servomotors, then with electronic differential speed steering mode
The speed and the angle of required steering measured according to the above controls two respective speed of motor, makes two driving wheels
Speed create a difference, and then reach the purpose of steering.
Wherein, described bluetooth module 2, drive module 8, sensor assembly 4, power module 29 with controller module 28
Electrical connection.When intelligent barrier avoiding follows luggage case to work, intelligent barrier avoiding follows luggage case to first pass through Bluetooth receptions module and finds row
Lee's case carrier and distance and the direction for judging luggage case carrier.Bluetooth receptions module and sensor assembly 4 every 100ms to
Controller module sends the data that are once monitored, in the case of being set in normal follow, intelligent barrier avoiding follow luggage case with
The distance between luggage case carrier scope is 0.5~1 meter, and intelligent barrier avoiding follows luggage case according to the speed of oneself detected
With the comparison by the adjacent distance for detecting luggage case carrier twice, the speed of luggage case carrier is calculated, and
Adjust the speed of oneself consistent with luggage case carrier's.When intelligent barrier avoiding follows luggage case to detect the side of luggage case carrier
To when changing, automatically by the rotating speed of two servomotors of adjustment left rear wheel 21 and off hind wheel 24 can be made differential occur real
Turn now to follow.During following, intelligent barrier avoiding follows the obstacle around the real-time detection of sensor assembly 4 on luggage case
Thing is simultaneously sent to result of detection on controller module 28, controller module by data analysis judge barrier position and
Size, static or mobile and translational speed size, then adjust itself according to oneself this body structure with size
Motion state, is followed to get around barrier.
The above, only presently preferred embodiments of the present invention, are not intended to limit embodiment of the present invention, and this area is general
Logical technical staff can very easily carry out corresponding flexible or change according to the central scope and spirit of the present invention, therefore this
The protection domain of invention should be defined by the protection domain required by claims.
It should be appreciated that the invention is not limited in the precision architecture for being described above and being shown in the drawings, and
And various modifications and changes can be being performed without departing from the scope.The scope of the present invention is only limited by appended claim.
Claims (3)
1. a kind of intelligent barrier avoiding follows luggage case, including luggage case body, it is characterised in that also including controller module, sensing
Device module, bluetooth module, drive module, power module；
The controller module includes a microprocessor controller, and is installed in inside case housing cover；
The bluetooth module includes a Bluetooth transmission module and two Bluetooth receptions modules, described two Bluetooth receptions intermodules
Case housing cover top is installed in every L meters, the Bluetooth transmission module is worn on luggage case carrier；The luggage case leads to
The Bluetooth signal for crossing the module transmitting of reception Bluetooth transmission follows luggage case carrier；Filled further according to being spaced L meters on the luggage case
If the bluetooth signal intensity that receives of Bluetooth receptions module calculate respectively two Bluetooth receptions modules and Bluetooth transmission module it
Between apart from L1 and L2；One group of newest L1 and L2 is obtained, according to the front and rear Bluetooth transmission module measured twice and two bluetooths
The speed that luggage case carrier is calculated apart from L1 and L2 of receiving module, and adjusted according to the speed of the luggage case carrier of acquisition
The speed of luggage case is consistent with the speed of luggage case carrier；Further according to the front and rear Bluetooth transmission module measured twice and two indigo plants
The steering angle that luggage case carrier is calculated apart from L1 and L2 of tooth receiving module, and turn of the luggage case carrier according to acquisition
It is consistent with the direction of luggage case carrier to the direction of angle adjustment luggage case；
The sensor assembly includes ultrasonic sensor and infrared sensor；
The drive module includes four rolling and two drivers；
The power module includes one piece of chargeable lithium cell, and the lithium battery is installed in case housing cover.
2. intelligent barrier avoiding as claimed in claim 1 follows luggage case, it is characterised in that a ultrasonic sensor is adjacent with its
An infrared sensor constitute a sensor group, and take in the sensor group distance in two sensor result of detections minimum
The result of detection as the sensor group；The sensor assembly includes three sensor groups, is respectively installed in case body left
Side, front and right side, and compare the result of detection of three sensor groups, result of detection is apart from representated by minimum sensor group
Direction and apart from the direction of as barrier and distance, luggage case avoiding obstacles are adjusted according to result of detection and continued with retinue
Lee case carrier.
3. intelligent barrier avoiding as claimed in claim 1 follows luggage case, it is characterised in that the driver of the drive module is to watch
Take motor；The four rolling is divided into front and rear two pairs, and each trailing wheel is as driving wheel, and each trailing wheel connects a driver,
Front-wheel is as driven pulley, and it upper in any direction can be rotated；The speed of two trailing wheels is carried out by described two drivers
Adjustment, makes the speed of two trailing wheels create a difference, and then reach the purpose of steering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621437464.XU CN206525681U (en) | 2016-12-26 | 2016-12-26 | A kind of intelligent barrier avoiding follows luggage case |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621437464.XU CN206525681U (en) | 2016-12-26 | 2016-12-26 | A kind of intelligent barrier avoiding follows luggage case |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206525681U true CN206525681U (en) | 2017-09-29 |
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ID=59921831
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621437464.XU Expired - Fee Related CN206525681U (en) | 2016-12-26 | 2016-12-26 | A kind of intelligent barrier avoiding follows luggage case |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108056556A (en) * | 2017-12-12 | 2018-05-22 | 那芳怡 | Multifunctional intellectual moves school bag |
| CN108334088A (en) * | 2018-01-29 | 2018-07-27 | 方锡忠 | A kind of intelligence following device and control method |
| CN108646215A (en) * | 2018-05-15 | 2018-10-12 | 重庆邮电大学 | It is a kind of that method for rapidly positioning is followed based on ultra wide band automatically |
| CN108887834A (en) * | 2018-07-19 | 2018-11-27 | 常州摩本智能科技有限公司 | Intelligent power-assisted luggage case and its progress control method |
| CN109008121A (en) * | 2018-05-29 | 2018-12-18 | 武汉纺织大学 | A kind of luggage case follows technology automatically |
| CN109895091A (en) * | 2017-12-10 | 2019-06-18 | 湘潭宏远电子科技有限公司 | A kind of descending robot interactive system |
| CN109895089A (en) * | 2017-12-10 | 2019-06-18 | 湘潭宏远电子科技有限公司 | A kind of robot mobile monitoring device |
| CN109895135A (en) * | 2017-12-10 | 2019-06-18 | 湘潭宏远电子科技有限公司 | A kind of robot controller |
| CN110032215A (en) * | 2019-04-24 | 2019-07-19 | 浙江工业大学 | It is a kind of with the Intelligent travel suitcase for following function automatically |
| CN110326867A (en) * | 2019-07-29 | 2019-10-15 | 南华大学 | Intelligent luggage carrier and its automatic follower method |
| CN111248583A (en) * | 2020-02-26 | 2020-06-09 | 齐鲁工业大学 | Walking stick with electric shopping cart and using method thereof |
| CN112518750A (en) * | 2020-11-30 | 2021-03-19 | 深圳优地科技有限公司 | Robot control method, robot control device, robot, and storage medium |
| CN113253641A (en) * | 2021-04-28 | 2021-08-13 | 北京科技大学顺德研究生院 | Sharing intelligence luggage van |
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- 2016-12-26 CN CN201621437464.XU patent/CN206525681U/en not_active Expired - Fee Related
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107992091B (en) * | 2017-10-31 | 2021-10-12 | 深圳市博鑫创科科技有限公司 | Balance vehicle following method and system based on signal intensity |
| 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 |
| CN109895091A (en) * | 2017-12-10 | 2019-06-18 | 湘潭宏远电子科技有限公司 | A kind of descending robot interactive system |
| CN109895090A (en) * | 2017-12-10 | 2019-06-18 | 湘潭宏远电子科技有限公司 | A kind of descending robot interactive control system |
| CN109895089A (en) * | 2017-12-10 | 2019-06-18 | 湘潭宏远电子科技有限公司 | A kind of robot mobile monitoring device |
| CN109895087A (en) * | 2017-12-10 | 2019-06-18 | 湘潭宏远电子科技有限公司 | A kind of robot interactive system |
| CN109895135A (en) * | 2017-12-10 | 2019-06-18 | 湘潭宏远电子科技有限公司 | A kind of robot controller |
| CN108056556A (en) * | 2017-12-12 | 2018-05-22 | 那芳怡 | Multifunctional intellectual moves school bag |
| CN108334088A (en) * | 2018-01-29 | 2018-07-27 | 方锡忠 | A kind of intelligence following device and control method |
| CN108646215A (en) * | 2018-05-15 | 2018-10-12 | 重庆邮电大学 | It is a kind of that method for rapidly positioning is followed based on ultra wide band automatically |
| CN108646215B (en) * | 2018-05-15 | 2022-02-11 | 重庆邮电大学 | Automatic following rapid positioning method based on ultra wide band |
| CN109008121A (en) * | 2018-05-29 | 2018-12-18 | 武汉纺织大学 | A kind of luggage case follows technology automatically |
| CN108887834A (en) * | 2018-07-19 | 2018-11-27 | 常州摩本智能科技有限公司 | Intelligent power-assisted luggage case and its progress control method |
| CN110032215A (en) * | 2019-04-24 | 2019-07-19 | 浙江工业大学 | It is a kind of with the Intelligent travel suitcase for following function automatically |
| CN110326867A (en) * | 2019-07-29 | 2019-10-15 | 南华大学 | Intelligent luggage carrier and its automatic follower method |
| CN111248583A (en) * | 2020-02-26 | 2020-06-09 | 齐鲁工业大学 | Walking stick with electric shopping cart and using method thereof |
| CN112518750A (en) * | 2020-11-30 | 2021-03-19 | 深圳优地科技有限公司 | Robot control method, robot control device, robot, and storage medium |
| CN113253641A (en) * | 2021-04-28 | 2021-08-13 | 北京科技大学顺德研究生院 | Sharing intelligence luggage van |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170929 Termination date: 20211226 |
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| CF01 | Termination of patent right due to non-payment of annual fee |