CN206906892U - One kind follows dynamic structure and its system automatically - Google Patents
One kind follows dynamic structure and its system automatically Download PDFInfo
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- CN206906892U CN206906892U CN201720761188.0U CN201720761188U CN206906892U CN 206906892 U CN206906892 U CN 206906892U CN 201720761188 U CN201720761188 U CN 201720761188U CN 206906892 U CN206906892 U CN 206906892U
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Abstract
It the utility model is related to one kind and follow dynamic structure and its system, including dynamic structure body automatically, control module, drive module, motor module and guide module processed are provided with the dynamic structure body；The drive module is used to drive the motor module, and the motor module is used to provide power for the dynamic structure body；The guide module processed is used to measure the distance between dynamic structure body and beacon and relative position；The control module utilizes pid algorithm control drive module according to the measurement result of guide module processed and the present situation of dynamic structure body so that dynamic structure body can follow beacon.The utility model further relates to include the above-mentioned automatic system for following dynamic structure and beacon.The utility model have ranging localization precisely, advance steering follows sensitive, following distance accurate and turns to the advantages of flexible.
Description
Technical field
It the utility model is related to and follow technical field automatically, follow dynamic structure automatically more particularly to one kind and its be
System.
Background technology
Occurred at present on domestic and international market some using different technologies realize it is automatic follow product, including automatically with
With case and bag, automatically follow unmanned plane, it is automatic follow shopping cart etc., the said goods employ bluetooth follow technology or image with
With technology, the disadvantage of these technologies is exactly not high enough apart from accuracy of identification, and error can reach tens centimetres, therefore cause
The accurate advance and steering of product can not be accurately controlled, further resulting in product sensitively can not follow people to advance.Before people
When entering or turning to, the distance of product and people are very remote and can not closely keep fixed distance suddenly suddenly, therefore practicality is very
It is low and expensive, power consumption is big.
Utility model content
Technical problem to be solved in the utility model is to provide one kind and follows dynamic structure and its system automatically so that surveys
Follow sensitive, following distance accurately away from accurate positioning, advance steering and turn to flexible.
Technical scheme is used by the utility model solves its technical problem：One kind is provided and follows dynamic structure automatically,
Including dynamic structure body, control module, drive module, motor module and guided mode processed are provided with the dynamic structure body
Block；The drive module is used to drive the motor module, and the motor module, which is used to provide for the dynamic structure body, to be moved
Power；The guide module processed is used to measure the distance between dynamic structure body and beacon and relative position；The control module root
Pid algorithm control drive module is utilized according to the measurement result of guide module processed and the present situation of dynamic structure body so that dynamic structure
Body can follow beacon.
The guide module processed is that ultrasonic wave receives sensor, and the ultrasonic wave receives sensor and is used to receive what beacon was sent
Ultrasonic signal；The control module starts timing when dynamic structure body sends wireless signal to beacon, when ultrasonic wave connects
Receive when sensor receives the ultrasonic signal that beacon is sent and terminate timing, be multiplied by using the speed of the ultrasonic wave in air used
Time obtains the distance between beacon and dynamic structure body.
The ultrasonic wave, which receives sensor, two, is respectively disposed on the left and right sides of the dynamic structure body front end；
The phase that the control module goes out between power structural body and beacon according to the Distance Judgment of two ultrasonic sensors and beacon
To position.
The present situation of the dynamic structure body include current speed, the dynamic structure body of dynamic structure body heavy burden and
The road conditions that dynamic structure body is presently in.
Obstacle avoidance module is additionally provided with around the dynamic structure body, the obstacle avoidance module is used to measure surrounding objects with moving
Relative distance between power structural body.
Technical scheme is used by the utility model solves its technical problem：One kind is also provided and follows dynamical system automatically
System, including it is above-mentioned it is automatic follow dynamic structure and beacon, the beacon includes signal processing module and calling module, the letter
Number processing module is used to receive the automatic wireless signal for following dynamic structure to send, and institute is controlled after wireless signal is received
State calling module and send signal and enable and described follow the guide module processed of dynamic structure to be moved according to the signal measurement received automatically
The distance between power structural body and beacon and relative position.
The calling module is ultrasonic wave emission sensor.
Beneficial effect
As a result of above-mentioned technical scheme, the utility model compared with prior art, has the following advantages that and accumulated
Pole effect：The utility model realizes the ranging between dynamic structure and beacon using ultrasonic sensor, and caused error is very
It is small, so as to realize ranging localization accurately purpose；The utility model calculates people according to the range deviation of two ultrasonic sensors
Body and the misalignment angle of dynamic structure axis, so as to control the steering angle of dynamic structure.Dynamic structure of the present utility model
PID dynamic regulation algorithms are employed, can be according to distance, the dynamic structure of the current speed of dynamic structure, dynamic structure and people
Situations such as heavy burden, road conditions, carries out Intelligent adjustment.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of embodiment of the present invention or technical scheme of the prior art
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are only
It is some embodiments of the present invention, for those of ordinary skill in the art, is not paying the premise of creative labor
Under, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the block diagram for following dynamic structure in the utility model first embodiment automatically；
Fig. 2 is the structural representation for following dynamic structure in the utility model first embodiment automatically；
Fig. 3 is the structural representation of arm belt beacon in the utility model second embodiment；
Fig. 4 is the hardware block diagram for following system in the utility model second embodiment automatically；
Fig. 5 is the use schematic diagram of the utility model second embodiment.
Embodiment
With reference to specific embodiment, the utility model is expanded on further.It should be understood that these embodiments are merely to illustrate this
Utility model rather than limitation the scope of the utility model.In addition, it is to be understood that reading the content of the utility model instruction
Afterwards, those skilled in the art can make various changes or modifications to the utility model, and these equivalent form of values equally fall within this Shen
Please appended claims limited range.
First embodiment of the present utility model is related to one kind and follows dynamic structure, including dynamic structure body automatically, such as
Shown in Fig. 1, control module, drive module, motor module and guide module processed are provided with the dynamic structure body；The driving
Module is used to drive the motor module, and the motor module is used to provide power for the dynamic structure body；The guidance
Module is used to measure the distance between dynamic structure body and beacon and relative position；The control module is according to guide module processed
Measurement result and the present situation of dynamic structure body utilize pid algorithm control drive module so that dynamic structure body can follow
Beacon.It is noted that pid algorithm includes integral operation and differentiated in the utility model, these computings are pid algorithms
In conventional algorithm, the application is not improved to pid algorithm, therefore pid algorithm is not carried out in narration afterwards detailed
State.
Wherein, the guide module processed is that ultrasonic wave receives sensor, and the ultrasonic wave receives sensor and is used to receive beacon
The ultrasonic signal sent；The control module starts timing when dynamic structure body sends wireless signal to beacon, when super
Acoustic receiving transducer terminates timing when receiving the ultrasonic signal that beacon is sent, and the speed using the ultrasonic wave in air multiplies
The distance between beacon and dynamic structure body are obtained with the time used.
The ultrasonic wave, which receives sensor, two, is respectively disposed on the left and right sides of the dynamic structure body front end；
The phase that the control module goes out between power structural body and beacon according to the Distance Judgment of two ultrasonic sensors and beacon
To position.That is, two ultrasonic waves can be provided with dynamic structure front end receives sensor, can be with super on beacon
Pinger, which coordinates, carries out ranging.Left and right two ultrasonic waves are received between sensor and ultrasonic transmitter at a distance of a spacing
From two ultrasonic waves receive the distance phase that sensor measures when people is in immediately ahead of dynamic structure body center or so
Deng when people is to left avertence or to right avertence, two ultrasonic waves in left and right, which receive the distance that sensor measures, to be deviated.According to a left side
The distance average that right two ultrasonic waves receive sensor can calculate to be followed between target body and dynamic structure body
Air line distance, to control dynamic structure advance speed and acceleration.According to two ultrasonic waves in left and right receive sensor away from
From deviation can calculate the misalignment angle of human body and dynamic structure body axis, to control the steering angle of dynamic structure
Degree.
The drive module controlled motor module that the pace and acceleration of dynamic structure body pass through dynamic structure body
Rotate and realize advance., can be according to power because the control module of dynamic structure body employs intelligent PID dynamic regulation algorithm
Situations such as current speed of structural body, dynamic structure and the distance of people, dynamic structure are born a heavy burden, road conditions carries out Intelligent adjustment.Intelligence
Can algorithm can to the distance between dynamic structure and people carry out integral and calculating, when distance gradually increase when illustrate dynamic structure and
Gap is increasing between people, and dynamic structure can gradually be increased the voltage of motor module, when between dynamic structure and people
When keeping certain distance constant, the rotating speed of dynamic structure meeting controlled motor module so that the speed of dynamic structure and the speed of people
It is identical.When people is accelerated or during deceleration-operation, the intelligent algorithm of dynamic structure can be by the difference gauge point counting adjusted the distance
The relative change of speed between human body and dynamic structure is separated out, so as to synchronously carry out deceleration-operation when human body slows down, in human body
Acceleration operation is synchronously carried out during acceleration.
As a result of intelligent control algorithm, when going up a slope, system can be automatically increased electric moter voltage, and strengthening system is moved
Power, enable a system to follow human body to advance.When descending slopes, system can control dynamic structure speed by the electromagnetic deceleration of motor
It is too fast, car body is kept stabilized speed.
Obstacle avoidance module is additionally provided with around the dynamic structure body, the obstacle avoidance module is used to measure surrounding objects with moving
Relative distance between power structural body, when dynamic structure body has detected that object distance is excessively near, the control module control
Drive module processed causes motor module to carry out brake deceleration operation.Obstacle avoidance module can be ultrasonic distance-measuring sensor, can also
It is photoelectric sensor, barrier can be avoided in time by ultrasonic distance-measuring sensor/photoelectric sensor, prevent from colliding.
Dynamic structure in present embodiment uses modularized design, motor module, drive module, control module, guidance
Module and obstacle avoidance module etc. are all independent design and installation.Each module can also be changed according to different demands.Should
System can be transplanted easily on different car bodies, for example supermarket's carrier, perambulator, airdrome luggage car, infusion stand etc..Under
Face is further illustrated by a specific embodiment.
As shown in Fig. 2 dynamic structure is followed to include intelligent control module 1, drive module, lithium battery 3, motor module automatically
It is divided into left motor 401 and right motor 402, left driven pulley 501, right driven pulley 502, left ultrasonic wave receiving transducer 601, the right side surpasses
Acoustic receiver probe 602, rear ultrasonic wave receiving transducer 7, ultrasonic ranging probe 801,802,803,804,805.
Intelligent control module 1, drive module and lithium battery 3 are co-located at the middle part of car body in dynamical system, left motor
401 are located at the left back portion of car body, and right motor 402 is located at the right rear portion of car body, and left driven pulley 501 and right driven pulley 502 are distinguished
Positioned at portion to the left in front of car body and portion to the right.Left ultrasonic wave receiving transducer 601 is located at the left front portion of car body, right ultrasonic wave receiving transducer
602 are located at the right front portion of car body, and rear ultrasonic wave receiving transducer is located at the positive middle part at car body rear.Ultrasonic ranging is popped one's head in 801
Immediately ahead of car body, ultrasonic ranging probe 802 is right positioned at car body positioned at car body left side side to the front, ultrasonic ranging probe 803
In front of lateral deviation, ultrasonic ranging probe 804 is located at the side to the left at car body rear, and ultrasonic ranging probe 805 is located at car body rear
Side to the right.
Wherein, what left motor 401 and right motor 402 were selected is brush DC thoughts motor, and this motor bears a heavy burden greatly,
Sound is small, stable, and the phase of supply electric current can be adjusted according to wheel present position, realizes the stability of power output.
Meanwhile the Hall sensor of motor can work as to the running status of system feedback current motor, control module according to motor
The preceding speed of service carries out timely feedback adjustment, while can also be realized by the feedback of motor operating state to motor status
Dynamic motion angle and circuit are precisely controlled.
Drive module is motor drive control plate 2, and it uses direct current supply, is and brush DC thoughts electric drilling match
Power generating system, three-phase can be converted electrical current into by chip and exported, and the position being presently according to wheel is intelligently adjusted
Whole motor output current.
Intelligent control module 1 carries out intelligent control using the single-chip microcomputer of super low-power consumption to whole system, and the module can adopt
Collect the data signal that each ultrasonic sensor transmits, by accurately in time come calculate measured by corresponding sensor away from
From, and according to the relative position of corresponding relation calculating human body, controlled motor needs are calculated further according to intelligent control algorithm
Voltage, motor speed is precisely controlled so as to realize.It can be realized to car using the velocity contrast of two motors in left and right simultaneously
The control of body movement angle.When running into abrupt slope, the location status that intelligent control module can analyze car can only adjust electricity
The driving voltage of machine, when go up a slope when can stablize start advance, can start when descending slopes motor brake come to a complete stop by car it is motionless.
Second embodiment of the present utility model is related to one kind and follows system, including first embodiment automatically
In it is automatic follow dynamic structure and beacon, the beacon includes signal processing module and calling module, the signal transacting mould
Block is used to receive the automatic wireless signal for following dynamic structure to send, and transmits mould described in control after wireless signal is received
Block sends signal and enabled described follows the guide module processed of dynamic structure according to the signal measurement dynamic structure sheet received automatically
The distance between body and beacon and relative position.Wherein, the calling module is ultrasonic wave emission sensor.
As shown in figure 3, the beacon can be made the form of arm band 12, including ultrasonic wave transmitting probe 901,902,903,
904, intelligent signal processing module 10 and miniature lithium battery 11.Wherein, intelligent signal processing module 10 and miniature lithium battery 11
In the central interior of arm band 12, ultrasonic wave transmitting probe 901,902,903,904 surroundings for being evenly distributed in arm band 12.Figure
Shown in 4 is the hardware block diagram of present embodiment.
As shown in figure 5, present embodiment follows the workflow of system as follows automatically：
Arm band 12 is the part that user is worn on arm top, and the intelligent signal processing module 10 in arm band 12 can connect
The radio signal that intelligent control module 1 is launched in system car body is received, spread speed reaches in atmosphere due to radio
To the light velocity, therefore the signal can be ignored from car body to the time of arm band, so benchmark of the signal as time zero.Intelligence
Start timing during 1 transmission signal of energy control module, intelligent signal processing module 10 is controlled immediately while receiving radio signal
Ultrasonic wave transmitting probe 901,902,903,904 processed launches ultrasonic signal to surrounding 360 degrees omnidirection.When user is in car body
During front, left ultrasonic wave receiving transducer 601 and right ultrasonic wave receiving transducer 602 are with regard to that can receive ultrasonic signal, when two spies
When head receives ultrasonic signal, intelligent control module 1 stops timing, can according to the ultrasonic velocity * times in distance=air
To calculate arm band and the distance between left ultrasonic wave receiving transducer 601 and right ultrasonic wave receiving transducer 602.
Intelligent control module 1 obtains user and system car according to the distance of the beacon calculated and left and right ultrasonic probe
The relative position of body.Calculated according to arm band and the distance between left ultrasonic wave receiving transducer 601 and right ultrasonic wave receiving transducer 602
As the air line distance between user and car body, the intelligent control module 1 in car body utilizes average value according to the air line distance
INTELLIGENT PID CONTROL ALGORITHM, dynamic adjust output signal size control motor drive control plate 2, motor drive control plate 2
The voltage swing to left motor 401 and right motor 402 is then controlled according to the control signal size of acquisition, is then controlled electronic
Machine exports the size of power, then controls the pace speed of car body.Left motor 401 and right motor 402 simultaneously can
Transmission feeds back signal to intelligent control module 1, and intelligent control module 1 can know that motor is current according to feedback signal and turn
Speed, so as to calculate the opportunity movement velocity of car body, intelligent control module 1 utilizes pid algorithm further according to current actual speed
Electromotor velocity is controlled, increases motor voltage when actual speed is less than target velocity and accelerates by motor, work as actual speed
Motor voltage is reduced during higher than target velocity by motor deceleration.
In addition, intelligent control module 1 is according to arm band and left ultrasonic wave receiving transducer 601 and right ultrasonic wave receiving transducer 602
The distance between calculate angular values between user and car body using trigonometric function relation, the intelligent control mould in car body
Block 1 utilizes intelligent PID algorithm, the output signal size control motor of dynamic adjustment control left and right motor according to the air line distance
Drive control plate 2, motor drive control plate 2 are then controlled to left motor 401 and the right side according to the control signal size of acquisition
The voltage swing of motor 402, then control the size of motor output power.Because driving version is to left motor 401 and the right side
The voltage swing that motor 402 exports is different, realizes that two wheel rotor speeds are different, then realizes steering during body movement.Should
It is to be boosted on forward voltage basis or reduced pressure operation to turn to voltage, thus can car in acceleration and deceleration state or
Accurately direction controlling is realized under the state that advances at utmost speed.Intelligent control module 1 also can be electronic according to left motor 401 and the right side simultaneously
The operation angle for the motion rate signals intellectual analysis car reality that machine 402 feeds back, according to actual motion angle and object run
Angle, the intelligent PID algorithm of system can carry out reaction type dynamic regulation, being precisely controlled for car body operation angle be realized, with making
User's movement angle keeps constantly identical.
When simultaneously left ultrasonic wave receiving transducer 601 and right ultrasonic wave receiving transducer 602 two can not be received from use
When person wears the ultrasonic signal that the transmitting of arm band comes, the rear ultrasonic wave that intelligent control module 1 can open positioned at car body rear connects
Receive probe 7 and intercept action, when after ultrasonic wave receiving transducer 7 receive and wear the ultrasonic wave that arm band sends from user and believe
Number when, that is, represent user be located at car body rear, now intelligent control module 1 control left motor 401 and right motor 402 with
Identical velocity reversal rotates certain distance, realizes that the original place 180 degree angle of car body turns to, until car body is just facing to user.
When left ultrasonic wave receiving transducer 601 and right ultrasonic wave receiving transducer 602, any one can not be received from using
When person wears the ultrasonic signal that the transmitting of arm band comes, intelligent control module 1 can intelligent decision whether be car body with user it
Between there is barrier to block or other abnormal conditions, now Intelligent Single-Chip Based control module 1 can control left motor 401 and right electricity
Motivation 402 is out of service and brakes, while launches special alert information, arm band to user's arm band in the form of radio wave signal
In intelligent signal processing module 10 receive alarm signal and can be sent immediately with small and weak rapid drop drop form of sound to user
Prompt message.
Intelligent control module 1 can control ultrasonic ranging probe 801,802,803,804,805 in a circulating manner to week
Surrounding environment carries out ultrasonic ranging, when some probe finds that car body is excessively near with surrounding environment object distance, Intelligent Single-Chip Based
Control module 1 can control left motor 401 and right motor 402 out of service and brake, while in the form of radio wave signal
Launch special alert information to user's arm band, the intelligent signal processing module 10 in arm band receive alarm signal can immediately with
Form of sound of rattling away more by force sends prompt message to user.
Because system employs intelligent PID regulation algorithm, when car body load-carrying become big or move ahead meet obstructions when, system meeting
Intelligence increase motor voltage, car body can be run with normal speed, makes the car body speed of service will not be by load-carrying and road
The influence of condition.
Contain gyro sensor in Intelligent Single-Chip Based control module 1, the angle of vehicle body can be measured, car body can be perceived
In upward slope or descending, so as to which the program for running different is controlled.When car body is in climb and fall, system can stop in car body
Start the electromagnetic brake of motor when only, keep car body not move.When in upward slope, car body is for left and right Motor Control
Startup voltage, the advance voltage of output can increase, and ensure the normal operation of car body.When car body is in descending, car can lead to
Cross the control to motor brake and realize speed control, ensure that car body excessively will not advance or move.
It is seen that above-mentioned embodiment uses the portable dynamical system that battery is driven as the energy, two motors
System.The system is divided into dynamic structure and follows beacon two parts.To follow beacon to send super using wireless signal control for dynamic structure
Acoustic signals, the sensor received ultrasonic signal on dynamic structure, using time and the velocity of sound calculate beacon with dynamic structure
The distance of two sensors, so as to be guided to user's positioning, utilize the intelligent PID control on miniature low power consumption control chip
Algorithm processed carries out intelligentized control method to motor, and the system can be allowed to follow the track of people to carry out a variety of behaviour such as advance steering and retrogressing
Make.Meanwhile the system has the multiple functions such as chance barrier braking warning, descending self-actuating brake, loss alarm, intelligent speed-regulating.Using
Modularized design and battery powered, in that context it may be convenient to allow the system transplantation in needs carrier that is power-actuated and following function
Deng object.
Claims (7)
1. one kind follows dynamic structure automatically, it is characterised in that including dynamic structure body, is set on the dynamic structure body
There are control module, drive module, motor module and guide module processed；The drive module is used to drive the motor module, described
Motor module is used to provide power for the dynamic structure body；The guide module processed is used to measure dynamic structure body and beacon
The distance between and relative position；The control module is according to the measurement result of guide module processed and the present situation profit of dynamic structure body
Drive module is controlled with pid algorithm so that dynamic structure body can follow beacon.
2. according to claim 1 follow dynamic structure automatically, it is characterised in that the guide module processed receives for ultrasonic wave
Sensor, the ultrasonic wave receive sensor and are used to receive the ultrasonic signal that beacon is sent；The control module is in power knot
Structure body starts timing when sending wireless signal to beacon, and the ultrasonic wave letter that beacon sends is received when ultrasonic wave receives sensor
Number when terminate timing, being multiplied by the time used using the speed of the ultrasonic wave in air obtains between beacon and dynamic structure body
Distance.
3. according to claim 2 follow dynamic structure automatically, it is characterised in that the ultrasonic wave, which receives sensor, two
It is individual, it is respectively disposed on the left and right sides of the dynamic structure body front end；The control module is according to two ultrasonic sensors
The relative position gone out with the Distance Judgment of beacon between power structural body and beacon.
4. according to claim 1 follow dynamic structure automatically, it is characterised in that the present situation bag of the dynamic structure body
Include the road conditions that the current speed of dynamic structure body, the heavy burden of dynamic structure body and dynamic structure body are presently in.
5. according to claim 1 follow dynamic structure automatically, it is characterised in that is also set around the dynamic structure body
Obstacle avoidance module is equipped with, the obstacle avoidance module is used to measure the relative distance between surrounding objects and dynamic structure body.
6. one kind follows dynamical system automatically, it is characterised in that including automatic with servo-actuated as described in any in claim 1-5
Power structure and beacon, the beacon include signal processing module and calling module, and the signal processing module is described for receiving
Automatically the wireless signal that dynamic structure is sent is followed, and controls the calling module to send signal after wireless signal is received and cause
It is described to follow the guide module processed of dynamic structure be according between the signal measurement dynamic structure body and beacon received automatically
Distance and relative position.
7. according to claim 6 follow dynamical system automatically, it is characterised in that the calling module is launched for ultrasonic wave
Sensor.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110119146A (en) * | 2019-04-30 | 2019-08-13 | 西安工程大学 | A kind of control system and method following balancing trolley certainly |
| CN114254268A (en) * | 2022-02-28 | 2022-03-29 | 南开大学 | Automatic following algorithm and system |
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2017
- 2017-06-28 CN CN201720761188.0U patent/CN206906892U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110119146A (en) * | 2019-04-30 | 2019-08-13 | 西安工程大学 | A kind of control system and method following balancing trolley certainly |
| CN114254268A (en) * | 2022-02-28 | 2022-03-29 | 南开大学 | Automatic following algorithm and system |
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