CN207249482U - A kind of intelligence follows golf cart - Google Patents
A kind of intelligence follows golf cart Download PDFInfo
- Publication number
- CN207249482U CN207249482U CN201720984400.XU CN201720984400U CN207249482U CN 207249482 U CN207249482 U CN 207249482U CN 201720984400 U CN201720984400 U CN 201720984400U CN 207249482 U CN207249482 U CN 207249482U
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- module
- car body
- golf
- beacon
- golf car
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Abstract
The utility model discloses a kind of intelligence to follow golf cart, including golf car body and beacon.Power module I, control module, drive module, motor module, guide module processed and obstacle avoidance module are provided with the golf car body, power module II, signal processing module, ultrasonic wave transmitting module and manual control module are provided with the beacon.The utility model passes through the intelligent following device of golf in-car and the beacon of user's body-worn, accurate ranging localization, flexibly avoid obstacle, sensitive advance steering follows, finally realize that the intelligence of golf cart follows function, and car body is merrily and lightheartedly compact, suitable for a variety of places.
Description
Technical field
Intelligent golf car technical field is the utility model is related to, golf is followed more particularly to a kind of intelligence
Car.
Background technology
With the rise of golf, contemporary votary of golf is more and more, no matter in special golf
Ball club plays ball or plays ball in public court, carries very large heavy ball bag and walks in the venue and is brought greatly to player
Inconvenience.Although there is golf cart to ride instead of walk in club, golf cart, and fixed parking need to be parked in
Point, this means that get off after be still to carry ball bag and walk stretch and get to point of destination, and for playing ball in public court
Then more arduous for people, without golf cart or negligible amounts in public court, 18 holes, which are laid, to be come, and walking distance is about
8KM, and court physical features is uneven, movement effect is again more much higher on foot than on level road, and physical demands should not be underestimated.
Nowadays domestic and international market is existing follows the golf cart of function to use Bluetooth technology or image more with intelligence
Identification technology, not high enough apart from accuracy of identification, error is big, can not accurately advance and delicately follow people to advance, during steering,
The distance of golf cart and people can not fix；And build is huge, easily the turf in court is damaged, is unfavorable for place
Safeguard；In addition, the problems such as expensive, power consumption is big, also make it that product practicality is very low.
Utility model content
The purpose of this utility model is to solve the deficiencies in the prior art, there is provided a kind of intelligence follows golf cart, ranging
Accurate positioning, advance steering follow sensitive, following distance accurately and turn to flexibly, and low-profile is slim and graceful, can be in golf
Moved freely in court with people without being damaged to place.
Technical solution is used by the utility model solves above-mentioned technical problem：A kind of intelligence is provided and follows golf
Car, including golf car body and beacon；
Power module I, control module, drive module, motor module, guide module processed are provided with the golf car body
And obstacle avoidance module, I link control module of power module, drive module, the control module connection drive module, motor mould
Block, guide module processed, obstacle avoidance module, the drive module connect motor module；
The beacon includes handle and waistband two parts, including power module II, signal processing module, ultrasonic wave transmitting mould
Block and manual control module, the power module II connect signal processing module, and the signal processing module connects the ultrasound
Ripple transmitting module, the manual control module；
The power module I is high-capacity lithium battery, for providing power supply for golf car body, and shows bar with electricity
Form show remaining capacity in time；
The control module is controlled according to the measurement result of guide module processed and the present situation of golf car body using pid algorithm
Drive module so that golf cart body can follow beacon；
The drive module is used to drive the motor module；
The motor module is used to provide power for the golf car body；
The guide module processed is used to measure the distance between golf car body and beacon and relative position；
The obstacle avoidance module is used to measure the relative distance between surrounding objects and golf car body to avoid hindering in time
Hinder；
The beacon handle can be used alone, and also be mountable to use on the beacon waistband；
The power module II is ultra-thin micro lithium battery, for providing power supply for the beacon；
The signal processing module is used to receive the wireless signal that the golf car body is sent, and is receiving wireless communication
Control the ultrasonic wave transmitting module to send signal after number and enable the guide module processed of the golf car body according to receiving
Signal measurement golf car body and the distance between beacon and relative position；
The manual control module is used to control car body by assigned direction to advance manually；
The utility model is further arranged to, and the guide module processed is ultrasonic receiver sensor, and the ultrasonic wave connects
Receive sensor to be used to receive the ultrasonic signal that beacon is sent, the ultrasonic receiver sensor there are three, is respectively disposed on institute
State the left and right sides of golf car body front end and the middle position of rear side；
The control module starts timing when golf car body sends wireless signal to beacon, is passed when ultrasonic wave receives
Sensor terminates timing when receiving the ultrasonic signal that beacon is sent, and being multiplied by the time used using the speed of the ultrasonic wave in air obtains
To the distance between beacon and golf car body, and gone out according to the Distance Judgment opposite between golf car body and beacon
Position；
The utility model is further arranged to, and it is current that the present situation of the golf car body includes golf car body
The road conditions that speed, the heavy burden of golf car body and golf car body are presently in；
The utility model is further arranged to, and the signal processing module is super low-power consumption superminiature computing chip；Institute
It is ultrasonic transmitter to state ultrasonic wave transmitting module, shares three, and one is placed in handle front portion, and other two is placed in waist
Band；
Intelligence is provided with the handle follows switch, switch to enter intelligent following state after opening, and switch is opened after closing
Intelligent following state terminates after closing, and manually controllable car body advances；
The manual control module is electronic touch plate.
Beneficial effect
As a result of above-mentioned technical solution, the utility model compared with prior art, has the following advantages that and accumulates
Pole effect：The golf cart body of the utility model intelligently can follow user to move, and user need not carry ball packet rows and walk,
Physical demands is reduced, with light packs letter row, optimization movement experience, car body is compact slim and graceful, is not limited to lanes, place will not be caused
Destroy；
The utility model realizes the ranging between golf car body and beacon, the error of generation using ultrasonic sensor
It is very small, can precise positioning, really realize that the car body moment closely follows user；
The beacon of user's body-worn is provided with switching function in the utility model, and golf car body is immediately after closing
Stopping follows, and ensures that user influences in square stance from car body；
The utility model improves load capacity, dynamic speed adjustment, and load difference can also keep identical speed, and stability is more
By force；
The golf car body of the utility model is provided with obstacle avoidance module, when having detected hypotelorism between object and car body
When, the operations such as motor module can be slowed down, be braked are prevented from colliding, guaranteed safety with timely avoiding obstacles；
The dynamic structure of the utility model employs PID dynamic regulation algorithms, can be current according to golf car body
The feelings such as the road conditions residing for speed, the distance of golf car body and people, the heavy burden of golf car body and golf car body
Condition carries out car body travel condition intelligent adjusting.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of embodiment of the present invention or technical solution of the prior art
Or attached drawing needed to be used in the description of the prior art is briefly described, 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, without creative efforts,
Other attached drawings can also be obtained according to these attached drawings.
Fig. 1 is the structure diagram that golf cart is intelligently followed in the utility model；
Fig. 2 is that golf cart structure distribution figure is intelligently followed in the utility model；
Fig. 3 is the structure distribution schematic diagram of the utility model handle or belt type beacon；
Fig. 4 is the signal flow graph of the utility model；
Fig. 5 is the use schematic diagram of the utility model.
Embodiment
With reference to specific embodiment, the utility model is expanded on further.It is to be understood that these embodiments are merely to illustrate this
Utility model rather than limitation the scope of the utility model.In addition, it should also be understood that, reading the content of the utility model instruction
Afterwards, those skilled in the art can make various changes or modifications the utility model, and such equivalent forms equally fall within this Shen
Please the appended claims limited range.
The embodiment of the utility model is related to a kind of intelligence and follows golf car body and beacon, as shown in Figure 1, intelligence
Follow golf car body 1 and beacon 2, the intelligence follows on golf car body 1 to be provided with power module I 3, control module
4th, drive module 5, motor module 6, guide module processed 8 and obstacle avoidance module 9；The power module I is used to carry for golf car body
Power supply source, the electricity of battery are shown in digital form by the electric power display screen 10 being arranged on handle；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 golf car body so that golf
Car can follow beacon；The drive module is used to drive the motor module, and it is the golf that the motor module, which is used for,
Ball vehicle body with motive power；The guide module processed is used to measure the distance between golf car body and beacon and relative position；Institute
Obstacle avoidance module is stated to be used to measure the relative distance between surrounding objects and golf car body to avoid obstacle in time.It is worth mentioning
, pid algorithm includes integral operation and differentiates in the utility model, these computings are the conventional algorithms in pid algorithm,
The application is not improved pid algorithm, therefore pid algorithm is not described in detail in narration afterwards.
As shown in Fig. 2, followed intelligently on golf cart, high-capacity lithium battery 3, intelligent control module 4, drive module
5 in the middle part of car body, and left motor 601 is located at the left back portion of car body, and right motor 602 is located at the right rear portion of car body, left driven
Wheel 701 and right driven wheel 702 are respectively positioned at portion to the left in front of car body and portion to the right.Left ultrasonic wave receiving transducer 801 is located at car body
Left front portion, right ultrasonic wave receiving transducer 802 are located at the right front portion of car body, and rear ultrasonic wave receiving transducer 803 is located at car body rear
Positive middle part.Immediately ahead of car body, the side to the front on the left of car body of ultrasonic ranging probe 902, surpasses ultrasonic ranging probe 901
The side to the front on the right side of car body of sound ranging probe 903, ultrasonic ranging probe 904 are located at the side to the left at car body rear, ultrasound
Ripple range finding probe 905 is located at the side to the right at car body rear.
Wherein, what left motor 601 and right motor 602 were selected is brush DC thoughts motor, and this motor bears a heavy burden greatly,
Sound is small, stable, and the phase for induced 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 operating 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
Golf car body movement angle and circuit are precisely controlled.
Drive module 5 is motor-driven control circuit, it uses direct current supply, and brush DC thoughts electric drilling match,
Three-phase can be converted electrical current into by chip to export, and the position adjustment motor output electricity being presently according to wheel
Stream.
Intelligent control module 4 carries out intelligent control using the microcontroller of super low-power consumption to whole system, which can adopt
Collect the digital 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, calculate what control motor needed further according to intelligent control algorithm
Voltage, is precisely controlled so as to fulfill to motor speed.It can be realized to car using the velocity contrast of two motors in left and right at the same time
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 going up a slope can stablize startup advances, and can starting motor brake when descending slopes, car is come to a complete stop motionless.
As shown in figure 3, the beacon includes power module II 11, signal processing module 12,13 and of ultrasonic wave transmitting module
Manual control module 14, the power module II are used to provide power for the beacon；The signal processing module is used to receive
The wireless signal that the golf car body is sent, and control the ultrasonic wave transmitting module to send letter after wireless signal is received
Number the intelligence is enabled to follow the guide module processed of dynamical system according to received signal measurement golf car body and beacon
The distance between and relative position；The manual control module is used to control car body by assigned direction to advance manually.Wherein, it is described
Ultrasonic wave transmitting module is ultrasound transmit sensor.
The beacon is arranged to 202 two kinds of forms of handle 201 or waistband, and handle can be fixed to waistband.The handle 201 wraps
Include miniature lithium battery 11, intelligent signal processing module 12, ultrasonic wave transmitting probe 1301 and manual control module 14.Wherein, it is micro-
Type lithium battery 11 and intelligent signal processing module 12 are located inside the lower end of handle 201, and ultrasonic wave transmitting probe 1301 is located at hand
The front portion of handle 201, user can be realized that the intelligence of car body follows and controls car body advancement function manually by handle, can also led to
The intelligence for being implemented in combination with car body for crossing handle and waistband follows function.Manual control module is electronic touch plate, is quick on the draw, behaviour
Make simple.Waistband is fixed to user waist by velcro 15, and handle and waistband can be turned mutually by way of dismantling and assembling
Change.
As shown in figure 4, the workflow of present embodiment is as follows：
Intelligent signal processing module in handle or waistband includes micro-control unit MCU and Ylink wireless transmit/receive units, energy
The radio signal that intelligent control module is launched in golf car body is enough received, since radio is propagated in atmosphere
Speed reaches the light velocity, therefore the signal is from car body to handle or time of waistband can be ignored, so signal is as timing
The benchmark of starting point.Intelligent control module in car body starts timing when launching signal, and intelligent signal processing module receives wirelessly
Ultrasonic wave transmitting probe 360 degrees omnidirection transmitting ultrasonic signal around is controlled while electric signal immediately.When user exists
When in front of car body, left ultrasonic wave receiving transducer and right ultrasonic wave receiving transducer are with regard to that can receive ultrasonic signal, when two probes
When receiving ultrasonic signal, intelligent control module stops timing, can be counted according to the ultrasonic velocity * times in distance=air
Calculate handle or waistband and the distance between left ultrasonic wave receiving transducer and right ultrasonic wave receiving transducer.
Intelligent control module in car body also MCU containing micro-control unit and Ylink wireless transmit/receive units two parts, Neng Gougen
The relative position of user and golf car body are obtained according to the distance of the beacon calculated and left and right ultrasonic probe.According to hand
Handle or waistband and the distance between left ultrasonic wave receiving transducer and right ultrasonic wave receiving transducer calculate average value as user and
Air line distance between car body, intelligent control module utilize INTELLIGENT PID CONTROL ALGORITHM, dynamic adjustment output according to the air line distance
Signal magnitude control motor-drive circuit, motor-drive circuit according to the control signal size of acquisition then adjust left motor and
The voltage swing of right motor, then controls the size of motor output power, then controls the pace speed of car body.It is left
Motor and right motor can send feedback signal at the same time can be according to feedback letter to intelligent control module, intelligent control module
Number learn the current rotating speed of motor, so as to calculate the opportunity movement velocity of car body, intelligent control module is further according to current
Actual speed is using pid algorithm control electromotor velocity, and when actual speed is less than target velocity, increase motor voltage makes electricity
Motivation accelerates, and motor voltage is reduced when actual speed is higher than target velocity makes motor deceleration.
In addition, intelligent control module according to handle or waistband and left ultrasonic wave receiving transducer and right ultrasonic wave receiving transducer it
Between distance calculate angular values between user and car body using trigonometric function relation, the intelligent control module in car body
Intelligent PID algorithm is utilized according to the numerical value, the output signal magnitude of dynamic adjustment control left and right motor controls motor-drive circuit,
Motor-drive circuit then adjusts the voltage swing of left motor and right motor according to the control signal size of acquisition, due to electricity
The voltage swing difference that drive circuit exports left motor with right motor, realizes that two wheel rotor speeds are different, then real
The steering of existing car body.The steering voltage is to be boosted on forward voltage basis or reduced pressure operation, therefore can be in car
Accurately direction controlling is realized under acceleration deceleration state or the state that advances at utmost speed.Intelligent control module also can be according to left electricity at the same time
The operation angle of motivation and the motion rate signals intellectual analysis car reality of right motor feedback, according to actual motion angle and
Object run angle, the intelligent PID algorithm of system can carry out reaction type dynamic regulation, realize the accurate control of car body operation angle
System, keeps constantly identical with user's movement angle.
When left ultrasonic wave receiving transducer and right ultrasonic wave receiving transducer can not receive wear hand from user at the same time
During the ultrasonic signal that handle or waistband transmitting come, intelligent control module can open the rear ultrasonic wave receiving transducer positioned at car body rear
Intercept action, when after ultrasonic wave receiving transducer receive the ultrasonic signal wearing handle or waistband from user and send
When, that is, represent that user is located at car body rear, intelligent control module controls left motor and right motor with identical speed at this time
Certain distance is rotated backward, 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 and right ultrasonic wave receiving transducer, any one can not be received is worn from user
When wearing the ultrasonic signal that handle or waistband are launched, whether intelligent control module can have between intelligent decision car body and user
Barrier blocks or other abnormal conditions, and Intelligent Single-Chip Based control module can control left motor and right motor to stop at this time
Run and brake, while launch special alert information, handle or waist to user's handle or waistband in the form of radio wave signal
Intelligent signal processing module in band receives alarm signal can be immediately with small and weak form of sound of hurriedly " dripping " to user
Send prompt message.
Intelligent control module can control ultrasonic ranging in obstacle avoidance module pop one's head in a circulating manner to surrounding enviroment into
Row ultrasonic ranging, when some probe finds that car body is excessively near with surrounding environment object distance, Intelligent Single-Chip Based control module
Left motor and right motor can be controlled out of service and brake, while to user's handle or waist in the form of radio wave signal
With transmitting special alert information, the intelligent signal processing module in handle or waistband receives alarm signal can be immediately with stronger
" rattling away " form of sound sends prompt message to user.
Due to system employ intelligent PID adjust algorithm, when car body load-carrying become larger or move ahead meet obstructions when, system meeting
Intelligence increase motor voltage, car body can be run with normal speed, the car body speed of service is not subject to load-carrying and road
The influence of condition.
Contain gyro sensor in Intelligent Single-Chip Based control module, the angle of vehicle body can be measured, car body can be perceived
In upward slope or descending, it is controlled so as to run different programs.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 transfixion.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.
In addition, being provided with switch on handle, when the switch is opened, intelligently function is followed to open, car body is followed into intelligence
State；When the switch is closed, intelligently function is followed to close, intelligent following state terminates, and at this moment user can be by handle
Manual control module controls car body to advance to different directions.
As shown in figure 5, it is not difficult to find that the above embodiment follows beacon to send ultrasonic wave letter using wireless signal control
Number, the sensor received ultrasonic signal on golf car body, beacon and on dynamic structure three are calculated using time and the velocity of sound
The distance of a sensor, so as to be guided to user's positioning, utilizes the intelligence in beacon on miniature low power consumption control chip
Pid control algorithm to motor carry out intelligentized control method, can allow golf car body follow the track of people carry out advance turn to and
A variety of operations such as retrogressing.Meanwhile the golf car body also has chance barrier braking warning, descending self-actuating brake, loss alarm, intelligence
Energy speed governing, the manually multiple functions such as control, to ensure that golf cart intelligence intelligence follows the integrality and practicality of function.
Claims (7)
1. a kind of intelligence follows golf cart, it is characterised in that including golf car body and beacon；The golf cart
Power module I, control module, drive module, motor module, guide module processed and obstacle avoidance module are provided with body；
I link control module of power module, drive module；
The control module connection drive module, motor module, guide module processed, obstacle avoidance module；
The drive module connects motor module；The beacon includes handle and waistband two parts, including power module II, signal
Processing module, ultrasonic wave transmitting module and manual control module；
The power module II connects signal processing module；
The signal processing module connects the ultrasonic wave transmitting module, the manual control module.
2. a kind of intelligence according to claim 1 follows golf cart, it is characterised in that
The power module I is high-capacity lithium battery, for providing power supply for golf car body, and the shape of bar is shown with electricity
Formula shows remaining capacity in time；
The control module utilizes pid algorithm control driving according to the measurement result of guide module processed and the present situation of golf car body
Module so that golf cart body can follow beacon；
The drive module is used to drive the motor module；
The motor module is used to provide power for the golf car body；
The guide module processed is used to measure the distance between golf car body and beacon and relative position；
The obstacle avoidance module is used to measure the relative distance between surrounding objects and golf car body to avoid obstacle in time.
3. a kind of intelligence according to claim 2 follows golf cart, it is characterised in that
The guide module processed is ultrasonic receiver sensor, and the ultrasonic receiver sensor is used to receive the ultrasound that beacon is sent
Ripple signal, the ultrasonic receiver sensor have three, be respectively disposed on the left and right sides of the golf car body front end with
And the middle position of rear side；
The control module starts timing when golf car body sends wireless signal to beacon, works as ultrasonic receiver sensor
Timing is terminated when receiving the ultrasonic signal that beacon is sent, being multiplied by the time used using the speed of the ultrasonic wave in air obtains letter
The distance between mark and golf car body, and go out the opposite position between golf car body and beacon according to the Distance Judgment
Put.
4. a kind of intelligence according to claim 2 follows golf cart, it is characterised in that
The drive module handles signal according to pid algorithm, obtains institute to the control module feedback signal, the control module
The present situation of golf car body is stated, the present situation of the golf car body includes the current speed of golf car body, golf
The road conditions that the heavy burden of ball car body and golf car body are presently in.
5. a kind of intelligence according to claim 1 follows golf cart, it is characterised in that
The beacon handle can be used alone, and also be mountable to use on the beacon waistband；
The power module II is ultra-thin micro lithium battery, for providing power supply for the beacon；
The signal processing module is used to receive the wireless signal that the golf car body is sent, and after wireless signal is received
The ultrasonic wave transmitting module is controlled to send signal so that the guide module processed of the golf car body can be according to received letter
Number measurement the distance between golf car body and beacon and relative position；
The manual control module is used to control car body by assigned direction to advance manually.
6. a kind of intelligence according to claim 5 follows golf cart, it is characterised in that
The signal processing module is super low-power consumption superminiature computing chip；
The ultrasonic wave transmitting module is ultrasonic transmitter, shares three, and one is placed in handle front portion, other two placement
In waistband.
7. a kind of intelligence according to claim 1 follows golf cart, it is characterised in that
Intelligence is provided with the handle and follows switch, switch enters intelligent following state after opening, after switch closing intelligently with
Terminated with state, manually controllable car body advances；
The manual control module is electronic touch plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720984400.XU CN207249482U (en) | 2017-08-08 | 2017-08-08 | A kind of intelligence follows golf cart |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720984400.XU CN207249482U (en) | 2017-08-08 | 2017-08-08 | A kind of intelligence follows golf cart |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207249482U true CN207249482U (en) | 2018-04-17 |
Family
ID=61879207
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720984400.XU Expired - Fee Related CN207249482U (en) | 2017-08-08 | 2017-08-08 | A kind of intelligence follows golf cart |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050693A (en) * | 2018-07-11 | 2018-12-21 | 济南大学 | It is a kind of with the step climbing-up device and its implementation that follow function |
| 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 |
| CN110825119A (en) * | 2018-08-13 | 2020-02-21 | 纮信科技股份有限公司 | Target following method and system |
| CN110850898A (en) * | 2019-11-28 | 2020-02-28 | 曾阔 | Intelligent medical nursing following trolley and following method |
| TWI695243B (en) * | 2019-01-25 | 2020-06-01 | 孟菁 | Obstacle avoiding guidance system |
| CN111435259A (en) * | 2019-01-14 | 2020-07-21 | 北京京东尚科信息技术有限公司 | Intelligent following vehicle movement control device and intelligent following vehicle |
| CN114254268A (en) * | 2022-02-28 | 2022-03-29 | 南开大学 | Automatic following algorithm and system |
| EP3929688A4 (en) * | 2019-02-18 | 2022-09-28 | Shen Lun Technology Limited Company | Following control system |
-
2017
- 2017-08-08 CN CN201720984400.XU patent/CN207249482U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050693A (en) * | 2018-07-11 | 2018-12-21 | 济南大学 | It is a kind of with the step climbing-up device and its implementation that follow function |
| CN109050693B (en) * | 2018-07-11 | 2024-02-02 | 济南大学 | Step-up device with following function and implementation method thereof |
| CN110825119A (en) * | 2018-08-13 | 2020-02-21 | 纮信科技股份有限公司 | Target following method and system |
| 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 |
| CN111435259A (en) * | 2019-01-14 | 2020-07-21 | 北京京东尚科信息技术有限公司 | Intelligent following vehicle movement control device and intelligent following vehicle |
| TWI695243B (en) * | 2019-01-25 | 2020-06-01 | 孟菁 | Obstacle avoiding guidance system |
| EP3929688A4 (en) * | 2019-02-18 | 2022-09-28 | Shen Lun Technology Limited Company | Following control system |
| CN110850898A (en) * | 2019-11-28 | 2020-02-28 | 曾阔 | Intelligent medical nursing following trolley and following method |
| CN114254268A (en) * | 2022-02-28 | 2022-03-29 | 南开大学 | Automatic following algorithm and system |
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