CN207264202U - Follow information detecting apparatus and model- following control equipment - Google Patents
Follow information detecting apparatus and model- following control equipment Download PDFInfo
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- CN207264202U CN207264202U CN201721294954.3U CN201721294954U CN207264202U CN 207264202 U CN207264202 U CN 207264202U CN 201721294954 U CN201721294954 U CN 201721294954U CN 207264202 U CN207264202 U CN 207264202U
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Abstract
It the utility model is related to one kind and follow information detecting apparatus,It is installed on and follows in equipment,Information detecting apparatus is followed to include connect band,Camera device,Reeling-up reeling-out device and process chip,Since connect band is wrapped on reeling-up reeling-out device,Follow information detecting apparatus to be installed on to follow in equipment,Follow equipment to be followed by connect band and be followed object,Camera device carries out captured in real-time in default fixed position to connect band,The coding code value in connect band can be obtained in real time,When being followed object and following the relative velocity of equipment to change,Reeling-up reeling-out device can be rolled up and put connect band,The coding code value that camera device photographs can change,Since camera device is connected with process chip,Change of the process chip by encoding code value in photographed data can obtain being followed object and follow the relative velocity of equipment,In order to follow equipment to carry out speed adjustment,Keep the stabilization following state for following equipment to being followed object,So as to improve the conevying efficiency for following equipment.
Description
Technical Field
The utility model relates to an intelligent control technical field especially relates to a follow information detection equipment and follow controlgear.
Background
When carrying middle-size and small-size object, can adopt some simple and convenient transport means to transport, along with the rapid development of intelligent control technique, combine together intelligent control technique and transport means, change the transport means into the equipment of following that can follow the target object, promote the convenience of transportation.
For example, people can generally utilize the handcart to transport when carrying middle-size and small-size object, combines together intelligent control technique and handcart after, the handcart can be followed the user automatically and removed.
Traditional following equipment can realize following the target object and moving, but in the removal process, when following equipment changes for the follow information (such as speed etc.) of target object, generally follow equipment can't react to the change of following information, and the relative position of following equipment and target object changes indefinite, follows equipment and follows easily and loses, leads to following the transportation efficiency of equipment and is lower.
SUMMERY OF THE UTILITY MODEL
Based on this, it is necessary to provide a following information detection apparatus and a following control apparatus in order to solve the problem that the conventional following apparatus cannot react to a change in the speed of the following apparatus with respect to the target object, resulting in low transportation efficiency of the following apparatus.
The following information detection equipment is arranged on the following equipment and comprises a connecting belt, a camera device, a winding and unwinding device and a processing chip;
the connecting belt is wound on the winding and unwinding device, a plurality of different code values are preset on the surface of the connecting belt along the axial direction, and the processing chip is connected with the camera device;
the camera device shoots the code value on the connecting band in real time at a preset fixed position, shooting data are transmitted to the processing chip, and the processing chip is used for acquiring the following information.
According to the following information detection device, the following information detection device is arranged on the following device and comprises a connecting band, a camera device, a winding and unwinding device and a processing chip, the connecting band is wound on the winding and unwinding device, the following information detection device is arranged on the following device and can follow a followed object through the connecting band, the camera device shoots the connecting band at a preset fixed position in real time, a code value on the connecting band can be obtained in real time, when the relative speed of the followed object and the following device changes, the winding and unwinding device winds and unwinds the connecting band, the code value shot by the camera device changes, and the processing chip can obtain the relative speed information of the followed object and the following device through the change of the code value in shooting data due to the connection of the camera device and the processing chip so as to facilitate the speed adjustment of the following device and keep the stable following state of the following device on the followed object, thereby improving the transportation efficiency of the following equipment.
Drawings
FIG. 1 is a schematic structural diagram of a follow information detection apparatus according to an embodiment;
fig. 2(a), 2(b), and 2(c) are schematic structural diagrams illustrating detection of an elastic state of a connection band in the following information detection device according to an embodiment;
fig. 3 is a schematic structural diagram of detecting the tightness state of the connection belt in the following information detection device according to one embodiment;
fig. 4 is a schematic structural diagram of detecting a connection band offset in the following information detecting apparatus according to an embodiment;
fig. 5 is a schematic structural diagram of detecting a connection band offset in the following information detecting apparatus according to an embodiment;
fig. 6(a), 6(b) and 6(c) are schematic structural diagrams of connection band offset in the following control device according to one embodiment;
FIG. 7 is a schematic structural diagram of a follow-up information detection apparatus according to another embodiment;
FIG. 8 is a schematic structural diagram of a follow information detection apparatus according to another embodiment;
fig. 9 is a schematic configuration diagram of a follow-up information detecting apparatus of another embodiment thereof;
FIG. 10 is a schematic structural diagram of a follow-up information detection apparatus according to an embodiment;
FIG. 11 is a schematic diagram of a following information detecting apparatus according to an embodiment;
FIG. 12 is a schematic diagram of a direction shift detection process in accordance with one embodiment;
FIG. 13 is a schematic view of a web tightness detection process according to one embodiment;
fig. 14 is a schematic connection diagram of the following information detection device and the driving apparatus of the following device according to one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the scope of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, it is a schematic structural diagram of a following information detection device according to an embodiment of the present invention. The following information detection apparatus in this embodiment is mounted on a following apparatus, and includes a connection band 100, an image pickup device 200, a winding and unwinding device 300, and a processing chip 400;
the connecting band 100 is wound on the winding and unwinding device 300, a plurality of different code values are preset on the surface of the connecting band 100 along the axial direction, and the processing chip 400 is connected with the camera device 200;
the camera device 200 shoots the code value on the connection band 100 at a preset fixed position in real time, and transmits the shooting data to the processing chip 400, and the processing chip 400 is used for acquiring the following information.
In this embodiment, the following information detecting apparatus is installed on the following apparatus, the following information detecting apparatus includes a connection band 100, an image pickup device 200, a reeling and unreeling device 300, and a processing chip 400, since the connection band 100 is wound on the reeling and unreeling device 300, the following apparatus is installed on the following apparatus, the following apparatus can follow the followed object through the connection band 100, the image pickup device 200 shoots the connection band 100 in real time at a preset fixed position, the code value on the connection band 100 can be obtained in real time, when the relative speed of the followed object and the following apparatus changes, the reeling and unreeling device 300 reels the connection band, the code value shot by the image pickup device 200 changes, since the image pickup device 200 is connected with the processing chip 400, the processing chip 400 can obtain the relative speed information of the followed object and the following apparatus by the change of the code value in the shot data, so that the following equipment can adjust the speed, and the following equipment can keep the stable following state of the followed object, thereby improving the transportation efficiency of the following equipment.
Optionally, from one end of the connection band 100 connecting the followed object to one end of the connection band 100 winding and unwinding device 300, the code values are arranged in order from small to large, when the speed of the followed object is greater than the speed of the following device, the connection band 100 is drawn out from the winding and unwinding device 300, the code values photographed by the photographing device are sequentially increased at this time, the processing chip 400 can analyze according to the photographed data to obtain that the relative speed of the followed object and the following device is greater than 0, that is, the speed of the followed object is greater than the speed of the following device; when the speed of the followed object is less than the speed of the following device, the winding and unwinding device 300 tightens the connection band 100, at this time, the code values photographed by the photographing device are sequentially reduced, and the processing chip 400 can analyze according to the photographing data that the relative speed of the followed object and the following device is less than 0, that is, the speed of the followed object is less than the speed of the following device;
optionally, the object to be followed may be a user or another moving object, and the code value set on connection band 100 is a code value representing speed information that can be quickly identified by the processing chip;
in fig. 1, the numbers 1, 2, 3, 4, 5, etc. in the connection strip 100 are only for representing different code values, and are not preset numbers 1, 2, 3, 4, 5, etc. in the connection strip. In addition, above-mentioned processing chip 400 can utilize the mature hardware products on the market to realize at present, the utility model discloses a technical scheme's realization does not lie in processing chip 400 to the improvement of the processing procedure of shooting data, but utilizes connecting band 100, camera device 200, book to put device 300 and processing chip 400 and relation of connection to realize the utility model discloses a function.
In one embodiment, as shown in fig. 2(a), 2(b), 2(c), the follow information detection apparatus further includes a first infrared pair tube group 510 and a second infrared pair tube group 520 connected to the processing chip 400;
the connection band 100 reflects the first infrared signal sent by the first infrared paired tube group 510 in a natural state, and the first infrared paired tube group 510 receives the reflected first infrared signal and transmits the reflected first infrared signal to the processing chip 400;
or,
the connection band 100 does not reflect the first infrared signal sent by the first infrared paired tube group 510 and the second infrared signal sent by the second infrared paired tube group 520 in a tight state;
or,
the connection band 100 is in a loose state and simultaneously reflects a first infrared signal sent by the first infrared paired tube group 510 and a second infrared signal sent by the second infrared paired tube group 520, the first infrared paired tube group 510 receives the reflected first infrared signal and transmits the reflected first infrared signal to the processing chip 400, and the second infrared paired tube group 520 receives the reflected second infrared signal and transmits the reflected second infrared signal to the processing chip 400.
In this embodiment, the following information detection device further includes a first infrared paired tube group 510 and a second infrared paired tube group 520 connected to the processing chip 400, where the first infrared paired tube group 510 and the second infrared paired tube group 520 are used to detect a tightness state of the connection band 100, and only reflect a first infrared signal transmitted by the first infrared paired tube group 510 when the connection band 100 is in a natural state; when the connection band 100 is in a tight state, the infrared signals sent by the first infrared paired tube group 510 and the second infrared paired tube group 520 are not reflected; when the connection band 100 is in a loose state, the infrared signals sent by the first infrared paired tube group 510 and the second infrared paired tube group 520 are reflected at the same time, the transmitted infrared signals are received and transmitted to the processing chip 400 for processing, and the processing chip 400 can know the current state of the connection band 100.
Further, fig. 2(a), 2(b), 2(c) may be side views of the following information detecting apparatus;
optionally, the first infrared pair tube group 510 and the second infrared pair tube group 520 both include a plurality of infrared pair tubes, circles in fig. 2(a), fig. 2(b), and fig. 2(c) indicate infrared pair tubes, the numbers of the two groups of infrared pair tubes may be the same or different, each infrared pair tube has a function of transmitting and receiving an infrared signal, and the infrared pair tube receives an infrared signal transmitted by itself.
In one embodiment, as shown in FIG. 3, the processing chip 400 is further connected to the reel-to-reel apparatus 300;
the processing chip 400 does not receive the reflected first infrared signal and the reflected second infrared signal, the processing chip 400 sends a first control instruction to the winding and unwinding device 300, and the winding and unwinding device 300 releases the connecting band 100;
or,
the processing chip 400 receives the reflected first infrared signal and the reflected second infrared signal, the processing chip 400 sends a second control instruction to the winding and unwinding device 300, and the winding and unwinding device 300 winds up the connecting band 100;
or,
the processing chip 400 only receives the reflected first infrared signal, the processing chip 400 sends a third control instruction to the winding and unwinding device 300, and the winding and unwinding device 300 stops operating.
In this embodiment, the winding and unwinding device 300 is connected to the processing chip 400, and when the processing chip 400 does not receive the reflected first infrared signal and the reflected second infrared signal, it indicates that the connection band is in a tight state at this time, and the processing chip 400 may send a corresponding control instruction to the winding and unwinding device 300, release the connection band 100, and make the connection band 100 in a natural state; when the processing chip 400 receives the reflected first infrared signal and the reflected second infrared signal at the same time, indicating that the connecting band is in a loose state at this time, the processing chip 400 may send a corresponding control instruction to the winding and unwinding device 300, and wind up and tighten the connecting band 100, so that the connecting band 100 is in a natural state; when the processing chip 400 receives only the reflected first infrared signal, which indicates that the connection band is in a natural state at this time, the processing chip 400 may send a corresponding control instruction to the winding and unwinding device 300 to stop the operation thereof, so that the connection band 100 is maintained in the natural state; the connection belt 100 can be adjusted to be in a stable natural state by controlling the winding and unwinding device through the processing chip 400, and the connection belt 100 is prevented from being broken or falling when the relative speed of the following device and the followed object changes violently.
In one embodiment, as shown in fig. 4, the follow information detection apparatus further includes a third infrared pair tube group 530 connected to the processing chip 400;
when the connection band 100 and the perpendicular line of the winding and unwinding device 300 are at different angles, the connection band 100 reflects the target infrared signal sent by the target infrared pair tube in the third infrared pair tube group 530, and the target infrared pair tube receives the reflected target infrared signal and transmits the target infrared signal to the processing chip 400, wherein the angle formed by the connection band 100 and the perpendicular line of the winding and unwinding device 300 corresponds to the target infrared pair tube, the drop foot of the perpendicular line of the winding and unwinding device 300 is the connection point of the connection band 100 and the winding and unwinding device 300, and the perpendicular line of the winding and unwinding device 300 is located on the plane where the connection band 100 and the winding and unwinding device 300 are located.
In the present embodiment, the follow information detecting apparatus further includes a third infrared pair tube group 530 connected to the processing chip 400 for detecting a deviation angle of the connection band 100 with respect to a perpendicular line of the winding and unwinding device 300; when the connection band 100 is an angle relative to the perpendicular of the winding and unwinding device 300, an infrared signal sent by a target infrared geminate transistor corresponding to the angle in the third infrared geminate transistor group 530 can be reflected, the target infrared geminate transistor receives the reflected infrared signal and then transmits the infrared signal to the processing chip 400, the processing chip 400 can determine the deviation angle of the connection band 100 relative to the perpendicular of the winding and unwinding device 300 according to the infrared signal, namely, the deviation angle information of the followed object relative to the following device is obtained, so that the following device can be adjusted, the followed object can be better followed by the following device, and the occurrence of following loss due to the deviation angle is avoided.
Further, fig. 4 may be a top view of the following information detecting apparatus;
optionally, the third infrared pair tube group 530 includes a plurality of infrared pair tubes, where the circles in fig. 4 represent the infrared pair tubes, each infrared pair tube has a function of transmitting and receiving an infrared signal, and the infrared pair tubes receive the infrared signal transmitted by itself; the infrared pair tubes in the third infrared pair tube group 530 are arranged in sequence, and the spacing distance between two adjacent infrared pair tubes is less than or equal to the section width of the connection belt 100, so that the infrared signals of the infrared pair tubes are reflected when the connection belt 100 is at any deviation angle from the perpendicular line of the winding and unwinding device 300.
In one embodiment, as shown in FIG. 5, the third bank of infrared pairs 530 includes a first pair 531, a second pair 532, and a third pair 533;
the connecting belt 100 is overlapped with a perpendicular line of the winding and unwinding device 300, and the first infrared pair transistor 531 is a target infrared pair transistor;
or,
the connection belt 100 is deviated to a first direction with respect to a perpendicular line of the winding and unwinding device 300, and the second infrared pair transistor 532 is a target infrared pair transistor;
or,
when the connection belt 100 is biased to the second direction with respect to the perpendicular line of the winding and unwinding device 300, the third infrared pair tube 533 is the target infrared pair tube.
In this embodiment, the deviation of the connection belt 100 from the perpendicular line of the winding and unwinding device 300 has two directions, and the third infrared pair tube group 530 may include three types of infrared pair tubes, the first type is a first infrared pair tube 531 corresponding to the connection belt 100 coinciding with the perpendicular line of the winding and unwinding device 300, the second type is a second infrared pair tube 532 corresponding to the connection belt 100 deviating from the perpendicular line of the winding and unwinding device 300 in the first direction, and the third type is a third infrared pair tube 533 corresponding to the connection belt 100 deviating from the perpendicular line of the winding and unwinding device 300 in the second direction, by which the deviation direction of the connection belt 100 from the winding and unwinding device 300 can be determined.
Optionally, a plurality of first infrared pair transistors 531, second infrared pair transistors 532 and third infrared pair transistors 533 may be provided; the first direction may be a direction to the left of the following device relative to the followed object and the second direction may be a direction to the right relative to the followed object.
In one embodiment, as shown in fig. 6(a), 6(b), and 6(c), the third infrared pair tube group 530 includes five infrared pair tubes 534 arranged in sequence;
the connecting belt 100 is overlapped with a perpendicular line of the winding and unwinding device 300, and the target infrared pair transistors comprise three infrared pair transistors 534 in the middle;
or,
the connecting belt 100 is deviated to a first direction relative to a vertical line of the reeling and unreeling device 300, and the target infrared pair transistor comprises a first end two infrared pair transistors 534;
or,
the connecting strip 100 is biased to the second direction with respect to the perpendicular line of the reeling and unreeling device 300, and the target infrared pair tube includes two tail end infrared pair tubes 534.
In this embodiment, the third infrared pair tube set 530 includes five infrared pair tubes 534 arranged in sequence, and when the connection band 100 is deviated to different directions relative to the perpendicular line of the reeling and unreeling device 300, the connection band 100 can reflect infrared signals of different infrared pair tubes of the five infrared pair tubes, wherein the infrared pair tubes corresponding to different directions can be overlapped, so that the number of the infrared pair tubes can be reduced on the premise of being capable of distinguishing different directions.
In one embodiment, as shown in fig. 7, the following information detecting device further includes a driving motor 610 mounted on the following device;
when the processing chip 400 receives the shooting data, the processing chip 400 sends a fourth control instruction to the driving motor 610, and the driving motor 610 receives the fourth control instruction and adjusts the operating speed of the driving motor 610.
In this embodiment, the following information detection device further includes a driving motor 610 installed on the following device, where the driving motor 610 is used to adjust the moving speed of the following device, when the processing chip 400 receives the shot data, the processing chip 400 may obtain the relative speed information between the followed object and the following device through the change of the encoding code value in the shot data, and may send a control instruction to the driving motor 610 according to the obtained relative speed information, adjust the operating speed of the driving motor 610, thereby adjust the moving speed of the following device, and stabilize the following state of the following device.
When the shooting data are different, the processing chip 400 sends different control commands to the driving motor 610. When the operation speed of the driving motor 610 is adjusted, if the relative speed information obtained by the processing chip 400 indicates that the speed of the followed object is greater than the speed of the following device, the driving motor 610 is adjusted to accelerate; if the relative speed information obtained by the processing chip 400 is that the speed of the followed object is less than the speed of the following equipment, the driving motor 610 is adjusted to decelerate; if the relative speed information obtained by the processing chip 400 is that the speed of the followed object is equal to the speed of the following device, the driving motor 610 does not need to be adjusted at this time; the following state of the following apparatus can be stabilized by adjusting the driving motor 610 in the above manner.
Optionally, when the operation speed of the driving motor 610 is adjusted, the change of the speed of the following device may cause the tightness state of the connection band 100, and at this time, the processing chip 400 may control the winding and unwinding device 300 to adjust the connection band 100, so as to further stabilize the following state of the following device.
In one embodiment, as shown in fig. 8, the following information detection device further includes a plurality of direction adjustment motors 620, the plurality of direction adjustment motors 620 are all installed on the following device, and the plurality of direction adjustment motors 620 respectively correspond to the target infrared pair tubes;
when the processing chip 400 receives the reflected target infrared signal transmitted by the target infrared pair transistor, a fifth control instruction is sent to the direction adjustment motor 620 corresponding to the target infrared pair transistor, and the corresponding direction adjustment motor 620 receives the fifth control instruction and adjusts the operation speed of the corresponding direction adjustment motor 610.
In this embodiment, the following information detection device further includes a plurality of direction adjustment motors 620, and when the processing chip 400 receives reflected target infrared signals transmitted by different target infrared geminate transistors, the processing chip can send corresponding control instructions to the corresponding direction adjustment motors to adjust the operation speed of the direction adjustment motors, so as to adjust the moving direction of the following device and correct the following state of the following device. Different offset angles can be corrected by adjusting the motor in different directions.
In one embodiment, as shown in fig. 9, the following information detecting device further includes a first direction adjustment motor 630 and a second direction adjustment motor 640, the first direction adjustment motor 630 and the second direction adjustment motor 640 being mounted on the following device;
when the processing chip 400 receives the reflected target infrared signal transmitted by the second infrared pair transistor 532, a sixth control command is sent to the first direction adjustment motor 630, and the first direction adjustment motor 630 receives the sixth control command and increases the operating speed of the first direction adjustment motor 630;
when the processing chip 400 receives the reflected target infrared signal transmitted by the third infrared pair tube 533, it sends a seventh control command to the second direction adjustment motor 640, and the second direction adjustment motor 640 receives the seventh control command and increases the operating speed of the second direction adjustment motor 640.
In this embodiment, the following information detecting device further includes a first direction adjustment motor 630 and a second direction adjustment motor 640, and when the processing chip 400 receives the reflected target infrared signal transmitted by the second infrared pair tube 532, the processing chip can send a corresponding control instruction to the first direction adjustment motor 630 to adjust the operation speed thereof, so as to adjust the moving direction of the following device; when the processing chip 400 receives the reflected target infrared signal transmitted by the third infrared pair tube 533, it may send a corresponding control instruction to the second direction adjustment motor 640 to adjust its operation speed for adjusting the moving direction of the following device; through the adjustment in the two directions, the following state of the following equipment can be corrected.
Optionally, when the processing chip 400 receives the shooting data, the processing chip 400 simultaneously sends a fourth control instruction to the first direction adjustment motor 630 and the second direction adjustment motor 640, and the first direction adjustment motor 630 and the second direction adjustment motor 640 receive the fourth control instruction and respectively adjust respective operating speeds, wherein the first direction and the second direction are symmetrical, and the operating speed of the adjusted first direction adjustment motor 630 is the same as the operating speed of the adjusted second direction adjustment motor 640, so that the moving speed of the following device can be adjusted by the first direction adjustment motor 630 and the second direction adjustment motor 640.
The ordinal numbers such as "first", "second", etc. in the above embodiments are for convenience of distinguishing the described objects, and do not limit the described objects themselves.
In one particular embodiment, as shown in FIG. 10, the following information detection device may detect the speed and relative directional information of the followed item. A processing chip can be used as an operation processor, a camera and a code value chain belt with a specific code value are used as sensors for detecting the speed of a followed object, five groups of infrared geminate transistors are used as sensors for detecting the information of the relative self direction of a detected object, the function of automatically zooming a belt is realized by using two groups of infrared geminate transistors, and the distance between the following device and the followed object is kept relatively fixed.
The direction of judging the object skew is realized to the information that utilizes infrared geminate transistor transmission, utilizes to sweep a yard camera and the belt that has the code and realizes detecting the moving speed of being followed article, and the speed and the direction information that detect send for the drive arrangement who follows equipment through wireless mode, and then adjust the moving speed and the direction of following equipment, and wireless including modes such as bluetooth, 2.4G, serial ports communication.
The following information detection device can be particularly applied to following devices such as an intelligent following pull box, an intelligent following baby carriage and an intelligent following shopping cart, and provides signals for changing speed and direction for the following devices.
As shown in fig. 11, the following information detecting device may include a processing chip, a direction detecting device, a tightness detecting device and a speed detecting device, where the speed detecting device may include a camera, a coding connection belt and a winding and unwinding belt motor, the direction detecting device may include five infrared pair tubes, the tightness detecting device may include two sets of infrared pair tubes, each set of infrared pair tubes includes three infrared pair tubes, the processing chip may receive detection signals of the camera and all infrared pair tubes, and transmit corresponding control instructions to a driving device of the following device by wireless transmission, so as to relatively fix a distance between the followed object and the following device, and maintain a stable following state.
As shown in fig. 12, when the encoded connecting band and the following device are in a straight line position, three of the five infrared pair tubes will receive the infrared signals transmitted by themselves and reflected by the encoded connecting band, and the two of the two tubes at the extreme sides will not receive their own reflection information, and at this time, the following device and the followed object are considered to be in a straight line position. When the coding connecting band and the following equipment are in the right-inclined position, two infrared geminate transistors which are most inclined to the right in the five infrared geminate transistors can receive infrared signals which are emitted by the infrared geminate transistors and reflected by the coding connecting band, the other three infrared geminate transistors cannot receive the infrared signals which are emitted by the infrared geminate transistors and reflected by the coding connecting band, and the following equipment is considered to be in the right-inclined position of a followed object. When the coding connecting band and the following equipment are in the left-biased position, two infrared geminate transistors which are in the leftmost position in the five infrared geminate transistors can receive infrared signals which are emitted by the infrared geminate transistors and reflected by the coding connecting band, the other three infrared geminate transistors cannot receive the infrared signals which are emitted by the infrared geminate transistors and reflected by the coding connecting band, and the following equipment is considered to be in the left-biased position of a followed object. With this direction detection means, the relative position information of the following device with respect to the followed object is acquired.
The speed detection device comprises a camera, a coding connection belt and a winding and unwinding belt motor, and when the value of the coding connection belt swept by the camera is larger and larger, the speed of the following equipment is lower than that of the followed object; when the value of the coded connecting band swept by the camera is smaller and smaller, the speed of the following equipment is higher than that of the followed object. When the value of the coded connecting band swept by the camera is basically unchanged, the speed of the following equipment is equivalent to that of the followed object.
As shown in fig. 13, when the encoded connection band covers the first group of infrared pair transistors, the infrared pair transistors receive the infrared signals transmitted by themselves and reflected by the encoded connection band, but do not cover the second group of infrared pair transistors, the infrared pair transistors in the second row do not receive the infrared signals transmitted by themselves and reflected by the encoded connection band, at this time, the encoded connection band is in a natural state, and the band winding and unwinding motor does not need to rotate. When the first group of infrared pair tubes and the second group of infrared pair tubes are not blocked by the coding connecting band and do not receive the infrared signals transmitted by the coding connecting band, the coding connecting band is in an excessively tight state, and the tape winding and unwinding motor releases the coding connecting band. When the first group of infrared geminate transistors and the second group of infrared geminate transistors block the coding connecting band and receive the infrared signals transmitted by the coding connecting band, the coding connecting band is in an excessively loose state, and the winding and unwinding belt motor tightens the coding connecting band until the coding connecting band reaches a natural state.
As shown in fig. 14, the processing chip may generate a corresponding control command according to the direction and speed information relative to the followed object, and the control command is wirelessly transmitted to the driving device of the following device, where the driving device may include a left motor and a right motor, and when the direction is deviated from the right relative to the followed object, the left motor (i.e., the deviation direction adjusting motor) is controlled to accelerate until the direction is at a normal position relative to the followed object; when the object is deviated to the left relative to the followed object, controlling a right motor (namely a left direction adjusting motor) to accelerate until the object is in a normal position relative to the followed object; when the speed of the object to be followed is low, controlling the left motor and the right motor to accelerate simultaneously until the speed of the object to be followed is equivalent; when the speed of the object to be followed is higher, the left motor and the right motor are controlled to be decelerated simultaneously until the speed of the object to be followed is equivalent.
The encoded connection band, the encoded code value band and the encoded band in the figures are the same concept.
The utility model discloses can detect follow equipment and the relative direction and the relative speed of followed article to adjust following equipment with this, and then realize better following the function.
In each of the above-mentioned embodiments, the concrete working process of following the information detection equipment has only been exemplified, but the utility model discloses do not lie in following the improvement of processing chip to the processing procedure of signal in the information detection equipment, but utilize connecting band, camera device, roll up and put device, infrared geminate transistor and processing chip and relation of connection to realize the utility model discloses a function.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (10)
1. A following information detecting apparatus, characterized in that the following information detecting apparatus is mounted on a following apparatus, the following information detecting apparatus comprising a connection band (100), an image pickup device (200), a winding and unwinding device (300), and a processing chip (400);
the connecting band (100) is wound on the winding and unwinding device (300), a plurality of different code values are preset on the surface of the connecting band (100) along the axial direction, and the processing chip (400) is connected with the camera device (200);
the camera device (200) shoots the code value on the connecting band (100) in real time at a preset fixed position, shooting data are transmitted to the processing chip (400), and the processing chip (400) is used for acquiring following information.
2. The follow information detection device according to claim 1, further comprising a first infrared pair tube group (510) and a second infrared pair tube group (520) connected to the processing chip (400);
the connecting band (100) reflects a first infrared signal sent by the first infrared paired tube group (510) in a natural state, and the first infrared paired tube group (510) receives the reflected first infrared signal and transmits the reflected first infrared signal to the processing chip (400);
or,
the connecting band (100) does not reflect a first infrared signal sent by the first infrared paired tube group (510) and a second infrared signal sent by the second infrared paired tube group (520) under a tight state;
or,
connecting band (100) are in under the pine state simultaneously the reflection first infrared signal that first infrared was sent to nest of tubes (510) with the second infrared signal that second infrared was sent to nest of tubes (520), first infrared is to nest of tubes (510) receiving reflection first infrared signal and transmit extremely processing chip (400), the second infrared is to nest of tubes (520) receiving reflection second infrared signal and transmit extremely processing chip (400).
3. The follow information detection apparatus according to claim 1, further comprising a third infrared pair tube group (530) connected to the processing chip (400);
connecting band (100) with when the perpendicular line of putting device (300) is different angles, connecting band (100) reflection the target infrared signal that the infrared geminate transistor of target in the nest of tubes (530) of third infrared pair sent, the infrared geminate transistor of target receives the target infrared signal of reflection and transmits extremely handle chip (400), wherein, connecting band (100) with the angle that the perpendicular line of putting device (300) was put to the book with the infrared geminate transistor of target is corresponding, the plumb foot of the perpendicular line of putting device (300) of book does connecting band (100) with the tie point of putting device (300) of book, the perpendicular line of putting device (300) of book is located connecting band (100) with in the plane of putting device (300) of book place.
4. The follow information detection apparatus according to claim 3, wherein the third infrared pair tube group (530) includes a first infrared pair tube (531), a second infrared pair tube (532), and a third infrared pair tube (533);
the connecting belt (100) is overlapped with a perpendicular line of the winding and unwinding device (300), and the first infrared geminate transistor (531) is the target infrared geminate transistor;
or,
the connecting belt (100) is deviated to a first direction relative to a vertical line of the winding and unwinding device (300), and the second infrared pair transistor (532) is the target infrared pair transistor;
or,
when the connecting belt (100) is deviated to a second direction relative to the perpendicular line of the winding and unwinding device (300), the third infrared pair transistor (533) is the target infrared pair transistor.
5. The follow information detection apparatus according to claim 3, wherein the third infrared pair tube group (530) includes five infrared pair tubes (534) arranged in sequence;
the connecting belt (100) is overlapped with a perpendicular line of the winding and unwinding device (300), and the target infrared pair transistors comprise three infrared pair transistors (534) in the middle;
or,
the connecting belt (100) is deviated to a first direction relative to a vertical line of the winding and unwinding device (300), and the target infrared pair transistor comprises two first infrared pair transistors (534);
or,
the connecting belt (100) is deviated to a second direction relative to a perpendicular line of the winding and unwinding device (300), and the target infrared pair tube comprises two tail end infrared pair tubes (534).
6. The follow information detection apparatus according to claim 2, wherein the processing chip (400) is further connected to the reel-to-reel device (300);
the processing chip (400) does not receive the reflected first infrared signal and the reflected second infrared signal, the processing chip (400) sends a first control instruction to the winding and unwinding device (300), and the winding and unwinding device (300) releases the connecting band (100);
or,
the processing chip (400) receives the reflected first infrared signal and the reflected second infrared signal, the processing chip (400) sends a second control instruction to the winding and unwinding device (300), and the winding and unwinding device (300) winds up the connecting band (100);
or,
the processing chip (400) only receives the reflected first infrared signal, the processing chip (400) sends a third control instruction to the winding and unwinding device (300), and the winding and unwinding device (300) stops running.
7. The follow information detection apparatus according to any one of claims 1 to 6, further comprising a drive motor (610) mounted on the follow apparatus;
when the processing chip (400) receives the shooting data, the processing chip (400) sends a fourth control instruction to the driving motor (610), and the driving motor (610) receives the fourth control instruction and adjusts the running speed of the driving motor (610).
8. The follow information detection device according to claim 3, further comprising a plurality of direction adjustment motors (620), each of the plurality of direction adjustment motors (620) being mounted on the follow device, the plurality of direction adjustment motors (620) respectively corresponding to the target infrared pair tubes;
when the processing chip (400) receives the reflected target infrared signal transmitted by the target infrared geminate transistor, a fifth control instruction is sent to a direction adjusting motor (620) corresponding to the target infrared geminate transistor, and the corresponding direction adjusting motor (620) receives the fifth control instruction and adjusts the running speed of the corresponding direction adjusting motor (620).
9. The follow information detection apparatus according to claim 4, further comprising a first direction adjustment motor (630) and a second direction adjustment motor (640), the first direction adjustment motor (630) and the second direction adjustment motor (640) being mounted on the follow apparatus;
when the processing chip (400) receives the reflected target infrared signal transmitted by the second infrared pair tube (532), a sixth control command is sent to the first direction adjusting motor (630), and the first direction adjusting motor (630) receives the sixth control command and increases the running speed of the first direction adjusting motor (630);
when the processing chip (400) receives the reflected target infrared signal transmitted by the third infrared pair tube (533), a seventh control command is sent to the second direction adjustment motor (640), and the second direction adjustment motor (640) receives the seventh control command and increases the operating speed of the second direction adjustment motor (640).
10. The follow information detection apparatus according to claim 9, characterized in that:
when the processing chip (400) receives the shooting data, the processing chip (400) simultaneously sends a fourth control instruction to the first direction adjustment motor (630) and the second direction adjustment motor (640), the first direction adjustment motor (630) and the second direction adjustment motor (640) receive the fourth control instruction and respectively adjust the respective running speeds, wherein the first direction and the second direction are symmetrical, and the running speed of the adjusted first direction adjustment motor (630) is the same as the running speed of the adjusted second direction adjustment motor (640).
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| CN201721294954.3U CN207264202U (en) | 2017-09-30 | 2017-09-30 | Follow information detecting apparatus and model- following control equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111026202A (en) * | 2019-09-30 | 2020-04-17 | 陕西雷神智能装备有限公司 | Motion equipment drive-by-wire signal generation device and drive-by-wire motion equipment |
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2017
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111026202A (en) * | 2019-09-30 | 2020-04-17 | 陕西雷神智能装备有限公司 | Motion equipment drive-by-wire signal generation device and drive-by-wire motion equipment |
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Address after: 519000 No. 333, Kexing Road, Xiangzhou District, Zhuhai City, Guangdong Province Patentee after: ZHUHAI JIELI TECHNOLOGY Co.,Ltd. Address before: Floor 1-107, building 904, ShiJiHua Road, Zhuhai City, Guangdong Province Patentee before: ZHUHAI JIELI TECHNOLOGY Co.,Ltd. |