CN207586755U - A kind of intelligence following device and system - Google Patents
A kind of intelligence following device and system Download PDFInfo
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- CN207586755U CN207586755U CN201721840323.7U CN201721840323U CN207586755U CN 207586755 U CN207586755 U CN 207586755U CN 201721840323 U CN201721840323 U CN 201721840323U CN 207586755 U CN207586755 U CN 207586755U
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Abstract
The utility model discloses a kind of intelligent following device and systems.Locating module, sensation target detection module, motion-control module, wireless data transfer module, display module, sensing module and the obstacle avoidance module that the intelligent following device of the utility model includes control process module, connect respectively with processing module.The intelligent following device and system structure of the utility model are simple, by sensation target detection module, locating module and obstacle avoidance module follow the judgement of position, realize that following device follows specified target to move ahead, intelligence is convenient, has wide range of applications.
Description
Technical field
The utility model is related to a kind of intelligent following device and systems.
Background technology
With the improvement of living standards, the material life of people is increasingly abundanter, but deposited in the consumption of daily supermarket shopping
Shopping cart need hand push and due to the special circumstances such as hold a baby in one's arms and be not easy to hand-push shopping cart and caused by awkward field
Luggage is more when scape and travelling are gone on a tour, and carries the problem of time-consuming and laborious, it is therefore desirable to which a intelligence following device is realized certainly
The dynamic effect for following traveling, applied to supermarket shopping car, luggage delivery vehicle or luggage case etc., liberates the both hands of people.
Utility model content
The purpose of this utility model is to provide a kind of intelligent following device and system, by sensation target detection module,
Locating module and obstacle avoidance module follow the judgement of position, realize that following device follows specified target to move ahead, simple in structure, intelligence
Can be convenient, it has wide range of applications.
It is as follows that the utility model provides technical solution：
On the one hand, the utility model provides a kind of intelligent following device, including：Control process module and control process
Locating module that module connects respectively, sensation target detection module, motion-control module, wireless data transfer module, display mould
Block, sensing module and obstacle avoidance module, the control process module includes processor, the control that connects the processor respectively is defeated
Go out unit and control input unit, the motion-control module include motor drive controller and with the motor drive controller
The motor of connection, it is defeated that the sensation target detection module, locating module, sensing module and obstacle avoidance module connect the control respectively
Enter unit, the display module and motor drive controller connect the control output unit respectively.
An embodiment according to the present utility model, the processor be processor of single chip computer, model MK60FX512.
Another embodiment according to the present utility model, the locating module include a GPS positioning sensor.
Another embodiment according to the present utility model, the sensation target detection module include a USB interface camera,
The sensor model number of the camera is OV2710.
Another embodiment according to the present utility model, the wireless data transfer module are slave one bluetooth mould
Block, model HC-05.
Another embodiment according to the present utility model, the display module are TFT-LCD display screens.
Another embodiment according to the present utility model, the sensing module include temperature sensor, humidity sensor, pressure
Force snesor and tachogenerator it is one or more.
Another embodiment according to the present utility model, the obstacle avoidance module include an IR evading obstacle sensors.
On the other hand, the utility model additionally provides a kind of intelligent system for tracking, and dress is followed including intelligence described above
It puts and mobile terminal, is carried out data transmission between the intelligence following device and mobile terminal by wireless data transfer module.
The beneficial effects of the utility model are as follows：
The intelligent following device and system structure of the utility model are simple, pass through sensation target detection module, locating module
And obstacle avoidance module follow the judgement of position, realizes that following device follows specified target to move ahead, intelligence is convenient, has a wide range of application
It is general.
Description of the drawings
Fig. 1 is the structure diagram of a kind of intelligent following device that the utility model embodiment one provides；
Fig. 2 is the structure diagram of a kind of intelligent system for tracking that the utility model embodiment two provides；
Fig. 3 is the motor drive controller input pin of the utility model and the logic relation picture of output pin；
Fig. 4 is a local circuit schematic diagram of the motion-control module of the intelligent following device of the utility model.
Specific embodiment
In order to make the technical problems, technical solutions and advantages to be solved by the utility model clearer, below in conjunction with attached drawing
And specific embodiment is described in detail.
The structure diagram of a kind of intelligent following device that the utility model embodiment one provides is shown referring to Fig. 1, this
The intelligent following device 100 of utility model embodiment includes control process module 10, determines with what control process module was connect respectively
Position module 20, sensation target detection module 30, motion-control module 40, wireless data transfer module 50, display module 60, sensing
Module 70 and obstacle avoidance module 80, wherein, control process module 10 includes the control output of processor 12, difference connection processing device
Unit 13 and control input unit 11, motion-control module 40 include motor drive controller 41 and connect with motor drive controller
The motor 42 connect, it is defeated that sensation target detection module 30, locating module 20, sensing module 70 and obstacle avoidance module 80 connect control respectively
Enter unit 11, display module 60 and motor drive controller 41 connect control output unit 13 respectively.
The intelligent following device of the utility model embodiment includes control process module, locating module, sensation target detection
Module, motion-control module, wireless data transfer module, display module, sensing module and obstacle avoidance module, it is simple in structure, lead to
The judgement that sensation target detection module, locating module and obstacle avoidance module follow position is crossed, it is specified to realize that following device follows
Target moves ahead, and intelligence is convenient, has wide range of applications.
The motor drive controller 41 of the utility model embodiment uses L298N driving chips, the motor drive controller
41 be the high-voltage large current full-bridge type driver for including two H bridges, can be used for driving direct current generator and stepper motor, relay
The inductive loads such as device coil；It is controlled using standard logic levels signal；Tool is there are two enabled control terminal, not by input signal shadow
Allow in the case of sound or device is forbidden to work, there are one logic power input terminals for tool, make internal logic circuit part in low electricity
Depress work.The I/O inputs of processor change the level of chip controls end, you can to carry out rotating, the behaviour stopped to motor
Make, the logic relation picture of input pin and output pin is referring to Fig. 3.Fig. 4 shows the motion control of the utility model embodiment
The local circuit schematic diagram of module.
As one for example, the processor 12 of the utility model embodiment is processor of single chip computer, model
MK60FX512.MK60FX512 is a 32 monolithics with ARM Cortex-M4 kernels that Freescale company releases
Machine.
The control output unit of the utility model embodiment uses pulse width modulation controlled（PWM）, inside microcontroller
FTM modules generate corresponding pwm signal, by changing duty ratio and the frequency of PWM control the rotating speed of motor.
As another for example, the locating module 20 of the utility model embodiment includes a GPS positioning sensor.It is logical
GPS sensor sensing the feedback of position is crossed, position general orientation and feeds back to processor.
As another for example, the sensation target detection module 30 of the utility model embodiment includes a USB interface
Camera, the sensor model number of camera is OV2710.By the use of camera as module of target detection, eyes are equivalent to, by taking the photograph
As head detects many factors such as the situation on road surface, flow of the people in real time, and by the information transmission processing device of acquisition, processor is according to taking the photograph
Picture, information as head acquisition carry out speed, direction, advance, retrogressing, stopping of regulating device movement etc..After camera starts,
Setting in motion simultaneously can cause device and people to maintain a certain distance, and will collect according to the speed of people come the speed of regulating device
Picture sends processor to, and picture feedack can be included on display module and is sent to mobile whole by processor
End.It should be noted that 2,000,000 high definition automatic focusing camera heads can be selected in camera.
As another for example, the wireless data transfer module 50 of the utility model embodiment is blue for slave one
Tooth module, model HC-05.The data transmission of the intelligent following device of the utility model embodiment can be used bluetooth and be led to
Letter meets 4.0 standard of bluetooth, and wherein 4.0 standard of bluetooth includes Basic Rate (BR) and Bluetooth Low energy
(BLE) two kinds of wireless technologys.For BLE wireless technologys, the consumption of equipment is reduced by transmitting very small data packet mode every time
Electricity.
It should be noted that the intelligent following device of the utility model embodiment also using the positioning function of bluetooth in itself into
Row positioning.Mainly high accuracy positioning is realized using signal strength RSSI, basic fixed position principle is in 4.0 technology of bluetooth：Utilize indigo plant
The function of the beacon broadcast of tooth 4.0, fixed point arrangement beacon base stations, bluetooth beacon base stations constantly send beacon broadcast reports
Text（Message includes transmission power）, carry 4.0 chip of bluetooth terminal device receive beacon broadcasting packets after, measure reception
Power is brought into computation model, calculates the distance apart from the beacon base stations, using apart from multiple beacon base stations away from
From the function that multipoint positioning can be realized.Positioning measurement based on RSSI mainly uses free space radio electrical loss model and right
Number-normal distribution model calculates path loss model.
Wherein free space radio electrical loss model is：
Logarithm-normal distribution model calculates path loss model：
As another for example, the display module 60 of the utility model embodiment is TFT-LCD display screens.This practicality
The intelligent following device of new embodiment shows the situation on road surface using TFT-LCD display screens, and including vehicle flowrate, flow of the people is gathered around
The information such as stifled degree, at the same also on a display screen the weight of the contained object of display device, follow speed, direction and environment warm and humid
Degree, certainly can be with the service condition of display device electricity, and the angle of steering, camera can collect maximum distance, minimum
The effective informations such as distance and current distance, in real time detection show the state of following device.In addition, intelligent following device leads to
It crosses bluetooth and the display data information of above-mentioned display module is transmitted to mobile terminal, and display device object to be carried on mobile terminals
The weight of body follows the information such as speed, the service condition of device electricity.The TFT-LCD display screens of the utility model embodiment are
Capacitance touch screen, resolution ratio 800*480 are communicated by IIC interface protocols with processor of single chip computer.
As another for example, the sensing module 70 of the utility model embodiment includes temperature sensor, humidity passes
Sensor, pressure sensor and tachogenerator it is one or more.
As another for example, the obstacle avoidance module 80 of the utility model embodiment includes an IR evading obstacle sensors.
The utility model embodiment obstacle avoidance module selects E18-D80NK type IR evading obstacle sensors.
Referring to Fig. 2 shows the structure diagram of a kind of intelligent system for tracking that the utility model embodiment two provides, sheets
The intelligent system for tracking of utility model embodiment includes above-mentioned intelligent following device 100 and mobile terminal 200, intelligently follows dress
It puts and is carried out data transmission between mobile terminal by wireless data transfer module.The intelligence of the utility model embodiment, which follows, is
System facilitates work of the user by the intelligent following device of the mobile terminal configurations such as mobile phone control, such as：The works such as configuration acquisition distance
Make parameter.
The intelligent system for tracking of the utility model embodiment is simple in structure, and intelligence is convenient.
The above is the preferred embodiment of the utility model, it is noted that for the ordinary skill of the art
For personnel, under the premise of principle described in the utility model is not departed from, several improvements and modifications can also be made, these improvement
The scope of protection of the utility model is also should be regarded as with retouching.
Claims (9)
1. a kind of intelligence following device, which is characterized in that including：Control process module is connect with control process module respectively
Locating module, sensation target detection module, motion-control module, wireless data transfer module, display module, sensing module and
Obstacle avoidance module, it is defeated that the control process module includes processor, the control output unit for connecting the processor respectively and control
Enter unit, the motion-control module includes motor drive controller and the motor being connect with the motor drive controller, institute
It states sensation target detection module, locating module, sensing module and obstacle avoidance module and connects the control input unit respectively, it is described aobvious
Show that module and motor drive controller connect the control output unit respectively.
2. a kind of intelligent following device according to claim 1, which is characterized in that the processor is microcontroller processing
Device, model MK60FX512.
3. a kind of intelligent following device according to claim 2, which is characterized in that the locating module is determined including a GPS
Level sensor.
4. a kind of intelligent following device according to claim 3, which is characterized in that the sensation target detection module includes
One USB interface camera, the sensor model number of the camera is OV2710.
5. a kind of intelligent following device according to claim 4, which is characterized in that based on the wireless data transfer module
Slave one bluetooth module, model HC-05.
6. a kind of intelligent following device according to claim 5, which is characterized in that the display module is shown for TFT-LCD
Display screen.
7. a kind of intelligent following device according to claim 6, which is characterized in that the sensing module includes temperature sensing
Device, humidity sensor, pressure sensor and tachogenerator it is one or more.
8. a kind of intelligent following device according to claim 7, which is characterized in that the obstacle avoidance module includes one and infrared keeps away
Hinder sensor.
9. a kind of intelligence system for tracking, which is characterized in that including any intelligent following devices of claim 1-8 and movement
Terminal is carried out data transmission between the intelligence following device and mobile terminal by wireless data transfer module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721840323.7U CN207586755U (en) | 2017-12-26 | 2017-12-26 | A kind of intelligence following device and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721840323.7U CN207586755U (en) | 2017-12-26 | 2017-12-26 | A kind of intelligence following device and system |
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| Publication Number | Publication Date |
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| CN207586755U true CN207586755U (en) | 2018-07-06 |
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| CN201721840323.7U Expired - Fee Related CN207586755U (en) | 2017-12-26 | 2017-12-26 | A kind of intelligence following device and system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109532993A (en) * | 2018-10-10 | 2019-03-29 | 安徽信息工程学院 | It is a kind of to follow baggage train automatically |
| CN110825123A (en) * | 2019-10-21 | 2020-02-21 | 哈尔滨理工大学 | Control system and method for automatic following loading vehicle based on motion algorithm |
-
2017
- 2017-12-26 CN CN201721840323.7U patent/CN207586755U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109532993A (en) * | 2018-10-10 | 2019-03-29 | 安徽信息工程学院 | It is a kind of to follow baggage train automatically |
| CN110825123A (en) * | 2019-10-21 | 2020-02-21 | 哈尔滨理工大学 | Control system and method for automatic following loading vehicle based on motion algorithm |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180706 Termination date: 20181226 |