CN207782684U - A kind of multifunction wireless motion sensing control intelligent carriage - Google Patents

A kind of multifunction wireless motion sensing control intelligent carriage Download PDF

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Publication number
CN207782684U
CN207782684U CN201721702987.7U CN201721702987U CN207782684U CN 207782684 U CN207782684 U CN 207782684U CN 201721702987 U CN201721702987 U CN 201721702987U CN 207782684 U CN207782684 U CN 207782684U
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China
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trolley
module
intelligent carriage
unit
battery
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CN201721702987.7U
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宋国荣
韦祎
刘健
王伟东
王振宇
刘斌卓
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Beijing University of Technology
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Beijing University of Technology
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Abstract

The utility model discloses a kind of multifunction wireless motion sensing control intelligent carriage, trolley is mounted on dolly chassis;Mobile unit is equipped in dolly chassis;Trolley is equipped with battery, motor driver and motion control unit, and battery, mobile unit and motor driver are connect with motion control unit.Somatosensory recognition unit is matched with motion control unit, and somatosensory recognition unit is interacted by bluetooth human action being transferred to motion control unit.The utility model passes through this multifunction wireless motion sensing control intelligent carriage, a kind of completely new control mode is provided for traditional trolley control, solves the shortcoming for the remote controler for being limited to space, and can be followed one's bent manipulation trolley using body-sensing, the limitation of particular task is broken away from, it can assign trolley different functions in conjunction with actual conditions, different purposes is realized in different occasions.The utility model provides easily somatosensory operation pattern, has robustness, high efficiency.

Description

A kind of multifunction wireless motion sensing control intelligent carriage
Technical field
The utility model is related to a kind of wireless motion sensing control robots, can be used in multiple occasion flexible conversions, are a kind of Multifunctional intellectual trolley.
Background technology
It reaches its maturity for the control technology of trolley, traditional control mode is all by remote control control, new mostly Its function is arranged both for a certain specific tasks in emerging intelligent carriage field, is realized by the help of various sensor units, this Sample significantly limits the use scope of trolley.
In view of this, the application makes further investigation for trolley intelligent control, this structure is designed.
Utility model content
To solve the above-mentioned problems, the purpose of this utility model is that using a kind of multifunction wireless motion sensing control intelligence Trolley.
Technical solutions of the utility model are as follows:
A kind of multifunction wireless motion sensing control intelligent carriage, the intelligent carriage include dolly chassis 1 and trolley 2, small Vehicle car body 2 is mounted on dolly chassis 1;Mobile unit 3 is equipped in dolly chassis 1;Trolley 2 is equipped with battery 4, motor drives Dynamic device 5 and motion control unit 6, battery 4, mobile unit 3 and motor driver 5 are connect with motion control unit 6.Body-sensing is known Other unit 7 is mounted on 2 side of trolley, and somatosensory recognition unit 7 is matched with motion control unit 6, somatosensory recognition unit 7 It is interacted by bluetooth and human action is transferred to motion control unit 6.Mobile unit 3 includes deceleration direct-current motor 3b, driving wheel 3a and driven wheel 3c.In 1 both sides of dolly chassis, each driving wheel 3a is all connected with there are one subtracting two driving wheel 3a symmetrical placements Fast direct current generator 3b.Driven wheel 3c is universal wheel, is placed in the centre of dolly chassis 1, driven wheel 3c is for assisting driving wheel 3a It realizes and turns to, moves forward or back.
Motion control unit 6 includes signal input module 6a, photoelectric isolation module 6b, master chip 6c, continues and stay protection module 6d and signal output module 6e, signal input module 6a interact the gesture for receiving 7 identification of somatosensory recognition unit, signal by bluetooth The gesture that input module 6a receives identification is transmitted to master chip 6c by photoelectric isolation module 6b, and master chip 6c is exported with signal Module 6e connections, signal output module 6e are connect by conducting wire with motor driver 5;Signal output module 6e control motor drivings The startup of device 5.
The motor driver 5 is used to carry out PMW chopper speed controls to deceleration direct-current motor 3b, and motor driver 5 includes L298N dual H-bridges direct current generator driving chip 5a and DC voltage-stabilizing module 5b, L298N dual H-bridge direct current generator driving chip 5a are simultaneously Two deceleration direct-current motor 3b are controlled, DC voltage-stabilizing module 5b converts the 12V output voltages of battery 4 to 5V logic levels and enables Output.
The battery 4 is connected in series by three pieces of lithium iron battery 4a, and battery 4 exports 12V voltages and is directly used in motion control Module 6 is powered.
The somatosensory recognition unit 7 makes human action for identification;Somatosensory recognition unit 7 includes RGB cameras 7a, depth Spend sensor 7b, Infrared Intensifier 7c and mainboard 7d, RGB camera 7a, depth transducer 7b and Infrared Intensifier 7c with master Plate 7d connections.
The utility model has the beneficial effects that:It is traditional trolley by this multifunction wireless motion sensing control intelligent carriage Control provides a kind of completely new control mode, solves the shortcoming for the remote controler for being limited to space, and can use Body-sensing, which is followed one's bent, manipulates trolley, has broken away from the limitation of particular task, can assign trolley different functions in conjunction with actual conditions, Different purposes is realized in different occasions.The utility model provides easily somatosensory operation pattern, with robustness, efficiently Property.
Description of the drawings
Fig. 1 is intelligent carriage schematic diagram.
Fig. 2 is intelligent carriage top view illustration.
Fig. 3 is intelligent carriage front view schematic diagram.
Fig. 4 is somatosensory recognition module diagram.
Specific implementation mode
It is further described below in conjunction with the accompanying drawings for the utility model with example, specifically to illustrate the utility model Technical solution.
Fig. 1 is intelligent carriage schematic diagram.Intelligent carriage includes dolly chassis 1 and the trolley on dolly chassis 1 2。
Fig. 2 is intelligent carriage top view illustration.As shown in Fig. 2, trolley 2 includes being placed in trolley 2 Battery 4, motor driver 5 and motion control unit 6.The battery 4 includes 3 pieces of concatenated lithium iron battery 4a;The motor drives Dynamic device 5 includes L298N dual H-bridges direct current generator driving chip 5a and DC voltage-stabilizing module 5b;The motion control unit 6 includes Signal input module 6a, photoelectric isolation module 6b, master chip 6c, continue and stay protection module 6d and signal output module 6e.
Fig. 3 is intelligent carriage front view schematic diagram.As shown in figure 3, dolly chassis 1 includes being placed on dolly chassis 1 Mobile unit 3, the mobile unit 3 include deceleration direct-current motor 3b, driving wheel 3a and driven wheel 3c.
Fig. 4 is somatosensory recognition cell schematics.As shown in figure 4, somatosensory recognition unit 7 includes RGB cameras 7a, depth Sensor 7b, Infrared Intensifier 7c and mainboard 7d.
A kind of multifunction wireless motion sensing control intelligent carriage, the intelligent carriage include dolly chassis 1 and trolley 2, small Vehicle car body 2 is mounted on dolly chassis 1;Mobile unit 3 is equipped in dolly chassis 1;Trolley 2 is equipped with battery 4, motor drives Dynamic device 5 and motion control unit 6, battery 4, mobile unit 3 and motor driver 5 are connect with motion control unit 6.Body-sensing is known Other unit 7 is mounted on 2 side of trolley, and somatosensory recognition unit 7 is matched with motion control unit 6, somatosensory recognition unit 7 Identify that human action, somatosensory recognition unit 7 are interacted by bluetooth human action being transferred to motion control unit 6, motion control Unit 6, which controls mobile unit 3, makes intelligent carriage make advance, retrogressing or go to action.
Motion control unit 6 includes signal input module 6a, photoelectric isolation module 6b, master chip 6c, continues and stay protection module 6d and signal output module 6e, signal input module 6a interact the gesture for receiving 7 identification of somatosensory recognition unit, signal by bluetooth The gesture that input module 6a receives identification is transmitted to master chip 6c by photoelectric isolation module 6b, and master chip 6c is exported with signal Module 6e connections, signal output module 6e are connect by conducting wire with motor driver 5;Signal output module 6e control motor drivings The startup of device 5.
The motor driver 5 is used to carry out PMW chopper speed controls to deceleration direct-current motor 3b, and motor driver 5 includes L298N dual H-bridges direct current generator driving chip 5a and DC voltage-stabilizing module 5b, L298N dual H-bridge direct current generator driving chip 5a are simultaneously Two deceleration direct-current motor 3b are controlled, DC voltage-stabilizing module 5b converts the 12V output voltages of battery 4 to 5V logic levels and enables Output.
The battery 4 is connected in series by three pieces of lithium iron battery 4a, and battery 4 exports 12V voltages and is directly used in motion control Module 6 is powered.
Mobile unit 3 includes deceleration direct-current motor 3b, driving wheel 3a and driven wheel 3c.Two driving wheel 3a symmetrical placements exist 1 both sides of dolly chassis, each driving wheel 3a are all connected with there are one deceleration direct-current motor 3b, pass through the speed discrepancy of two driving wheel 3a It is turned to realize, when rotating speed is consistent, realizes moving forward and backward for intelligent carriage, when rotating speed has differences, realize turning.Driven wheel 3c is universal wheel, is placed in the centre of dolly chassis 1, driven wheel 3c is for assisting driving wheel 3a to realize steering, moving forward or back.
The user's limb action for identification of the somatosensory recognition unit 7;Somatosensory recognition unit 7 includes RGB cameras 7a, depth transducer 7b, Infrared Intensifier 7c and mainboard 7d, RGB camera 7a, depth transducer 7b and Infrared Intensifier 7c It is connect with mainboard 7d.
RGB cameras 7a records human action in real time, in conjunction with depth transducer 7b and Infrared Intensifier 7c distinguish human body and Environment, to draw human skeleton model in mainboard 7d, the model being depicted as after data line transfer to computer processing by leading to Bluetooth transmission is crossed to motion control unit 6.
In use, placing somatosensory recognition unit 7 first, power supply and computer end have been connected, and has ensured 4 electricity of battery Abundance can ensure the power supply and continuation of the journey of trolley.After checking that line is complete, after connecting the connection of battery 4 and motion control unit 6 It starts to work.When there is user to make different actions before somatosensory recognition unit 7, trolley makes different actions therewith.
The user's action defined at present has, and when the big forearm angle of user's left hand is less than 120 °, trolley starts identification The big forearm angle of the right hand:When the big forearm angle of the right hand is when between 70 °~100 °, trolley is kept straight on;When the big forearm angle of the right hand is big When 100 °, trolley is turned right;When the big forearm angle of the right hand is less than 70 °, trolley turns left.When the big forearm angle of user's left hand is big When 120 °, trolley is forbidden moving.
As shown in Fig. 2, power supply 2 is powered for trolley in real time, ensure that each unit that trolley carries runs well.Battery Reasonable distribution 12V supply voltages and 5V enable voltage, are respectively used to the normal operation of motion control unit 6 and motor driver 5.
Above-described is preferred embodiments of the present invention, and the utility model is not limited to above example.This field Technical staff can make various modifications according to the prior art to the utility model, this belongs to the protection model of the utility model It encloses.

Claims (5)

1. a kind of multifunction wireless motion sensing control intelligent carriage, it is characterised in that:The intelligent carriage includes dolly chassis (1) and small Vehicle car body (2), trolley (2) are mounted on dolly chassis (1);Mobile unit (3) is equipped in dolly chassis (1);Trolley vehicle Body (2) is equipped with battery (4), motor driver (5) and motion control unit (6), and battery (4), mobile unit (3) and motor drive Dynamic device (5) is connect with motion control unit (6);Somatosensory recognition unit (7) is mounted on trolley (2) side, somatosensory recognition Unit (7) is matched with motion control unit (6), and somatosensory recognition unit (7) is interacted by bluetooth and is transferred to human action Motion control unit (6);Mobile unit (3) includes deceleration direct-current motor (3b), driving wheel (3a) and driven wheel (3c);Two masters In dolly chassis (1) both sides, each driving wheel (3a) is all connected with there are one deceleration direct-current motor (3b) driving wheel (3a) symmetrical placement; Driven wheel (3c) is universal wheel, is placed in the centre of dolly chassis (1), and driven wheel (3c) turns for assisting driving wheel (3a) to realize To, move forward or back.
2. a kind of multifunction wireless motion sensing control intelligent carriage according to claim 1, it is characterised in that:Motion control list First (6) include signal input module (6a), photoelectric isolation module (6b), master chip (6c), continue and stay protection module (6d) and signal Output module (6e), signal input module (6a) interact the gesture for receiving somatosensory recognition unit (7) and identifying by bluetooth, and signal is defeated Enter module (6a) and receive the gesture of identification and is transmitted to master chip (6c), master chip (6c) and letter by photoelectric isolation module (6b) The connection of number output module (6e), signal output module (6e) are connect by conducting wire with motor driver (5);Signal output module (6e) controls the startup of motor driver (5).
3. a kind of multifunction wireless motion sensing control intelligent carriage according to claim 1, it is characterised in that:The motor drives Dynamic device (5) is used to carry out PMW chopper speed controls to deceleration direct-current motor (3b), and motor driver (5) includes L298N dual H-bridge direct currents Motor drive ic (5a) and DC voltage-stabilizing module (5b), L298N dual H-bridge direct current generator driving chips (5a) while control two Deceleration direct-current motor (3b), DC voltage-stabilizing module (5b) by the 12V output voltages of battery (4) be converted into 5V logic levels enable it is defeated Go out.
4. a kind of multifunction wireless motion sensing control intelligent carriage according to claim 1, it is characterised in that:The battery (4) it is connected in series by three pieces of lithium iron batteries (4a), battery (4) output 12V voltages are directly used in be supplied to motion control unit (6) Electricity.
5. a kind of multifunction wireless motion sensing control intelligent carriage according to claim 1, it is characterised in that:The body-sensing is known Other unit (7) makes human action for identification;Somatosensory recognition unit (7) include RGB cameras (7a), depth transducer (7b), Infrared Intensifier (7c) and mainboard (7d), RGB cameras (7a), depth transducer (7b) and Infrared Intensifier (7c) are and mainboard (7d) is connected.
CN201721702987.7U 2017-12-10 2017-12-10 A kind of multifunction wireless motion sensing control intelligent carriage Active CN207782684U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201721702987.7U CN207782684U (en) 2017-12-10 2017-12-10 A kind of multifunction wireless motion sensing control intelligent carriage

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201721702987.7U CN207782684U (en) 2017-12-10 2017-12-10 A kind of multifunction wireless motion sensing control intelligent carriage

Publications (1)

Publication Number Publication Date
CN207782684U true CN207782684U (en) 2018-08-28

Family

ID=63231948

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201721702987.7U Active CN207782684U (en) 2017-12-10 2017-12-10 A kind of multifunction wireless motion sensing control intelligent carriage

Country Status (1)

Country Link
CN (1) CN207782684U (en)

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