CN208255723U - A kind of tracking trolley - Google Patents
A kind of tracking trolley Download PDFInfo
- Publication number
- CN208255723U CN208255723U CN201820763081.4U CN201820763081U CN208255723U CN 208255723 U CN208255723 U CN 208255723U CN 201820763081 U CN201820763081 U CN 201820763081U CN 208255723 U CN208255723 U CN 208255723U
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- pixy
- target object
- trolley
- tracking
- master controller
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Abstract
The utility model discloses a kind of tracking trolley, including pixy camera, steering engine, range sensor, driving wheel and master controller, steering engine and range sensor are located at the front for tracking trolley vehicle body, and pixy camera is fixed on steering engine.A kind of camera of the pixy camera as open source can quickly identify target object, and determine the azimuth information of target object, further according to azimuth information control steering engine rotation, to drive pixy camera to rotate, to guarantee the image for capturing target object in time；Range sensor obtains target object and tracks the real-time range between trolley simultaneously, and master controller is according to azimuth information and real-time range, the driving direction and velocity of rotation of control driving wheel.As it can be seen that the characteristics of driving trolley can quickly identify target object and determine target object orientation using pixy camera, reduces the operand of master controller, the real-time of tracking trolley is improved.
Description
Technical field
The utility model relates to automatic field, in particular to a kind of intelligent-tracking trolley.
Background technique
Trolley is tracked, refers to a kind of instrument of the information for tracking target object, to obtain target object.It is tracking
In the process, tracking trolley needs are moved according to the movement of target object in real time, specifically, tracking trolley needs to obtain mesh in real time
The image for marking object, then identifies target object, and judge the moving direction of target object, to follow target from image
Object is mobile.
But this tracking trolley, to guarantee not lose target object, obtains the figure of target object during tracking
Picture can be more frequent, and therefore, a large amount of image is identified and analyzed in the controller needs for tracking trolley, moreover, obtaining every time
After taking image, controller requires to identify target object from image again, therefore, track the operand of agv controller compared with
Greatly, larger burden is caused to tracking trolley, causes the real-time for tracking trolley undesirable.
Utility model content
The purpose of the utility model is to provide a kind of tracking trolleies, to solve the operand of tradition tracking agv controller
It is larger, cause to track the undesirable problem of trolley real-time.
In order to solve the above technical problems, the utility model provides a kind of tracking trolley, comprising: pixy camera, steering engine,
Range sensor, driving wheel and master controller, the steering engine and the range sensor are located at the tracking trolley vehicle body
Front, the pixy camera is fixed on the steering engine, the pixy camera, the steering engine, the range sensor,
And the driving wheel is connected with the controller respectively；
Wherein, the pixy camera includes pixy visual sensor and pixy microcontroller, and the pixy vision passes
Sensor is used to obtain the image data of target object, and the pixy microcontroller is used for according to the determination of described image data
The azimuth information of target object, and the steering engine is controlled according to the azimuth information and is rotated；
The master controller is used to control the driving direction of the driving wheel according to the azimuth information, and the distance passes
Sensor is used to measure the real-time range of the target object and the tracking trolley, and the master controller is used for according to described real-time
The velocity of rotation of wheel is driven described in distance controlling.
Preferably, the quantity of the driving wheel is two, is located at the left front of the driving trolley body bottom
The right front and.
Preferably, the rear of the tracking trolley body bottom is additionally provided with a universal wheel.
Preferably, the range sensor is HC-SR04 ultrasonic distance sensor.
Preferably, the master controller is Arduino single-chip microcontroller.
Preferably, the tracking trolley includes wireless communication device, the wireless communication module and the master controller phase
Connection, the wireless communication device are used to receive the target object setting instruction that default terminal is sent, and the master controller is used
In the target object for setting the determining pixy camera tracking of instruction according to the target object.
Preferably, the target range setting that the wireless communication device is also used to receive that the default terminal is sent refers to
It enables, the master controller is used to set instruction according to the target range and control between the tracking trolley and the target object
Distance be target range.
A kind of tracking trolley provided by the utility model, including pixy camera, steering engine, range sensor, driving vehicle
Wheel and master controller, steering engine and range sensor are located at the front of tracking trolley vehicle body, and pixy camera is fixed on steering engine.
A kind of camera of the pixy camera as open source can quickly identify target object, and the azimuth information of determining target object,
Further according to azimuth information control steering engine rotation, to drive pixy camera to rotate, to guarantee the figure for capturing target object in time
Picture；Range sensor obtains target object and tracks the real-time range between trolley simultaneously, master controller according to azimuth information and
Real-time range, the driving direction and velocity of rotation of control driving wheel.As it can be seen that the driving trolley can be fast using pixy camera
The characteristics of speed identification target object and determining target object orientation, the operand of master controller is reduced, tracking trolley is improved
Real-time.
Detailed description of the invention
For the clearer technical solution for illustrating the utility model embodiment or the prior art, below will to embodiment or
Attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
Some embodiments of the utility model, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of schematic perspective view for tracking trolley embodiment provided by the utility model；
Fig. 2 is a kind of bottom substance schematic diagram for tracking trolley embodiment provided by the utility model.
Specific embodiment
The core of the utility model is to provide a kind of tracking trolley, effectively reduces the operation of tracking trolley master controller
Amount improves the real-time of tracking trolley.
In order to make those skilled in the art better understand the scheme of the utility model, with reference to the accompanying drawing and specific implementation
The utility model is described in further detail for mode.Obviously, described embodiment is only the utility model a part
Embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, fall within the protection scope of the utility model.
A kind of tracking trolley embodiment provided by the utility model is introduced below, referring to Fig. 1, the embodiment packet
It includes: pixy camera 101, steering engine 102, range sensor 103, driving wheel 104 and master controller 105.
The steering engine 102 and the range sensor 103 are located at the front of the tracking trolley vehicle body 106, the pixy
Camera 101 is fixed on the steering engine 102, the pixy camera 101, the steering engine 102, the range sensor 103,
And the driving wheel 104 is connected with the controller 105 respectively.
The pixy camera 101 is a kind of camera of open source, specifically includes pixy visual sensor and pixy is miniature
Controller, wherein pixy visual sensor is used to obtain the image data of target object, and pixy microcontroller is used for according to institute
The azimuth information that image data determines the target object is stated, and then the steering engine is controlled according to the azimuth information and drives pixy
Camera rotation.
It should be noted that the hardware of pixy camera and its program code are open source, can directly utilize.
Pixy camera can initiative recognition target object, also, be different from traditional camera, pixy visual sensor passes to
The data of pixy microcontroller and not all image data, but picture number relevant to target object in image data
According to pixy microcontroller is matched with pixy visual sensor, calculates mesh from image data relevant to target object
The azimuth information of object is marked, therefore, pixy camera has discriminance analysis speed fast, can export target object azimuth information
Feature.
Steering engine 102 is often referred to the driver of a kind of position or angle servo, is applicable to angle and constantly changes and can be with
The system for keeping control.In the present embodiment, steering engine 102 is mainly used for controlling the shooting angle of pixy camera 101, pixy camera shooting
First 101 rotate according to the azimuth information real-time control steering engine 102 of target object, since pixy camera 101 is fixed on steering engine 102
On, therefore steering engine 102 will drive the rotation of pixy camera 101, to avoid losing target object during tracking.Specifically
, the angle rotatable of the steering engine may range from 0-180 degree.
About the position of steering engine, it can be disposed at the front of tracking trolley vehicle body 106, while small in order to avoid tracking
Vehicle, which bumps against front obstacle, causes pixy camera to be damaged, and can be disposed at the vehicle body position of edge slightly rearward foremost
It sets.
Fixed form about steering engine and tracking trolley, it is ensured that steering engine is rotatable to be fixed on tracking trolley, specifically
Both, can be screwed.About the fixed form of pixy camera and steering engine, can also be consolidated by screw
It is fixed.
Range sensor 103 is referred to for measuring target object and tracking the sensor of distance between trolley, specifically
, it can be ultrasonic sensor, such as HC-SR04 ultrasonic distance sensor.It should be noted that range sensor 103
It is generally not directly available the distance between target object and tracking trolley, needs master controller to measure according to range sensor
Some parameters carry out calculating the distance.For example, ultrasonic sensor obtains ultrasonic wave from the time for being issued to return, main control
Spread speed and the time of the device according to ultrasonic wave, to calculate distance between the two.
About the installation site of range sensor 103, the front of tracking trolley vehicle body 106 can be installed in.
Wheel 104 is driven, refers to the wheel of control tracking trolley driving direction and travel speed.In the process of tracking
In, the real-time range that the azimuth information and range sensor that master controller 105 is determined according to pixy camera determine, to control
The driving direction and vehicle wheel rotational speed of system driving wheel.
In the present embodiment, the quantity for driving wheel 104 as a preferred method, can be two, be located at institute
The left front and right front of driving trolley body bottom are stated, and as shown in Fig. 2, each driving wheel 1041 can be configured with one
A driving motor 1042, in addition, being also provided with a universal wheel 1043 at the rear of tracking trolley body bottom.Certainly,
Only a kind of preferred embodiment provided by the present embodiment, the utility model do not limit the number that wheel is driven in tracking trolley above
Amount, and the position of setting etc..
Master controller 105 refers to the core controller of tracking trolley.For controlling driving wheel according to azimuth information
Driving direction, and determine target object and track the real-time range between trolley, and control the velocity of rotation of driving wheel.Tool
Body, in the present embodiment, Arduino single-chip microcontroller can be selected as master controller.
On the basis of above-described embodiment, tracking trolley can also include wireless communication device, wireless communication module with
The master controller is connected.Specifically, wireless communication module may include bluetooth communication, Zigbee communication module or
WIFI communication module.
In practical application scene, wireless communication device can receive the target object setting that default terminal is sent and refer to
It enables, specifically, can be the instruction for receiving and issuing from smart phone or computer, then master controller can be according to the mesh
Mark the target object that object setting instruction determines the pixy camera tracking.
In addition, wireless communication device can also receive the target range setting instruction that the default terminal is sent, then
It is mesh that master controller, which sets instruction control the distance between the tracking trolley and the target object according to the target range,
Subject distance.
According to foregoing description, tracking trolley provided in this embodiment during the work time, can be according to preset mould
Formula automatically operates in an environment, has automatic tracking function.Tracking trolley is made of four major parts: communication section
Divide, Sensor section, controller part, actuator part.Communication part: the object and to keep that default terminal will track
Range information device " informing " master controller by wireless communication；Sensor section: pixy camera obtains target object
Azimuth information, range sensor obtain the real-time range of tracking trolley and target object；Controller part: master controller is according to side
Position information and real-time range control actuator execute corresponding movement；Actuator part: driving wheel is in response to master controller
Control transformation driving direction and velocity of rotation.
To sum up, a kind of tracking trolley provided by the present embodiment, including pixy camera, steering engine, range sensor, driving
Wheel and master controller, steering engine and range sensor are located at the front of tracking trolley vehicle body, and pixy camera is fixed on steering engine
On.A kind of camera of the pixy camera as open source can quickly identify target object, and determine the orientation letter of target object
Breath, further according to azimuth information control steering engine rotation, to drive pixy camera to rotate, to guarantee to capture target object in time
Image；Range sensor obtains target object and tracks the real-time range between trolley simultaneously, and master controller is according to azimuth information
And real-time range, the driving direction and velocity of rotation of control driving wheel.As it can be seen that the driving trolley can using pixy camera
The characteristics of quickly identifying target object and determining target object orientation, reduces the workload of secondary development, and reduce master
The operand of controller improves the real-time of tracking trolley.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with it is other
The difference of embodiment, same or similar part may refer to each other between each embodiment.For being filled disclosed in embodiment
For setting, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is referring to method part
Explanation.
A kind of tracking trolley provided by the utility model is described in detail above.It is used herein specifically a
Example is expounded the principles of the present invention and embodiment, this reality that the above embodiments are only used to help understand
With novel method and its core concept.It should be pointed out that for those skilled in the art, not departing from this
Under the premise of utility model principle, several improvements and modifications can be made to this utility model, these improvement and modification are also fallen
Enter in the protection scope of the utility model claims.
Claims (7)
1. a kind of tracking trolley characterized by comprising pixy camera, steering engine, range sensor, driving wheel and master
Controller, the steering engine and the range sensor are located at the front of the tracking trolley vehicle body, and the pixy camera is fixed
On the steering engine, the pixy camera, the steering engine, the range sensor and the driving wheel respectively with institute
Controller is stated to be connected；
Wherein, the pixy camera includes pixy visual sensor and pixy microcontroller, the pixy visual sensor
For obtaining the image data of target object, the pixy microcontroller is used to determine the target according to described image data
The azimuth information of object, and the steering engine is controlled according to the azimuth information and is rotated；
The master controller is used to control the driving direction of the driving wheel, the range sensor according to the azimuth information
For measuring the real-time range of the target object and the tracking trolley, the master controller is used for according to the real-time range
Control the velocity of rotation of the driving wheel.
2. tracking trolley as described in claim 1, which is characterized in that the quantity of the driving wheel is two, is located at
The left front and right front of the driving trolley body bottom.
3. tracking trolley as claimed in claim 2, which is characterized in that the rear of the tracking trolley body bottom is additionally provided with
One universal wheel.
4. tracking trolley as claimed in claim 3, which is characterized in that the range sensor is HC-SR04 ultrasonic distance
Sensor.
5. tracking trolley as described in claim 1, which is characterized in that the master controller is Arduino single-chip microcontroller.
6. the tracking trolley as described in claim 1-5 any one, which is characterized in that the tracking trolley includes wireless communication
Device, the wireless communication module are connected with the master controller, and the wireless communication device is for receiving default terminal hair
The target object setting instruction sent, the master controller, which is used to set instruction according to the target object, determines that the pixy takes the photograph
The target object tracked as head.
7. tracking trolley as claimed in claim 6, which is characterized in that the wireless communication device is also used to receive described default
The target range that terminal is sent sets instruction, and the master controller is used to be set according to the target range and instruct described in control
Tracking the distance between trolley and the target object is target range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820763081.4U CN208255723U (en) | 2018-05-21 | 2018-05-21 | A kind of tracking trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820763081.4U CN208255723U (en) | 2018-05-21 | 2018-05-21 | A kind of tracking trolley |
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| Publication Number | Publication Date |
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| CN208255723U true CN208255723U (en) | 2018-12-18 |
Family
ID=66481478
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| CN201820763081.4U Active CN208255723U (en) | 2018-05-21 | 2018-05-21 | A kind of tracking trolley |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113974847A (en) * | 2021-11-02 | 2022-01-28 | 郑州大学第一附属医院 | Operating room nursing trolley equipment |
-
2018
- 2018-05-21 CN CN201820763081.4U patent/CN208255723U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113974847A (en) * | 2021-11-02 | 2022-01-28 | 郑州大学第一附属医院 | Operating room nursing trolley equipment |
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