CN212061388U - Intelligent following travel suitcase based on UWB communication - Google Patents
Intelligent following travel suitcase based on UWB communication Download PDFInfo
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- CN212061388U CN212061388U CN202020454303.1U CN202020454303U CN212061388U CN 212061388 U CN212061388 U CN 212061388U CN 202020454303 U CN202020454303 U CN 202020454303U CN 212061388 U CN212061388 U CN 212061388U
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- obstacle
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Abstract
The utility model discloses a travelling basket is followed to intelligence based on UWB communication, include: the UWB module comprises not less than 2 base stations, the UWB module is provided with a tag module, the UWB module is in communication connection with the tag module, and the tag module is carried by a user; the input end of the PLC control module is connected with the UWB module, the output end of the PLC control module is connected with the motor, and the PLC control module is used for converting the coordinate information into the speed and the acceleration of the control motor through the PID control unit when receiving the coordinate information sent by the UWB module, so as to control the motor to operate according to the speed and the acceleration; and the obstacle avoidance module is used for ranging the obstacle in the running direction of the suitcase, and is also provided with an alarm unit which is triggered to alarm when the distance between the obstacle and the suitcase is lower than a set distance. The utility model discloses the mode of than laser radar location is more stable in comparatively abominable weather, also very favourable when using in complicated scene.
Description
Technical Field
The utility model relates to a travelling basket technical field, in particular to travelling basket is followed to intelligence based on UWB communication.
Background
With the development of information revolution and the deepening of mobile internet, intelligent terminals which integrate intelligent sensors and automatic control theory are ecologically spread, wherein, the mobile robot with the automatic tracking function can liberate both hands of people, reduce labor intensity, improve labor efficiency, enable people to enjoy the interests of science and technology and has certain superiority in the fields of medical treatment, industry and the like.
At present, the number of intelligent following traveling cases in the market is small, and the intelligent following traveling cases mostly depend on positioning by a laser radar technology, so that following is realized. The distance from the laser to the target point is calculated according to the flight time from the emission to the return of the laser, and the process is continuously carried out and repeated, so that the data of all the target points on the target object can be obtained, and the position information of the target is finally obtained. But the lidar solution is more demanding with respect to weather and the surrounding air environment. Generally, the device can work normally in clear weather. But the attenuation is severe under conditions of smoke, fog, rain, etc. In addition, the laser radar scheme is used for actually following an obstacle in front of the sensor, and no specificity exists between a product and a user, so that the target is easily lost or mistakenly tracked due to crowd flowing in the actual application process.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving one of the above-mentioned problem, for this reason the utility model provides a travelling basket is followed to intelligence based on UWB communication.
The utility model provides a solution of its technical problem is: propose the travelling basket is followed to intelligence based on UWB communication, include:
the UWB module comprises not less than 2 base stations, the UWB module is provided with a tag module, the UWB module is in communication connection with the tag module, and the tag module is carried by a user;
the input end of the PLC control module is connected with the UWB module, the output end of the PLC control module is connected with the motor, and the PLC control module is used for converting the coordinate information into the speed and the acceleration of the control motor through the PID control unit when receiving the coordinate information sent by the UWB module, so as to control the motor to operate according to the speed and the acceleration;
and the obstacle avoidance module is used for ranging the obstacle in the running direction of the suitcase, and is also provided with an alarm unit which is triggered to alarm when the distance between the obstacle and the suitcase is lower than a set distance.
Furthermore, the suitcase comprises a suitcase body, universal wheels are arranged at the bottom of the suitcase body, the obstacle avoidance modules are arranged on the front surface of the middle of the suitcase body, 2 base stations of the UWB modules are symmetrically arranged at the left end and the right end of the upper portion of the suitcase body, and a pull rod is arranged in the center of the upper portion of the suitcase body.
Furthermore, the suitcase is also provided with a display module, is connected with the PLC control device, is arranged on the front surface of the suitcase body and is used for displaying a function menu of the suitcase.
Furthermore, the suitcase is also provided with a fingerprint identification module, is connected with the PLC control device, is arranged on the front surface of the suitcase body and is used for verifying the identity information of a user.
Furthermore, the suitcase is also provided with a Bluetooth module which is connected with the PLC control device, attached to the front surface of the suitcase body and in communication connection with a mobile terminal of a user, and is used for realizing information interaction between the suitcase and the user.
Furthermore, the suitcase is also provided with a coded lock arranged on the right side surface of the suitcase body.
Further, the PLC control module comprises an stm32f4 single chip microcomputer and peripheral circuits thereof.
Further, the obstacle avoidance module comprises an ultrasonic receiving and transmitting module, and the ultrasonic receiving and transmitting module is used for obtaining the distance between the travel suitcase and the obstacle in the running direction according to the receiving and transmitting time of ultrasonic waves.
The utility model has the advantages that: the utility model discloses a suitcase is followed to intelligence based on UWB communication can realize through adopting UWB communication technology that the travelling basket is followed to user's intelligence, the utility model discloses the mode of than laser radar location is more stable in comparatively abominable weather, also very favourable when using in complicated scene.
Drawings
In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is clear that the described figures represent only some embodiments of the invention, not all embodiments, and that a person skilled in the art can also derive other designs and figures from these figures without inventive effort.
FIG. 1 is a schematic diagram of the front surface structure of an intelligent following suitcase based on UWB communication;
fig. 2 is a schematic diagram of the structure principle of an intelligent following travel suitcase based on UWB communication.
Detailed Description
The conception, the specific structure, and the technical effects produced by the present invention will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the features, and the effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and other embodiments obtained by those skilled in the art without inventive labor based on the embodiments of the present invention all belong to the protection scope of the present invention. In addition, all the coupling/connection relationships mentioned herein do not mean that the components are directly connected, but mean that a better coupling structure can be formed by adding or reducing coupling accessories according to specific implementation conditions. All technical characteristics in the invention can be interactively combined on the premise of not conflicting with each other.
Referring to fig. 1 and 2, the present disclosure provides an intelligent following travel suitcase based on UWB communication, including:
the UWB module 100 comprises not less than 2 base stations, the UWB module 100 is provided with a tag module, the UWB module 100 is in communication connection with the tag module, and the tag module is carried by a user;
the PLC control module 200, the input end of which is connected to the UWB module 100, and the output end of which is connected to the motor 300, is configured to convert the coordinate information into the speed and the acceleration of the motor 300 through the PID control unit 210 when receiving the coordinate information sent by the UWB module 100, and further control the motor 300 to operate according to the speed and the acceleration;
the obstacle avoidance module 400 is used for ranging an obstacle in the traveling direction of the suitcase, the obstacle avoidance module 400 is further provided with an alarm unit 410, and when the distance between the obstacle and the suitcase is lower than a set distance, the alarm unit 410 is triggered to alarm.
As a preferred embodiment of the present invention, the traveling case includes a case body 500, universal wheels 510 are disposed at the bottom of the case body 500, the obstacle avoidance module 400 is disposed on the front surface of the middle of the case body 500, 2 base stations of the UWB module 100 are symmetrically disposed at the left and right ends of the upper portion of the case body 500, and a pull rod 520 is disposed at the center of the upper portion of the case body 500.
As a preferred embodiment of the present invention, the suitcase is further provided with a display module 600, connected to the PLC control device, disposed on the front surface of the suitcase body 500, for displaying a function menu of the suitcase.
In the present embodiment, the display module 600 is a commercially available LCD touch panel, and the LCD touch panel may be embedded in the case 500 during installation.
As a preferred embodiment of the present invention, the suitcase is further provided with a fingerprint identification module 700, connected to the PLC control device, disposed on the front surface of the suitcase body 500, for verifying the identity information of the user.
In the embodiment, the fingerprint identification mode which is popular in the market at present is adopted in consideration of the anti-theft problem of the travel suitcase, and the fingerprint identification device which is sold in the market is only required to be purchased and installed at a corresponding position during implementation.
As a preferred embodiment of the present invention, the suitcase is further provided with a bluetooth module 800, which is connected to the PLC control device, attached to the front surface of the suitcase body 500, and in communication connection with a mobile terminal of a user, so as to implement information interaction between the suitcase and the user.
As a preferred embodiment of the present invention, the suitcase is further provided with a combination lock 900 disposed on the right side surface of the suitcase body 500.
Considering the safety problem of the suitcase, the coded lock 900 is also arranged, so that the user can take out the articles in the suitcase only by inputting the correct code, which is very convenient.
As a preferred embodiment of the present invention, the PLC control module 200 includes a stm32f4 single chip microcomputer and peripheral circuits thereof.
As a preferred embodiment of the present invention, the obstacle avoidance module 400 includes an ultrasonic transceiver module, and the ultrasonic transceiver module is configured to obtain a distance between the travel suitcase and an obstacle in the traveling direction according to the receiving and transmitting time of the ultrasonic waves.
When the portable UWB wireless communication device is used, firstly, the UWB tag carried by a user and the UWB module 100 carried by the suitcase carry out real-time communication, so that distance (angle) data between the user and the suitcase is obtained through an algorithm, and further coordinate data of the user is obtained. Then, the main control chip takes the coordinate data of the user as the input of the fuzzy PID controller, the corresponding output obtained by conversion is the speed and the acceleration of the motor 300, and the motor 300 is controlled by combining PWM to realize the corresponding following function. Additionally, the LCD display screen module that the travelling basket was equipped with is used for showing information such as the orbit of user's motion, and fingerprint identification module 700 can carry out the fingerprint unblock, and the ultrasonic wave module then triggers alarm module according to ultrasonic ranging principle when surveying the place ahead barrier distance too close, and finally, the user still can carry out bluetooth communication to the travelling basket through cell-phone APP, and the travelling basket is provided with group battery 530 and supplies power.
The specific implementation following process is as follows:
after the system is powered on, whether the system enters a following mode or not can be selected, if not, the positioning module enters a standby mode, if so, a ranging function is started, and at the moment, the UWB module 100 continuously transmits corresponding distance information back, and then a bilateral positioning algorithm is adopted, namely the distance information from a base station to a user and from the base station to the base station is known, and the length and the angle of a central line from a label to two base stations on the left side and the right side can be obtained through the cosine law according to plane geometric knowledge.
And performing Kalman filtering on the calculated distance and angle to inhibit hopping noise and improve the robustness of the system. Finally, the coordinate data is input into a fuzzy PID controller, and the parameters of the PID are optimized in real time by using fuzzy logic and according to a certain fuzzy rule, so that three parameters Kp, Ki and Kd in the PID can be adaptively adjusted, the corresponding real-time speed and acceleration of the suitcase are correspondingly output, the motor 300 is controlled in such a way, and finally the suitcase can stably and automatically move along with the user.
While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the invention is not limited to the details of the embodiments shown, but is capable of various modifications and changes without departing from the spirit of the invention.
Claims (8)
1. Travelling basket is followed to intelligence based on UWB communication, its characterized in that includes:
the UWB module comprises not less than 2 base stations, the UWB module is provided with a tag module, the UWB module is in communication connection with the tag module, and the tag module is carried by a user;
the input end of the PLC control module is connected with the UWB module, the output end of the PLC control module is connected with the motor, and the PLC control module is used for converting the coordinate information into the speed and the acceleration of the control motor through the PID control unit when receiving the coordinate information sent by the UWB module, so as to control the motor to operate according to the speed and the acceleration;
and the obstacle avoidance module is used for ranging the obstacle in the running direction of the suitcase, and is also provided with an alarm unit which is triggered to alarm when the distance between the obstacle and the suitcase is lower than a set distance.
2. The intelligent follow-up suitcase based on UWB communication of claim 1, characterized in that the suitcase includes a case body, the bottom of the case body is provided with universal wheels, the front surface of the middle part of the case body is provided with the obstacle avoidance module, the left and right ends of the upper part of the case body are symmetrically provided with 2 base stations of the UWB module, and the center of the upper part of the case body is provided with a pull rod.
3. The intelligent follow-up suitcase based on UWB communication of claim 2, wherein the suitcase is further provided with a display module, connected with the PLC control device, arranged on the front surface of the suitcase body, for displaying the function menu of the suitcase.
4. The intelligent follow-up suitcase based on UWB communication of claim 2, wherein the suitcase is further provided with a fingerprint identification module, connected with the PLC control device, arranged on the front surface of the suitcase body, and used for verifying the identity information of the user.
5. The intelligent follow-up suitcase based on UWB communication as claimed in claim 2, wherein the suitcase is further provided with a Bluetooth module, connected with the PLC control device, attached to the front surface of the suitcase body, and in communication connection with a mobile terminal of a user, for realizing information interaction between the suitcase and the user.
6. The intelligent follow-up suitcase based on UWB communication of claim 2, wherein the suitcase is further provided with a coded lock arranged on the right side surface of the suitcase body.
7. The intelligent follow-up suitcase based on UWB communication of claim 1 wherein the PLC control module includes stm32f4 single chip microcomputer and its peripheral circuit.
8. The intelligent follow-up suitcase based on UWB communication of claim 1, wherein the obstacle avoidance module comprises an ultrasonic wave transceiver module, and the ultrasonic wave transceiver module is used for obtaining the distance between the suitcase and the obstacle in the running direction according to the transmitting and receiving time of the ultrasonic wave.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020454303.1U CN212061388U (en) | 2020-03-31 | 2020-03-31 | Intelligent following travel suitcase based on UWB communication |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020454303.1U CN212061388U (en) | 2020-03-31 | 2020-03-31 | Intelligent following travel suitcase based on UWB communication |
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| Publication Number | Publication Date |
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| CN212061388U true CN212061388U (en) | 2020-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020454303.1U Expired - Fee Related CN212061388U (en) | 2020-03-31 | 2020-03-31 | Intelligent following travel suitcase based on UWB communication |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113040487A (en) * | 2021-03-22 | 2021-06-29 | 南华大学 | Intelligent luggage case and automatic following method thereof |
-
2020
- 2020-03-31 CN CN202020454303.1U patent/CN212061388U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113040487A (en) * | 2021-03-22 | 2021-06-29 | 南华大学 | Intelligent luggage case and automatic following method thereof |
| CN113040487B (en) * | 2021-03-22 | 2022-08-30 | 南华大学 | Intelligent luggage case and automatic following method thereof |
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Granted publication date: 20201201 |