CN212515480U

CN212515480U - Device for realizing wired following between person and vehicle

Info

Publication number: CN212515480U
Application number: CN202020743465.7U
Authority: CN
Inventors: 许转键; 余睿; 晏康
Original assignee: Wuhan Yuanxiang New Energy Technology Co ltd
Current assignee: Wuhan Yuanxiang New Energy Technology Co ltd
Priority date: 2020-05-08
Filing date: 2020-05-08
Publication date: 2021-02-09
Anticipated expiration: 2030-05-08

Abstract

The utility model belongs to the technical field of logistics transportation, and discloses a device for realizing wired following of people and vehicles, wherein an angle of a stay cord swinging in parallel to the ground is obtained through an angle sensor, the distance of the stay cord stretching out or retracting is obtained through a displacement sensor, and the stay cord drives the angle sensor to rotate through a corner device; the controller collects two paths of sensor output signals and adds corresponding algorithms to realize wired following of people and vehicles; the utility model provides a corner ware is through exquisite design, and it makes the drive angle sensor free rotation and flexible that the play rope end can the low error of high accuracy to make play rope end arbitrary wobbling direction angle and play rope end pull out or the distance of withdrawing all can accurate measurement, compare in the pure method that relies on software algorithm to calculate the vehicle and follow required data, this mechanical device can directly acquire the vehicle and follow required state parameter, and more stable and reliable.

Description

Device for realizing wired following between person and vehicle

Technical Field

The utility model belongs to the technical field of the commodity circulation transportation, especially, relate to a device that realizes the wired following of people and car.

Background

The following functions in the market are realized by a plurality of methods, such as radio transmission, video capture, laser radar and other technologies, but the method is easily interfered, the signal is unstable, and the situations of frame loss, frame error and the like often occur; in addition, the cost is high, and the popularization is not convenient; except for wireless signals, a multi-pull-rope sensor is mostly adopted in a wired following scheme, the sensor measures the distance length through voltage signals, displacement signals are processed through corresponding algorithms to obtain other signals required for following, such as linear speed, angular speed, angle values and the like, and finally, the movement intention is sent to a motor controller to control the movement of a vehicle or equipment, so that automatic traction of people, the vehicle or the equipment is realized.

At present, the system adopts a dynamic-to-dynamic measurement mode, so that the measurement errors of other signals except the distance are large, particularly the measurement value precision of the angle is low, the jump error is extremely large and discontinuous, the following position is inaccurate, the effect is discontinuous, and the phenomena of vehicle body jitter, following deviation and the like occur.

In summary, the problems of the prior art are as follows:

(1) the existing wireless following device is easy to receive external interference in communication modes such as Bluetooth, wifi and UWB, and the use occasion is limited.

(2) The existing following device often has the situations of frame loss, frame error and the like during wireless communication, and firstly, the following timeliness is poor; secondly, data discontinuity is caused, so that the following effect is discontinuous.

(3) The existing following device has strict requirements on the use environment and the wearing mode of people.

(3) The measurement error of other signals is large, and the change of the angle is easy to change suddenly and discontinuously, so that the following effect is discontinuous, and the vehicle body shakes and deviates in following.

(4) The cost is high, and the method cannot be popularized to the public.

The difficulty and significance for solving the technical problems are as follows:

(1) the device can solve the problems that the existing wireless following device is easy to receive external interference, the use occasion is limited and the cost is high.

(2) The device can solve the problems that the following timeliness of the existing following device is poor and the following effect is discontinuous.

(3) The device can solve the problems that the following effect is not consistent, and the vehicle body shakes and deviates due to large angle measurement error and easy abrupt change and discontinuity of angle change.

(4) The device can greatly simplify the algorithm of wired following control and can make the control simpler and more reliable.

SUMMERY OF THE UTILITY MODEL

To the problem that prior art exists, the utility model provides a realize device of wired following of people and car.

The utility model discloses a realize like this, a realize the device of the wired following of people and car, be provided with the draw gear support.

And the angle sensor support is fixedly arranged on the inner side of the traction device support.

And the angle sensor is fixedly arranged on the angle sensor bracket.

And the angle turning device is fixedly arranged at the upper end of the angle sensor.

The pull rope is arranged in the middle of the corner device in a penetrating mode.

Furthermore, the traction device bracket is of an L-shaped structure.

Furthermore, the inner side of the traction device support is provided with an opening, and a pull rope sensor is installed in the opening.

Furthermore, a transverse slot is formed in the middle of the rear end of the corner device, a pull rope through hole is formed in the middle of the corner device, the pull rope is arranged in the pull rope through hole in a penetrating mode, and a plurality of universal balls which are arranged in an annular and uniform mode are embedded in the inner sides of the opening positions of the two ends of the pull rope through hole.

Furthermore, a detection box is fixed at the lower end of the traction device bracket through screws, a camera is embedded at the upper end of the front face of the detection box, and an ultrasonic sensor is embedded at the lower end of the camera;

the inside treater and the wireless signal transmitter of having fixed through the screw of detection box, wireless signal transmitter passes through radio signal and is connected with remote control terminal.

Further, a storage is fixed inside the detection box through screws and connected with the camera through a data line. The images collected by the camera can be circularly stored through the storage.

Another object of the present invention is to provide an information data processing terminal for realizing a control method of a device for realizing wired following between a person and a vehicle.

Another object of the present invention is to provide a processor, which implements the control method of the device for realizing wired following of a person and a vehicle.

Another object of the present invention is to provide a computer-readable storage medium, comprising instructions which, when run on a computer, cause the computer to execute the method for controlling a device for realizing wired following of a person and a vehicle.

The utility model discloses an advantage and positive effect do:

the angle sensor can be driven to rotate freely by the rope outlet end due to the exquisite design of the angle turning device of the device for realizing wired following of the person and the vehicle, the direction angle of the random swing of the rope outlet end and the pulling distance of the rope outlet end can be accurately measured, and compared with a method for calculating the data required by vehicle following purely by means of a software algorithm, the mechanical device can directly acquire the state parameters required by vehicle following and is more stable and reliable.

Drawings

Fig. 1 is a schematic structural diagram of a device for realizing wired following between a person and a vehicle provided by the embodiment of the present invention.

Fig. 2 is an operation schematic diagram of a device for realizing wired following between a person and a vehicle provided by the embodiment of the present invention.

Fig. 3 is a schematic structural view of a corner device according to an embodiment of the present invention.

Fig. 4 is a schematic view of a groove structure provided by the embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a control box provided in an embodiment of the present invention.

In the figure: 1. a traction device support; 2. an angle sensor support; 3. an angle sensor; 4. a pull cord sensor; 5. a corner device; 6. pulling a rope; 7. a groove; 8. perforating a pull rope; 9. a ball transfer unit; 10. a camera; 11. an ultrasonic distance sensor; 12. and a control box.

Detailed Description

In order to further understand the contents, features and functions of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings.

The existing following device often has the situations of frame loss and the like. The cost is high, and the method is inconvenient to popularize. The measurement error of other signals is large, and the change of the angle is easy to change suddenly and discontinuously, so that the following effect is discontinuous, and the vehicle body shakes and deviates in following.

To solve the above technical problems, the present invention will be described in detail with reference to the accompanying drawings.

As shown in fig. 1 to 5, the device for realizing wired following of a person and a vehicle is provided with a traction device support 1, the traction device support 1 is in an L shape, a hole is formed in the left side of the traction device support 1, an angle sensor 3 is arranged in the hole, an angle sensor support 2 is fixedly arranged around the hole through screws, and the angle sensor 3 is fixedly arranged on the angle sensor support 2 through screws. The angle sensor 3 is connected with a corner device 5, and a pull rope 6 penetrates through the corner device 5. A round hole is formed in the middle of the traction device support 1, and a pull rope sensor 4 is fixedly mounted on the round hole.

Traction device support 1 is used for fixed stay cord sensor 4 and angle sensor 3 on the car, and angle sensor support 2 is the angle sensor 3 that is used for the fixed adjustment zero-bit, and angle sensor 3 is the angle that is used for obtaining the stay cord wobbling, and stay cord sensor 4 is the distance that is used for obtaining 6 stretches out of stay cord, and angle converter 5 is the rotation that drives angle sensor 3 through stay cord 6, and stay cord 6 then is out the rope end, can arbitrary stay cord and pivot angle. The data is collected through the controller, and therefore wired following of people and vehicles is achieved. The mechanical device can obtain the distance of the human body traction equipment and the rotation angle of the vehicle body.

The embodiment of the utility model provides an in, seted up horizontal fluting 7 in the middle of the 5 rear ends of angle turning ware, run through in the middle of the angle turning ware 5 and have stay cord perforation 8, stay cord 6 wears to establish in

stay cord perforation

8, and 8 both ends open position inboards in stay cord perforation are all inlayed and are equipped with the universal ball 9 that a plurality of rings equipartition were arranged.

In the embodiment of the utility model, the lower end of the traction device bracket 1 is fixed with a detection box 12 through screws, the upper end of the front surface of the detection box 12 is embedded with a camera 10, and the lower end of the camera 10 is embedded with an ultrasonic sensor 11; the inside of the detection box 12 is fixed with a processor and a wireless signal transmitter through screws, and the wireless signal transmitter is connected with a remote control terminal through wireless signals. The front video image can be collected through the camera 10 and transmitted to the far-end vehicle-mounted control end through the wireless signal transmitter, the front obstacle can be detected through the ultrasonic sensor 11, and the alarm signal is transmitted to the far-end vehicle-mounted control end through the wireless signal transmitter.

The embodiment of the utility model provides an in, it has the accumulator to detect box 12 inside through the screw fixation, the accumulator passes through data line and is connected with the camera. The images collected by the camera can be circularly stored through the storage.

The present invention will be further described with reference to the working principle.

In the embodiment of the utility model, the utility model discloses an in the device operation of realizing the wired follow of people and car, obtain stay cord wobbling angle through angle sensor, the angle value is analog voltage signal, and 0-5V voltage corresponds corresponding angle, and the relationship of the two can be regarded as the linear relation, gathers this voltage signal through data acquisition device and then processes the angle of resolving into people's actual stay cord through corresponding algorithm, carries out corresponding action through the feedback of this angle value. Obtain the distance that the stay cord stretches out or retracts through the stay cord sensor, this stay cord sensor mainly comprises displacement sensor, mechanical transmission, stay cord, and the length that the people pulled out or the rope that retracts converts analog voltage signal into through displacement sensor, then gathers this voltage signal by data acquisition device to through the displacement amount of corresponding algorithm processing resolving into people's actual stay cord, carry out corresponding action through the feedback of this displacement amount. The corner device is a core device for connecting the pull rope sensor and the displacement sensor, and through the connection of the device, the displacement and the angle of a person during the action of the pull rope can be decomposed and corresponding data can be acquired by the corresponding sensor.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all the modifications and equivalents of the technical spirit of the present invention to any simple modifications of the above embodiments are within the scope of the technical solution of the present invention.

Claims

1. A device for realizing the wired following of a person and a vehicle is characterized in that a traction device bracket is arranged on the device for realizing the wired following of the person and the vehicle;

the angle sensor bracket is fixedly arranged on the inner side of the traction device bracket;

the angle sensor is fixedly arranged on the angle sensor bracket;

the angle turning device is fixedly arranged at the upper end of the angle sensor;

2. The device for realizing the wired following of the person and the vehicle as claimed in claim 1, wherein the traction device bracket is of an L-shaped structure, the inner side of the traction device bracket is provided with an opening, and a pull rope sensor is installed in the opening.

3. The device for realizing the wired following of the people and the vehicle as claimed in claim 1, wherein a transverse slot is arranged in the middle of the rear end of the angle turning device, a pull rope through hole is arranged in the middle of the angle turning device, the pull rope is arranged in the pull rope through hole in a penetrating way, and a plurality of universal balls which are annularly and uniformly distributed are embedded in the inner sides of the opening positions of the two ends of the pull rope through hole.

4. The device for realizing the wired following of the person and the vehicle as claimed in claim 1, wherein the lower end of the traction device bracket is fixed with a detection box through a screw, the upper end of the front surface of the detection box is embedded with a camera, and the lower end of the camera is embedded with an ultrasonic sensor;

5. The device for realizing wired following of a person and a vehicle as claimed in claim 4, wherein a storage is fixed inside the detection box through screws, and the storage is connected with the camera through a data line.