CN214586555U

CN214586555U - Wireless interaction system following small cart

Info

Publication number: CN214586555U
Application number: CN202120510962.7U
Authority: CN
Inventors: 杨勇; 卢泰锡
Original assignee: Chengdu Yongfeng Technology Co ltd
Current assignee: Chengdu Yongfeng Technology Co ltd
Priority date: 2021-03-10
Filing date: 2021-03-10
Publication date: 2021-11-02
Anticipated expiration: 2031-03-10

Abstract

The utility model discloses a follow wireless interactive system of small handcart relates to and follows the robotechnology field, including establishing at automobile body and handheld end, be equipped with the location basic station on the automobile body, the automobile body lower extreme is equipped with the driving motor of circuit control box, wheel group and drive wheel group, be equipped with PID controller and central processing unit in the circuit control box, PID controller and location basic station wireless connection, central processing unit and driving motor electricity are connected, handheld serving is equipped with location label and body and feels detection mechanism, location label and location basic station cooperate, body and feel detection mechanism and central processing unit wireless connection, effectively avoided remote control mode's maloperation.

Description

Wireless interaction system following small cart

Technical Field

The utility model relates to a follow the robotechnology field, more specifically relate to follow the wireless interactive system of small handcart.

Background

With the progress of science and technology, the development of service robots, as a representative of the integration of robot technology, is moving towards intellectualization and autonomy, and is not only applied to the technical fields of resource exploration, weaponry and the like, but also widely applied to the technical fields of home service, education and entertainment and the like.

The following robot, as a common service robot, can autonomously complete continuous following actions without physical contact with a target, and keeps a certain distance from the target, and has important applications in the fields of special crowd (handicapped, old people) assistance, logistics transportation, military transportation and the like.

The existing following robot generally has two modes of automatic following and remote control, and in the remote control mode, when a user controls the following robot through a key, misoperation often occurs, and even the following robot can be caused to collide with an obstacle to cause damage.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a: in order to solve the problem that current following robot's remote control mode exists, the utility model provides a follow the wireless interactive system of small handcart.

The utility model discloses a realize above-mentioned purpose and specifically adopt following technical scheme:

follow the wireless interactive system of small handcart, it is concrete, the utility model discloses a follow the small handcart is a follow robot, including establishing at automobile body and handheld end, be equipped with the location basic station on the automobile body, the automobile body lower extreme is equipped with circuit control box, wheel group and the driving motor who drives the wheel group, be equipped with PID controller and central processing unit in the circuit control box, PID controller and location basic station wireless connection, central processing unit and driving motor electricity are connected, handheld serving is equipped with the location label and feels detection mechanism with the body, the location label cooperatees with the location basic station, it feels detection mechanism and central processing unit wireless connection to feel.

Further, the motion sensing detection mechanism comprises an acceleration sensor and a gyroscope sensor which are arranged on a handheld end, the positioning base station serves as a following host, the positioning tag serves as a following slave, and the following host is matched with the following slave to realize the following of the small trolley.

Furthermore, an industrial control display screen is arranged on the vehicle body and located above the positioning base station, and the industrial control display screen is in wireless connection with the central processing unit.

Furthermore, a plurality of obstacle avoidance radars are arranged on the front side and the rear side of the vehicle body, and the obstacle avoidance radars are electrically connected with the central processing unit.

Further, the obstacle avoidance radar is an ultrasonic radar or a laser radar.

Further, the automobile body front side and rear side all are equipped with various lamp strip.

Furthermore, the front side and the rear side of the vehicle body are both provided with anti-collision strips.

Further, a pair of L-shaped armrests is arranged on the rear side of the vehicle body.

Furthermore, a horn is arranged on the rear side of the vehicle body and electrically connected with the central processing unit.

The utility model has the advantages as follows:

(1) a user holds the handheld end and then waves the handheld end, the motion sensing detection mechanism detects the motion of the handheld end, the central processing unit controls the driving motor according to the detection result of the motion sensing detection mechanism, and the driving motor drives the motor wheel set to move according to the motion of the handheld end, so that misoperation in a remote control mode is effectively avoided;

(2) in the following mode, the positioning base station and the positioning label detect the distance and the angle of a user relative to the vehicle body, then the PID controller calculates the linear speed and the angular speed required by the vehicle body following the user, and the central processing unit controls the driving motor to realize the following of the following robot to the user.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

fig. 2 is a schematic structural diagram of the present invention;

reference numerals: 1-industrial control display screen, 2-loudspeaker, 3-car body, 4-wheel group, 5-ultrasonic radar, 6-bumper strip, 7-color lamp strip, 8-laser radar, 9-positioning base station, 10-handrail, 11-driving motor, 12-circuit control box and 13-battery.

Detailed Description

Example 1

Referring to fig. 1 to 2, this embodiment provides the wireless interactive system who follows small handcart, including establishing at automobile body 3 and handheld end, be equipped with location basic station 9 on the

automobile body

3, 3 lower extremes of automobile body are equipped with circuit control box 12, wheel group 4 and driving motor 11 of driving wheel group 4, be equipped with PID controller and central processing unit in the circuit control box 12, PID controller and location basic station 9 wireless connection, central processing unit and 11 electricity of driving motor are connected, handheld serving is equipped with the location label and feels detection mechanism with body, the location label cooperatees with location basic station 9, it feels detection mechanism and central processing unit wireless connection to feel.

The working principle is as follows: the user holds the handheld end, then waves the handheld end, and body sensing detection mechanism detects the action of handheld end, and central processing unit feels detection mechanism's testing result control driving motor 11 according to body, and driving motor 11 drives motor wheel group 4 and moves according to the action of handheld end, has effectively avoided remote control mode's maloperation.

In the following mode, the positioning base station 9 and the positioning label detect the distance and the angle of the user relative to the vehicle body, and then the PID controller calculates the linear velocity and the angular velocity required by the vehicle body 3 to follow the user, wherein the calculation formula of the linear velocity is as follows

V_Thread＝P*d₀+I₀+D*(d₀-d₁)/t，

d₀Is the current relative distance, d₁For the previous relative distance, I₀For the current integral calculation result, I₀-I*d₀+I₁，I₁For the previous integral calculation, t is the time difference between the current and previous time, since d₀＜d₁，d₀And d₁The greater the distance of (A), V_ThreadThe smaller, i.e. the further away, the slower the linear velocity,

the angular velocity is calculated by

V_Corner＝P*a₀+I₀₀+D*(a₀-a₁)/t，

a₀Is the current relative angle, a₁To the previous relative angle, I₀₀For the current integral calculation result, I₀₀＝I*d₀+I₀₁，I₀₁For the result of the previous integration calculation,

then the central processing unit controls the driving motor 11 to realize the following of the following robot to the user.

Example 2

Referring to fig. 1 to 2, the present embodiment is further improved on the basis of embodiment 1, and specifically, the motion sensing mechanism includes an acceleration sensor and a gyroscope sensor that are provided on a handheld end.

Example 3

Referring to fig. 1 to 2, this embodiment is further improved on the basis of embodiment 1, specifically, an industrial control display screen 1 is arranged on the vehicle body 3, the industrial control display screen 1 is located above the positioning base station 9, and the industrial control display screen 1 is wirelessly connected with the central processing unit.

Example 4

Referring to fig. 1 to 2, the present embodiment is further improved on the basis of embodiment 1, specifically, a plurality of obstacle avoidance radars are arranged on the front side and the rear side of the vehicle body 3, and the obstacle avoidance radars are electrically connected to the central processing unit.

Example 5

Referring to fig. 1 to 2, the embodiment is further improved on the basis of embodiment 1, and specifically, the obstacle avoidance radar is an ultrasonic radar 5 or a laser radar 8.

Example 6

Referring to fig. 1 to 2, the present embodiment is further improved on the basis of embodiment 1, and specifically, the color light bars 7 are disposed on both the front side and the rear side of the vehicle body 3.

Example 7

Referring to fig. 1 to 2, the present embodiment is further improved on the basis of embodiment 1, and specifically, bumper strips 6 are disposed on both the front side and the rear side of the vehicle body 3.

Example 8

Referring to fig. 1 to 2, the present embodiment is further improved on the basis of embodiment 1, and specifically, a pair of L-shaped armrests 10 is provided on the rear side of the vehicle body 3.

Example 9

Referring to fig. 1 to 2, the present embodiment is further improved on the basis of embodiment 1, specifically, a horn 2 is disposed at the rear side of the vehicle body 3, and the horn 2 is electrically connected to the central processing unit.

Example 10

Referring to fig. 1 to 2, the present embodiment is further improved on the basis of embodiment 1, specifically, a battery 13 is disposed at the lower end of the vehicle body 3, and the battery 13 supplies electric energy to the electric components in the circuit control box 12 and the driving motor 11.

Claims

1. Follow wireless interactive system of small handcart, including establishing at automobile body (3) and handheld end, its characterized in that, be equipped with location base station (9) on automobile body (3), automobile body (3) lower extreme is equipped with driving motor (11) of circuit control box (12), wheel group (4) and drive wheel group (4), be equipped with PID controller and central processing unit in circuit control box (12), PID controller and location base station (9) wireless connection, central processing unit and driving motor (11) electricity are connected, handheld serving is equipped with the location label and feels detection mechanism with body, the location label cooperatees with location base station (9), it feels detection mechanism and central processing unit wireless connection to feel.

2. The wireless interactive system following a trolley according to claim 1, wherein the somatosensory detection mechanism comprises an acceleration sensor and a gyroscope sensor provided on a handheld end.

3. The wireless interaction system following the trolley according to claim 1 or 2, wherein an industrial control display screen (1) is arranged on the trolley body (3), the industrial control display screen (1) is positioned above the positioning base station (9), and the industrial control display screen (1) is wirelessly connected with the central processing unit.

4. The wireless interaction system following a trolley according to claim 1 or 2, characterized in that the front side and the rear side of the trolley body (3) are provided with a plurality of obstacle avoidance radars, and the obstacle avoidance radars are electrically connected with the central processor.

5. The trolley following wireless interaction system according to claim 4, characterized in that the obstacle avoidance radar is an ultrasonic radar (5) or a laser radar (8).

6. The wireless interaction system following a trolley according to claim 1 or 2, characterized in that the front side and the rear side of the trolley body (3) are provided with colored light bars (7).

7. A wireless interaction system following a dolly according to claim 1 or 2, characterized in that the body (3) is provided with bumper strips (6) on both the front and rear sides.

8. A wireless interaction system following a trolley according to claim 1 or 2, characterized in that the rear side of the body (3) is provided with a pair of L-shaped handrails (10).

9. The wireless interaction system following a trolley according to claim 1 or 2, characterized in that a horn (2) is arranged at the rear side of the trolley body (3), and the horn (2) is electrically connected with the central processor.