DE102014106835A1 - Device for tracking an object and corresponding driving method thereto - Google Patents
Device for tracking an object and corresponding driving method thereto Download PDFInfo
- Publication number
- DE102014106835A1 DE102014106835A1 DE102014106835.1A DE102014106835A DE102014106835A1 DE 102014106835 A1 DE102014106835 A1 DE 102014106835A1 DE 102014106835 A DE102014106835 A DE 102014106835A DE 102014106835 A1 DE102014106835 A1 DE 102014106835A1
- Authority
- DE
- Germany
- Prior art keywords
- tracking
- remote control
- vehicle
- infrared receiver
- mode
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
Abstract
Derzeit übliche Objektverfolgungssysteme arbeiten mit Ultraschallsensoren und können daher nicht auf Richtungsabweichungen reagieren. Anbringen eines Infrarotsenders am zu verfolgenden Objekt erlaubt bei Einsatz von mehr als einem Infrarotempfänger am Verfolger die Erkennung einer Richtungsabweichung. Durch Einsatz eines Ultraschallsensors zusammen mit einem Infrarotsender und zwei Infrarotempfängern können auch Richtungsabweichungen erkannt und ausgeglichen werden.Currently common object tracking systems work with ultrasonic sensors and therefore can not respond to directional deviations. Attaching an infrared transmitter to the object to be tracked allows detection of a directional deviation when using more than one infrared receiver on the tracker. By using an ultrasonic sensor together with an infrared transmitter and two infrared receivers, directional deviations can also be detected and compensated.
Description
Hintergrund der ErfindungBackground of the invention
(a) Bereich der Erfindung(a) Field of the invention
Die Erfindung betrifft eine Vorrichtung, die ein vor ihr befindliches Objekt verfolgen kann und beschreibt außerdem eine einschlägige Verfolgungsmethode.The invention relates to a device that can track an object in front of it and also describes a pertinent tracking method.
(b) Beschreibung des derzeitigen Standes der Technik(b) Description of the current state of the art
Derzeit bekannte bewegliche Systeme, die einem Objekt folgen können verwenden ausschließlich Ultraschallsensoren zur Abstandsmessung und können so einen konstanten Abstand zu dem vor ihnen befindlichen Objekt einhalten. Wegen der geringen Reaktionsgeschwindigkeit können Abweichungen nach links oder rechts nicht ausgeglichen werden und es ist nur eine Geradeausverfolgung möglich.Presently known moving systems that can follow an object use only ultrasonic sensors for distance measurement and thus can maintain a constant distance to the object in front of them. Due to the low reaction speed deviations to the left or right can not be compensated and only a straight track is possible.
Zusammenfassung der ErfindungSummary of the invention
Die in der vorliegenden Erfindung beschriebene Vorrichtung zur Verfolgung eines Objekts soll die oben erwähnten Probleme der bekannten Technik lösen. Sie enthält als Verfolger ein Fahrzeug und als Verfolgten eine Fernsteuerung. Das Fahrzeug enthält ein Steuermodul, ein Fahrgestell und mindestens ein Antriebsmodul. Das am Fahrgestell befestigte Antriebsmodul ist elektrisch mit dem Steuermodul verbunden, welches die Steuerung nach links, rechts oder geradeaus übernimmt. Außerdem sind am Fahrgestell ein erster und ein zweiter Infrarotempfänger zur Richtungserkennung und ein erster Ultraschallsensor zur Distanzmessung angebracht. Die Fernsteuerung enthält mindestens einen Infrarotsender, der zusammen mit dem ersten und dem zweiten Infrarotempfänger des Fahrzeugs ein rückgekoppeltes System bildet. Wenn sich die Fernsteuerung vor dem Fahrzeug befindet kann so mittels des ersten Ultraschallsensors der Abstand zwischen beiden und mittels der beiden Infrarotempfänger die Richtungsabweichung nach links bzw. rechts ermittelt und so ein konstanter Abstand eingehalten werden. Die erfindungsgemäße Vorrichtung stellt ein intelligentes Objektverfolgungssystem dar.The apparatus for tracking an object described in the present invention is intended to solve the above-mentioned problems of the prior art. It contains as a pursuer a vehicle and as persecuted a remote control. The vehicle includes a control module, a chassis and at least one drive module. The chassis mounted drive module is electrically connected to the control module, which takes over the control to the left, right or straight. In addition, a first and a second infrared receiver for direction detection and a first ultrasonic sensor for distance measurement are mounted on the chassis. The remote control includes at least one infrared transmitter that forms a feedback system along with the first and second infrared receivers of the vehicle. If the remote control is located in front of the vehicle can be so determined by means of the first ultrasonic sensor, the distance between the two and by means of the two infrared receiver, the direction deviation to the left or right and so a constant distance can be maintained. The device according to the invention represents an intelligent object tracking system.
Kurze Beschreibung der ZeichnungenBrief description of the drawings
Detaillierte Beschreibung der bevorzugten AusführungDetailed description of the preferred embodiment
Das Fahrzeug (
Das Steuermodul (
Das Fahrgestell (
Das Antriebsmodul (
Die Fernsteuerung (
Die Erfindung umfaßt auch ein Ansteuerverfahren für die erfindungsgemäße Vorrichtung zur Verfolgung eines Objekts, die folgende Schritte enthält:
Schritt 100: Am Steuermodul (
Schritt 110: ”Automatischen Betrieb” (
Schritt 120: Bei Einstellung auf ”Verfolgungsmodus” (
Schritt 130: Betätigen des ersten Batterieschalters (
Schritt 140: Durch Betätigung des Bedienknopfes (
Schritt 150: Betätigung des Bedienknopfes (
Schritt 160: Betätigung des zweiten Batterieschalters (
Schritt 170: Betätigung des Richtungswahlschalters (
Step 100: At the Control Module (
Step 110: "Automatic Operation" (
Step 120: When set to "Pursuit Mode" (
Step 130: Operating the first battery switch (
Step 140: By pressing the control button (
Step 150: Operation of the Control Knob (
Step 160: Operation of the second battery switch (
Step 170: Operation of the Direction Selector Switch (
Wenn sich beim obigen Schritt 120 die Bedienperson mit der Fernsteuerung (
Wenn sich das Fahrzeug (
Die Infrarotempfänger (
Claims (9)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102014106835.1A DE102014106835A1 (en) | 2014-05-15 | 2014-05-15 | Device for tracking an object and corresponding driving method thereto |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102014106835.1A DE102014106835A1 (en) | 2014-05-15 | 2014-05-15 | Device for tracking an object and corresponding driving method thereto |
Publications (1)
Publication Number | Publication Date |
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DE102014106835A1 true DE102014106835A1 (en) | 2015-11-19 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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DE102014106835.1A Ceased DE102014106835A1 (en) | 2014-05-15 | 2014-05-15 | Device for tracking an object and corresponding driving method thereto |
Country Status (1)
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DE (1) | DE102014106835A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ITUA20163273A1 (en) * | 2016-05-09 | 2017-11-09 | Tech Systems By Moro S R L | CLEANING MACHINE |
WO2018127253A1 (en) * | 2017-01-09 | 2018-07-12 | EurA AG | Electronic coupling system |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4905315A (en) * | 1988-06-30 | 1990-02-27 | Solari Peter L | Camera tracking movable transmitter apparatus |
US6327219B1 (en) * | 1999-09-29 | 2001-12-04 | Vi&T Group | Method and system for directing a following device toward a movable object |
CN201638383U (en) * | 2009-11-30 | 2010-11-17 | 天津三星电子有限公司 | Pan-tilt serving function of automatically tracking moving object |
CN102358369A (en) * | 2011-07-22 | 2012-02-22 | 路海燕 | Intelligent tracking type electric remote-control wheelbarrow |
-
2014
- 2014-05-15 DE DE102014106835.1A patent/DE102014106835A1/en not_active Ceased
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4905315A (en) * | 1988-06-30 | 1990-02-27 | Solari Peter L | Camera tracking movable transmitter apparatus |
US6327219B1 (en) * | 1999-09-29 | 2001-12-04 | Vi&T Group | Method and system for directing a following device toward a movable object |
CN201638383U (en) * | 2009-11-30 | 2010-11-17 | 天津三星电子有限公司 | Pan-tilt serving function of automatically tracking moving object |
CN102358369A (en) * | 2011-07-22 | 2012-02-22 | 路海燕 | Intelligent tracking type electric remote-control wheelbarrow |
Non-Patent Citations (1)
Title |
---|
Tzuu-Hseng S. Li, Shih-Jie Chang, Wei Tong: Fuzzy Target Tracking Control of Autonomous Mobile Robits by Using Infrared Sensors. In: IEEE Transactions on Fuzzy Systems, Vol. 12, August 2004, No. 4, 491-501. * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ITUA20163273A1 (en) * | 2016-05-09 | 2017-11-09 | Tech Systems By Moro S R L | CLEANING MACHINE |
WO2018127253A1 (en) * | 2017-01-09 | 2018-07-12 | EurA AG | Electronic coupling system |
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R012 | Request for examination validly filed | ||
R082 | Change of representative |
Representative=s name: HORAK, MICHAEL, DIPL.-ING., LL.M., DE |
|
R002 | Refusal decision in examination/registration proceedings | ||
R003 | Refusal decision now final |