JP2020527266A - Autonomous robot system - Google Patents

Abstract

A system for identifying and tracking mobile electronic devices, the system including an antenna for receiving transmitted signals, multiple sensors for distance measurement, a processor and a memory for communicating with the processor. When the memory is executed by the processor, the processor determines the speed and direction of the mobile electronic device; adjusts the movement path of the system based on the determined speed and direction of the mobile electronic device; with the mobile electronic device. Determine the distance to and from the system; identify and avoid barriers in the system's path of travel and store commands that command the system to track mobile electronic devices within a predetermined distance. ..

Description

(Cross-reference of related applications)
This application claims priority and interests in US Provisional Application No. 62 / 651,023 filed on March 30, 2018, and PCT Application No. PCT / US17 filed on October 19, 2017. / 57319 Partial continuation application, claiming priority and benefit over US provisional application 62 / 530,744 US filed on July 10, 2017 US Patent Application No. 1 filed on October 5, 2017 This is a partial continuation application of No. 15 / 725,656, the entire contents of which are incorporated herein by reference.

The present invention belongs to methods and devices for robotics in general, and in particular to seek out and track moving targets and to detect and avoid barriers on their moving routes.

People usually travel with some items such as bags or suitcases. These articles come in different sizes, some of which can be heavy and large, making them very difficult to handle. Often, people lose these bags or suitcases during their journey, which is a stressful situation for most travelers. Therefore, people have long sought solutions to ensure safe and reliable movement with heavy or large items. An autonomous robot system that explores and tracks its users provides peace of mind and adapts to different environments.

Previous solutions for autonomous robot systems that explore and track their users include tracking targets based on camera imaging solutions, but the system is similarly dressed people or similar. This only worked when there was only one person in the area covered by the camera or video, as it was difficult to distinguish the targeted user from the crowd of visible people. In addition, tracking via camera or video requires a great deal of computing power and can potentially cause security issues. Other solutions for tracking targets include voice tracking, heat detectors, RFID and Bluetooth technologies. Tracking through sound seems impractical as it may need to always produce a sound that the system program recognizes. Tracking through a heat detector becomes unreliable when the system is in an environment with multiple heat sources, such as one or more people or animals within range. RFID and remote control technology only work when the target is directly visible to the device. Currently available solutions using Bluetooth technology face three problems. First, the human body can weaken and diffuse the Bluetooth signal. Second, there is a very large amount of signal reflection from the Bluetooth device itself, and the signal is very dependent on the location of the source, such as a telephone, on the Bluetooth signal. Third, whenever the Bluetooth device changes position, the signal changes all of its parameters, making it difficult to determine the speed of the system and moving targets, as well as the distance between them.

A system for identifying and tracking mobile electronic devices, in some embodiments, the system is an antenna for receiving transmitted signals; multiple sensors for distance measurement; a processor; and communication with the processor. Includes memory to do. In some embodiments, the memory, when executed by the processor, determines the speed and orientation of the mobile electronic device when the memory is executed by the processor; the determined speed of the mobile electronic device. And adjust the system's travel path based on direction; determine the distance between the mobile electronic device and the system; instruct the system to track the mobile electronic device within a predetermined distance: system Identify barriers in the path of travel; instruct the system to stop for a predetermined amount of time when the barriers are identified; barriers are still in the path of travel of the system after a predetermined amount of time Determine if; adjust the system's path of travel when determining that the barrier is still in the system's path of travel; and predetermined when determining that the barrier is no longer in the system's path of travel. It stores commands that instruct the system to keep track of mobile electronic devices within a given distance.

A method of identifying and tracking a mobile electronic device by a system, the method of determining the speed and orientation of the mobile electronic device by a processor; based on the speed and orientation of the mobile electronic device determined by the processor. To adjust the travel path of the system; the processor determines the distance between the mobile electronic device and the system; the processor instructs the system to track the mobile electronic device within a predetermined distance range. To do; to identify barriers in the system's travel path by the processor; to instruct the system to stop for a predetermined time when the barriers are identified by the processor; by the processor. Determining if the barrier is still in the system's path of travel after a predetermined amount of time; the processor adjusts the system's path of travel when determining the barrier is still in the path of travel. To do; and by the processor, it involves instructing the system to keep track of the mobile electronic device within a predetermined distance when determining that the barrier is no longer in the system's path of travel.

In some embodiments, the processor pairs the mobile electronic device with bluetooth and tracks only the mobile electronic device after bluetooth sparing.

In some embodiments, the system includes a camera that performs object recognition to identify barriers and transmits object recognition signals.

In some embodiments, the instructions that cause the system to stop are based on a predetermined distance threshold between the system and the barrier.

In some embodiments, the system comprises an engine controller that controls the movement of the system.

In some embodiments, the instructions by which the system tracks a mobile electronic device within a predetermined distance are based on speed and direction of the system.

In some embodiments, the system further commands the system to speed up the system when it is physically pulled at a predetermined angle with respect to the ground.

In some embodiments, the system further commands the system to rotate multiple omni wheels of the system up to 180 degrees when the mobile electronic device is at a threshold of a predetermined angle with respect to the system.

In some embodiments, the system comprises a joystick that controls the movement of the system.

In some embodiments, the system comprises one or more of suitcases, bags, cargoes, strollers, carriages and containers.

Those skilled in the art will recognize that any combination of the above embodiments is within the scope of the present invention. For example, the system may further include a camera, joystick and / or engine controller.

FIG. 1 is a front view of an autonomous robot system according to some aspects of the present invention;

FIG. 2 is a side view of an autonomous robot system according to some aspects of the present invention;

FIG. 3 is a rear view of an autonomous robot system according to some aspects of the invention;

FIG. 4 illustrates a procedural flow for an autonomous robot system searching for a target according to some aspects of the invention;

FIG. 5 illustrates a procedural flow for an autonomous robot system moving towards a stationary target according to some aspects of the invention;

FIG. 6 illustrates a procedural flow for an autonomous robot system that responds to discovered barriers according to some aspects of the invention;

FIG. 7 illustrates a procedure flow for an autonomous robot system that tracks moving targets according to some aspects of the invention;

FIG. 8 illustrates a procedure flow for an autonomous robot system that assists a user in accordance with some aspects of the invention.

Detailed explanation

References will be made to the embodiments illustrated in the drawings and certain languages will be used to describe the aforementioned for purposes of facilitating an understanding of the principles of the invention. Nevertheless, it will be well understood that this is not intended to limit the scope of the invention. Any modification and further formulation of the described embodiments, as well as any further modifications of the described embodiments, and any further application of the principles of the invention described herein are envisioned and those skilled in the art in which the invention relates. Will usually occur.

Autonomous robot systems, such as suitcases, bags, cargo, strollers, carriages, similar items with containers and wheels (“systems”), such as smartphones, laptops or notepads carried by the user. Search for electronic devices and track targets, while detecting and avoiding barriers in their travel path. The system wirelessly connects to a target, such as a portable electronic device such as a smartphone, and "pairs" only with the target to track the target as it moves. The system navigates through a large crowd, recognizing and avoiding objects in its path while following the target path. In some aspects, the system can move through crowds and barriers without the need for any additional peripherals. In some aspects, the autonomous robot system includes an omni wheel, which enables multi-directional movement including vertical and horizontal and excellent stability. Along with tracking the moving target, the system moves at a certain speed within a predetermined target moving speed threshold.

The system patrols its environment using cameras or recorders. In some aspects, the camera or recorder can be controlled remotely. In some aspects, the system includes location awareness applications, such as to an omnidirectional position system (“GPS”) chip, to orient and track its position. In some aspects, the GPS chip is removable. In some aspects, the system may include two additional GPS chips. In some embodiments, the system uses artificial intelligence (Al) and machine learning to optimize its movement. The system may include, for example, an integrated adaptive Al that recognizes its environment on an aircraft and adjusts its movement accordingly. The system may include virtual reality (VR) and camera integration, which may be used to reconstruct an image of the system's travel path. The system may also include directional indicators, such as speakers to guide the user with visual impairment.

FIG. 1 is a front view of an autonomous robot system according to some aspects of the disclosed invention 100. The components 100 of the base system may include: directional antennas 102, 104, 106, 108; distance measurement sensors 110, 112, processor and memory 114 and wheels 116, 118. The system may include a Bluetooth slow energy module, including a user's transmitter detection module, including specially designed directional antennas 102, 104, 106, 108, and algorithms for data processing. Directional antennas 102, 104, 106, 108 detect the target by looking for a target radio signal transmitter, such as a smartphone, smartwatch, or electronic wrist bracelet. Differences in the intensity of the signals received by the directional antennas 102, 104, 106, 108 are used, for example, in the scale and finite difference method to determine the distance and angle of the target with respect to the system.

The system may also use a distance measurement sensor to detect its target. Distance sensor selection includes ultrasonic distance measurement sensors and / or laser distance measurement sensors. In addition, distance measurement sensors may also be used to detect barriers, such as people, fixtures and buildings in the path of travel of the system.

The system may search for a target when it is within its visual range by its visual identification module. As shown in FIG. 1, the visual identification module may include a camera 120. In some embodiments, the system may include a module for visual identification and fixation of the targeted person using human image recognition. In some aspects, the module may include at least one camera 120 located in the center of the vehicle cover. The module outputs radians from 0 ° to 170 ° when a person is within a set visual range at a predetermined distance, eg 25 cm from the ground and a preset angle, eg 45 °. It will be started. The module also contains an algorithm that processes the image of the targeted person to determine if the person in range is the expected target. In some aspects, the camera 120 is equipped to act as a removable 360 degree virtual reality camera.

FIG. 2 is a side view of an autonomous robot system according to some aspects of the disclosed invention 200. In some aspects, the system may include a plurality of ultrasonic distance measuring sensors 110, 112 located in front of the system and a plurality of laser distance measuring sensors 202, 204 at the top of the system. The system may also include a bioassay lock system 206 activated by, for example, a fingerprint, face or iris. In some aspects, the system may also include a mechanism for manual locking.

FIG. 3 is a rear view of an autonomous robot system according to some aspects of the disclosed invention 300. The system may include a notification module such as a light indicator and / or a sound indicator, for example the system may include an addressable LED RGB stripe 208. The notification module may also include a speaker 302. The LED RGB stripe 208 and speaker 302 are configured to provide a variety of light patterns and sound effects. The notification module does not necessarily have to be autonomous, which is when the system is started from a blockage; detection of barriers in the system's path of travel; barriers that cannot or cannot be avoided, such as stairs. When detected; interruption of communication; intrusion into a corner; rotation around the axis of the system; and unexpected removal, configured to be activated in a variety of situations, such as someone attempting to steal the system. You may. The power source for the system includes batteries, solar panels and other means for providing long-term power, one example is the removable battery 304, which may be charged wirelessly.

The system may also include a decision module, but the "decision" is the result of sequence processing by the "acting member" (pipeline) of the system. In some embodiments, the decision-making process may include, for example, receiving data belonging to the system engine from an estimator and setting the initial moving speed and angle of the system. The decision-making stage may include identifying a target, such as a portable electronic device or the targeted person. The system communicates with electronic devices or utilizes face recognition data in obtaining target location information, including angles and distances. Electronic devices such as smartphones, smartwatches, wrist bracelets and others are probably mobile targets. The system also calculates the velocity of the target, corrects its rotation angle based on the position of the target, and sets its direction of movement. If the system itself detects when it is too close or too far from the target, for example when it completely loses communication with the user, the system stops moving, and it is tracking. Notifications may be sent to electronic devices.

The system searches through a list of pre-authenticated targets / devices to establish "pairing". For example, the system may be searched through a particular person's car, smartphone, smartwatch and / or tablet, all of which may be "pre-authenticated" as "targets" that the system can track. Once the initial pairing of the target device and system is successful, the paired device is considered a trusted device, as well as a target. From now on, the system will not pair with any other target unless it receives further instructions. The system and target communication end ends when the system or target device is shut down.

In some aspects, the system establishes exclusive targeting by verifying the target Bluetooth protocol during the identity code exchange between the system and the server and the initial connection. After establishing the initial booting of the system and communication with the target, the system proceeds to a calibration process arbitrarily chosen by the user in the mobile application. Single transmitters of different types are likely to have different receive and transmit antennas with different characteristics. Each with respect to the system to level the effects of different types of signal transmitters for better accuracy in determining the distance and angle of the system with respect to the target to be compatible with all types of radio signal transmitters. Initial calibration is required for the transmitter of.

FIG. 4 illustrates a procedural flow for an autonomous robot system that searches for a target according to some aspects of the disclosed invention. The target that the system detects and tracks is probably a wireless electronic device, such as a smartphone, which is capable of being paired with the system using the Bluetooth protocol. The pairing process can be invoked by the user, for example, via a mobile application previously downloaded to a wireless electronic device. In some aspects, the system automatically searches for devices to establish "pairing". Targeted wireless electronic devices are registered and verified to prevent the system from tracking wrong targets, such as unwanted smartphones.

Therefore, when the system detects a wireless electronic device and determines that the device is a possible target in block 402, the system begins the verification process by determining whether the device has already been registered. Each registered target / device has a unique serial number; only the verified registrant's target / device can control and monitor the system. The device verification process records the serial number of a remote user account stored on a server, such as the cloud. As shown in block 410, the system first determines if the device serial number is located on the server and then verifies if the device associated with the serial number is already registered in block 412. If the device has not yet been registered, the system may confirm in block 404 during the initial connection by the user seeking permission and the system may register the device in block 406 for verification purposes. I need to be able to do it. If the user grants permission, the system will register the device on the server and perform the verification process in block 408. Examples of registration methods include using the email address and / or phone number associated with the smartphone. User permissions include, for example, Bluetooth usage, access to GEO data, and more. In some aspects, the mobile application dashboard is the main application control panel with a set of features for controlling and monitoring the device. Mobile applications may also include options such as linking a particular system to a user's account to increase protection against unauthorized access and theft. The system detects the target location and tracks the user, while observing the set distance between it and the user and maintaining optimal speed. An option may be to indicate an alarm, such as a light or sound, when the system loses its communication with its target.

FIG. 5 illustrates a procedure flow (“finding me”) for an autonomous robot system advancing to a stationary target, according to some aspects of the disclosed invention. In some embodiments, the process 500 of finding me begins after the system has successfully validated the target, while the target is still stationary at that location and the system predetermines the distance between the system and the target. It moves autonomously toward the target until there is no threshold. In some aspects, the user uses the mobile application in block 502 to launch the process of finding me. During the process of finding me, the system moves at a predetermined constant speed. In some aspects, the predetermined speed is set by the system user, and this can be changed via the mobile application. In some aspects, the system only uses the data it receives from directional antennas (eg, directional antennas 102, 104, 106, 108 in FIG. 1) for navigation.

At the beginning of the process of finding me in block 500, the system receives data belonging to the system engine from the integrator in block 506. The system also receives data belonging to the target location in block 505. The system uses both datasets to determine the angle and distance of the target with respect to the system in block 508. The system compares the distance to the target in block 510 with a predetermined threshold value to determine whether to send a command to the system engine controller. If the distance to the target is greater than a predetermined threshold, the system determines the angle and distance to the target in block 512 and sets the path of travel that it will employ for the target. On the path to the target, the system may detect one or more barriers at block 514. When the barrier is in the travel path, the system obtains data belonging to the location of the barrier in block 516 to adjust the travel route by another operation in block 600, and sends a command to the system engine controller to it. Adjust its movement accordingly. If the system does not detect any barriers on the path to the target, the system at block 520 obtains data belonging to the target location and compares the data with the previous target data at block 505. And it will determine if the target has moved since it was first paired. If the target moves, the system receives target motion data at block 522, including the angle and distance to the target. The system analyzes the target behavior data and determines the engine data at block 524. Instructions to the system engine are sent to the engine at block 526 to set the next movement of the system by adjusting the system wheel rotation angle and speed.

When the target arrives, this mode may be turned off automatically, and the operation control member responsible for the operation mode initiates another mode, eg, a "sleep" mode in which the system stops moving). To do. The system stops tracking the electronic device and waits for a period of time when the obstacle disappears, eg, is removed. The duration of the waiting time is predetermined based on the specific station environment in which the system operates. When an insurmountable barrier (hole or dead end) is detected, an alarm, such as an LED light or notification, or a visual display is generated and sent to a mobile application attached to the user's smartphone. ..

The system moves towards the target until its distance from the target is less than the threshold value. The threshold is generally the optimum distance, which can be maintained and set by the user when the system tracks the target during operation.

When the distance between the system and the target is less than the threshold, the system presumes that it has "reached" the target. The system then stops. In some aspects, the system goes into standby mode after it reaches the target.

FIG. 6 illustrates a procedure flow 600 for an autonomous robot system that responds to discovered barriers, in accordance with some aspects of the disclosed invention. If the system finds a barrier in its travel route at block 602, the system will stop and wait for a period of time at block 604. Often, the barriers are moving objects or people, which will move in a short period of time. The length of latency in block 604 is pre-determined or user-selectable based on the specific environment in which the system is estimated to be located. For example, airports are likely to have temporary barriers that "go away" faster than permanent barriers such as road blocks, such as people. Therefore, users at the airport may choose to set a shorter waiting time as opposed to those on the sidewalk of the street.

The system determines if the barrier has been removed from its travel route after "pause" and continues its travel on the route to the target in block 608. If the barrier is still present, the system generates instructions to the engine controller to adjust its movement by changing the angle of rotation and / or the speed of the wheels at block 610. Sometimes barriers such as walls will be difficult to overcome, and even by adjusting the wheels at block 612, the system will not be able to push and move it. Insurmountable barriers can also be barriers that cannot be circumvented by the operations available due to the shape of the system, for example, when the system is on a path that requires going up or down the stairs. In this case, the system stops at block 614 and generates a notification to alert the user of the barrier, for example through an alarm or notification sent to the user's portable device.

FIG. 7 illustrates a procedure flow (“tracking me”) for an autonomous robot system that tracks a moving target, in accordance with some aspects of the disclosed invention. The process of tracking me in block 700 begins after the system successfully validates the target. As the target moves, the system determines the initial distance between itself and the target and accelerates towards the target until it is within optimal distance from the target. The system maintains its speed in response to the moving target and stays within the optimum distance. The system analyzes data collected from all internal components such as antennas, sensors and / or cameras, and external sources, including data collected from the user's mobile application to determine the speed and / or angle of movement of the target. decide. In some embodiments, the process of tracking me utilizes Al and autonomous movement techniques to determine the direction and speed of movement of a target based on its speed and / or angle.

According to some aspects shown in FIG. 7, the process of tracking me may be invoked by the user using the mobile application in block 702. The process of tracking me begins by receiving the estimate data from the system engine at block 706. The system collects data from the antenna at block 701, the distance measurement sensor at block 703, and the camera at block 705 to determine the angle and distance of the moving target with respect to its position at block 710. In some aspects, the system utilizes the antenna data in block 701 to determine its own movement, specifically its angle and distance, with respect to the moving target, and monitor its own drive speed. The antenna detects the direction of motion, and the antenna data is transmitted to the system where it determines the required wheel angle for future movement in block 710. The distance measuring sensor at block 703 itself detects the distance between the moving target and the system. The sensor data is sent to the system processor, where it determines the required wheel drive speed for future movement in block 710. When the system is within a predetermined threshold, the wheels rotate at a constant speed to maintain the optimum distance. The wheels accelerate or decelerate, respectively, when the distance is too large or too small with respect to the threshold. The threshold is maintained by the system, which is the optimal distance between the system tracking the target and the moving target. In some aspects, the camera at block 705 identifies the target and obtains information about the distance and angle with respect to the target. The camera data is also transmitted to the system processor and used in block 710 to determine the next action based on the distance and angle with respect to the target.

According to some aspects, the system determines the approximate velocity and angle of the moving target in block 710, and sets the moving path in block 712, and the data belonging to the target in block 708, eg, the target distance in block 706, This is adopted to track the target based on the results of analysis of the target angle and integrator data.

On a movement path that tracks a movement target, the system may detect one or more barriers at block 714. When a barrier is identified in the travel path, the system acquires data belonging to the location of the barrier to adjust its travel route in block 716 by another operational process, eg, the method of FIG. 6, and to the system engine controller. A command may be sent to adjust its movement accordingly, for example, the camera may identify the barrier by object recognition.

The system acquires the target motion data belonging to the position of the moving target including the angle and distance of the target in block 718, and determines the engine data by analyzing the target motion data in 720. Instructions to the system engine controller are transmitted in block 722 to set the next movement of the system by adjusting the rotation angle and speed of the system wheels. The process of tracking me is that the user terminates the target tracking mode or stops the target from moving, and the system reaches a predetermined distance from the target, eg, the distance between the system and the target. Exits when is less than 1 meter.

According to some aspects of the invention, the system engine controller directly controls the motor driver by generating a pulse width modulation (“PWM”) control signal for the duty cycle required for the motor driver. May be good. In some aspects, upon receiving a command, the system engine controller calculates the required wheel speed and rotation angle based on the speed and angle between the system and its target. In some aspects, the engine controller is based on a predetermined threshold value of the angle between the system and its target, for example when the system is immediate when the angle between the system and its target is 180 degrees. You may decide to rotate the wheels backwards so that they rotate to track the electronic device.

The system processing may also include a manual vehicle operating mode, which allows the user to control the movement of the system using the joystick in a mobile application. For example, the user may use the mobile application to activate the joystick mode and operate the joystick in multiple sensitivity modes, such as low, medium, and high. During operation, the mobile application sends (xy) coordinates and a range of [0,100] to the system processor, and upon receiving the coordinates, the system calculates the wheel rotation angle and speed, and controls wheel movement. Send instructions to the system engine according to the calculation to do.

FIG. 8 illustrates a procedure flow (“processing to assist me”) for an autonomous robot system that assists the user in accordance with some aspects of the disclosed invention. When the system reaches its target, it may be lifted or processed directly by the user. For example, the user may physically pull the system with a handle instead of having the system track the user while walking. While the system is physically pulled by the user, the engine of the system may automatically increase its horsepower so that the user does not have to subtract all the weight of the system, thereby operating. Help the user in moving the system, which would be too heavy to do. The wheels rotate at an angle depending on the direction in which the system is pulled by the user, while moving at a speed according to an algorithm based on the system's tilt angle with respect to the system's travel route and the weight of the system itself.

According to FIG. 8, assistant mode may be invoked by the user using a mobile application in block 802. The system has a gyroscope at block 808 and an internal scale at block 809, and monitors gyroscope data at block 804 to detect tilt angles at block 806. The system determines if the tilt angle is outside a predetermined threshold value, eg, if the system is tilted towards the ground at a 45 degree angle in block 810. If the angle (angel) is between the systems and the ground is within a predetermined threshold, the system determines the required speed of movement corresponding to the angle, which causes the user to pull a lot in block 812. Maintain without the need to use force. The system determines the engine data in block 814 and sends commands to the system engine controller in block 816 to set the next movement of the system by adjusting the rotation angle and speed of the system wheels.

In some embodiments, the system comprises a peripheral platform. The user mobile application that controls the system may also include user registration, optional device verification, user authorization and control functions. In some aspects, the target device confirmation may include registration and may confirm the device on a remote server and / or in the cloud.

The autonomous robot system may be fully integrated with other software applications to provide additional functionality. For example, in some aspects, the system may be integrated with applications that can produce travel suggestions, airport information and airport gate information. In some aspects, autonomous robot system functionality may be continuously improved through machine learning. For example, an autonomous robot system automatically uploads its own movement data to an autonomous robot system application to complete the system as operating time increases. However, in some aspects, self-learning features may not be available as an option for security purposes.

In some embodiments, the autonomous robot system may have more articles, such as another suitcase, above which it moves autonomously in horizontal mode. In some embodiments, the autonomous robot system may include an integrated scale that weighs its contents. In some aspects, the autonomous robot system may include a display showing its total weight. In some aspects, the autonomous robot system may include a unique handle that transforms into a portable desk, which can be used for laptops, books, documents and others. In some aspects, the autonomous robot system may include separate, easily accessible compartments for storage.

It should be noted that the aforementioned embodiments are merely intended to describe a technical solution to aspects of the invention, but aspects of the invention are not limited thereto. Aspects of aspects of the invention are described in detail with respect to the embodiments described above, although the technical solutions described with respect to the embodiments described above may be modified or even exchanges therein. It should be understood by those skilled in the art that some of the technical features may be made. It will also be appreciated by those skilled in the art that the aspects described above are embodiments of a single broader invention that may have a greater scope than any of the single descriptions without departing from the spirit and scope of the invention. It will be clear.

Claims (18)

A system for identifying and tracking mobile electronic devices;
Antenna for receiving and transmitting signals;
Multiple sensors for distance measurement;
Processor; and memory that communicates with the processor, which, when executed by the processor, determines the speed and orientation of the mobile electronic device;
Adjust the travel path of the system based on the determined speed and direction of the mobile electronic device;
Determine the distance between the mobile electronic device and the system;
Instruct the system to track mobile electronic devices within a predetermined distance;
Identify barriers in the system's path of travel;
Instruct the system to stop for a predetermined amount of time when a barrier is identified;
Determine if the barrier is still in the system's path of travel after a predetermined amount of time;
Adjust the system's path of travel when determining that the barrier is still in the system's path of travel; and within a predetermined distance when determining that the barrier is no longer in the system's path of travel. Instruct the system to keep track of mobile electronic devices in
Memory that stores commands in it,
Including the system. The system of claim 1, wherein the processor pairs the mobile electronic device with bluetooth and tracks only the mobile electronic device after bluetooth sparing. The system according to claim 1 or 2, further comprising a camera that performs object recognition to identify a barrier and also transmits an object recognition signal. The system according to claim 3, wherein the instruction to cause the system to stop is based on a threshold of a predetermined distance between the system and the barrier. The system according to claim 4, further comprising an engine controller for controlling the movement of the system. The system according to claim 5, wherein the instruction to track a mobile electronic device within a predetermined distance is based on speed and direction of the system. The system according to claim 6, wherein the processor further commands the system to speed up the system when the system is physically pulled at a predetermined angle with respect to the ground. In the system of claim 7, the processor further commands the system to rotate a plurality of omni wheels of the system up to 180 degrees when the mobile electronic device is at a threshold of a predetermined angle with respect to the system. The system. The system according to claim 8, further comprising a joystick for controlling the movement of the system. The system according to claim 9, wherein the system includes one or more of suitcases, bags, cargoes, strollers, carriages and containers. A method for identifying and tracking mobile electronic devices by the system;
Determining the speed and orientation of mobile electronic devices by the processor;
Adjusting the movement path of the system based on the speed and direction of the mobile electronic device determined by the processor;
Determining the distance between the mobile electronic device and the system by the processor;
Instructing the system to track mobile electronic devices within a predetermined distance by the processor;
Identifying barriers in the system's path of travel by the processor;
Instructing the system to stop for a predetermined time when the barrier is identified by the processor;
The processor determines whether the barrier is still in the system's path of travel after a predetermined amount of time;
Adjusting the system's path of travel when the processor determines the barrier is still in the path of travel; and pre-determined by the processor when determining that the barrier is no longer in the path of travel of the system. Instructing the system to keep track of mobile electronic devices within a range of distances,
Including methods. 11. The method of claim 11, further comprising Bluetooth pairing with the mobile electronic device by a processor and tracking only the mobile electronic device after the blueto pairing. The method of claim 11 or 12, wherein instructing the system to stop is based on a predetermined distance threshold between the system and the barrier. The method of claim 13, wherein instructing the system to track a mobile electronic device within a predetermined distance is based on speed and direction of the system. 14. The method of claim 14, further comprising increasing the speed of the system (where the system is physically pulled at a predetermined angle with respect to the ground) by a processor. 15. The method of claim 15, further comprising rotating a plurality of omni wheels of the system up to 180 degrees when the mobile electronic device is at a predetermined angle with respect to the system by the processor. 16. The method of claim 16, further comprising adjusting the speed and rotation angle of the system in the direction of change of the travel path by a processor. 17. The method of claim 17, wherein the system is one or more of suitcases, bags, cargoes, strollers, carriages and containers.

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