WO2017125004A1 - 载物平台的自动跟随方法及载物平台 - Google Patents

载物平台的自动跟随方法及载物平台 Download PDF

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Publication number
WO2017125004A1
WO2017125004A1 PCT/CN2017/071421 CN2017071421W WO2017125004A1 WO 2017125004 A1 WO2017125004 A1 WO 2017125004A1 CN 2017071421 W CN2017071421 W CN 2017071421W WO 2017125004 A1 WO2017125004 A1 WO 2017125004A1
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WO
WIPO (PCT)
Prior art keywords
user
following
platform
signal
loading platform
Prior art date
Application number
PCT/CN2017/071421
Other languages
English (en)
French (fr)
Inventor
郑少华
黎剑辉
张圳
朱一伟
罗海彬
湛浩
Original Assignee
丰唐物联技术（深圳）有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 丰唐物联技术（深圳）有限公司 filed Critical 丰唐物联技术（深圳）有限公司
Publication of WO2017125004A1 publication Critical patent/WO2017125004A1/zh

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
    • A45C13/00—Details; Accessories
    • A45C13/38—Luggage carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1684—Tracking a line or surface by means of sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/12—Target-seeking control

Definitions

  • the present invention relates to the field of automation technologies, and in particular, to an automatic following method for a load platform and a load platform.
  • the robots that carry baggage can replace the labor to a certain extent, provide corresponding handling services for the customers, realize the replacement of manual services by the robots, improve the efficiency of receiving customers such as airports and stations, and save human resources.
  • a robot carrying a baggage is prone to losing baggage during the process of carrying baggage, and the robot carrying the baggage cannot follow people after traveling or shopping, so it is not convenient for the user to access the baggear. And place the corresponding baggage items.
  • Embodiments of the present invention disclose an automatic following method for a load platform, including the following steps:
  • the following signal sent by the user guiding device includes two different following signals; [0010] when the first type of following signal is interrupted and there is no successful establishment of a communication connection with the carrier platform within a predetermined length, the user guides the device to transmit a second following signal, based on the second following signal and The load platform is connected by communication;
  • the two different following signals comprise: two following signals of the same type and different frequencies, and two types of following signals of different types.
  • the automatic following method of the loading platform further includes:
  • the automatic following method of the loading platform further includes:
  • the automatic following method of the loading platform further includes:
  • the present invention also discloses a cargo platform, including:
  • a receiving module configured to receive a follow signal sent by the user guiding device
  • a parsing module configured to lock the user guiding device based on the received following signal, and parse the received following signal
  • a following module configured to follow the locked user guide device according to the parsing result of the following signal, and maintain a preset distance with the user guiding device.
  • the following signal sent by the user guiding device includes two different following signals
  • the user guides the device to transmit a second following signal, based on the second following signal and
  • the load platform is connected by communication; [0024] wherein the two different following signals comprise: two following signals of the same type and different frequencies, and two types of following signals of different types.
  • the load platform further includes:
  • an obstacle avoidance module configured to add a camera on the loading platform, and monitor an obstacle in the forward direction of the loading platform based on the newly added camera, bypassing the obstacle, And maintaining the preset distance to continue to follow the user guide device.
  • the load platform further includes:
  • a fall prevention module configured to add a pressure sensor to the loading platform, and monitor an item falling on the loading platform based on the newly added pressure sensor, and send corresponding notification information to Remind the user that there is something falling on the load platform.
  • the load platform further includes:
  • a power assisting module configured to add a handle on the loading platform, and based on the newly added handle, monitoring that a hand is placed in the handle, the loading platform is interrupted and the user is guided A follow-up signal between the devices, the assist system corresponding to the handle is activated, and the work of the assist system is controlled based on the force of the handle.
  • the automatic following method and the loading platform of the loading platform of the present invention can achieve the following beneficial effects: [0032] receiving the following signal sent by the user guiding device; locking the user based on the received following signal Directing the device, and parsing the received following signal; following the parsed result of the following signal, following the locked user guiding device, and maintaining a preset distance with the user guiding device; having automatic following
  • the beneficial effect of the user guiding device prevents the loss of luggage items, improves the intelligence of the loading platform, and improves the user experience.
  • FIG. 1 is a schematic flow chart of a first embodiment of an automatic following method of a load platform of the present invention
  • FIG. 2 is a schematic flow chart of a second embodiment of an automatic following method of the loading platform of the present invention
  • 3 is a schematic flow chart of a third embodiment of an automatic following method of the load platform of the present invention
  • 4 is a schematic flow chart of a fourth embodiment of an automatic following method of the loading platform of the present invention
  • FIG. 5 is a block diagram of a first embodiment of a load platform of the present invention.
  • FIG. 6 is a block diagram of a second embodiment of the load platform of the present invention.
  • FIG. 7 is a block diagram of a third embodiment of the load platform of the present invention.
  • FIG. 8 is a block diagram of a fourth embodiment of the load platform of the present invention.
  • the described loading platform can carry objects, such as luggage items, and can also carry people; the user can use the loading platform to carry the load as needed.
  • the corresponding object The embodiment of the present invention does not limit the specific object carried by the loading platform.
  • the present invention provides an automatic following method for a load platform, which aims to achieve the purpose that the load platform can automatically follow the user to guide the device.
  • the automatic following method of the load platform of the present invention can be implemented as steps S10-S30 as described below:
  • Step S10 Receive a follow signal sent by the user guiding device.
  • the loading platform for carrying the user's luggage item receives the following signal sent by the user guiding device; wherein the loading platform is paired with the corresponding user guiding device, and the loading platform is only automatic follow the user boot device paired with the load platform.
  • the user in order to facilitate the user's use, can wear or hold a guiding device, that is, the user guiding device, and the user guiding device can be used as a corresponding infrared transmitting device for transmitting the loading platform for automatic implementation.
  • a guiding device that is, the user guiding device
  • the user guiding device can be used as a corresponding infrared transmitting device for transmitting the loading platform for automatic implementation.
  • the carrier platform is in communication communication with the user guidance device via an infrared signal.
  • a corresponding infrared receiving device such as a passive infrared detector or an infrared camera is mounted on the loading platform; the user guiding device may be an infrared emitting device or the like.
  • the following signals transmitted by the user-guided device include two different types of follow-up signals.
  • the user guides the device to send a second following signal, based on the second following signal
  • the carrier platform performs a communication connection; wherein the two different following signals include: two types of following signals of the same type and different frequencies, and two types of following signals of different types.
  • the two follow signals are infrared signals, but the frequencies of the two follow signals are different; or the first follow signal is an infrared signal, the second follow signal is a wireless Wifi signal, or is different from the infrared signal.
  • Step S20 Lock the user guiding device based on the received following signal, and parse the received following signal;
  • the loading platform locks the guiding device that sends the following signal, and parses the received following signal; for example, whether the guiding device that sends the following signal is The user paired with the loading platform guides the device to avoid following chaos; or, the sending time of the following signal is analyzed.
  • the following signal is an infrared signal.
  • Step S30 Follow the locked user guide device according to the parsing result of the following signal, and maintain a preset distance with the user guiding device.
  • the loading platform determines, by the parsing result of the following signal, that the user guiding device that sends the following signal is a user guiding device that is paired with the loading platform, that is, re-confirm that the locked user guiding device is a follow-up object of the loading platform; and confirming the position, distance, and the like of the user guiding device and the loading platform according to the analysis result of the signal; thereby automatically following the user guiding device that has been locked according to the analysis result; The preset distance is kept following the user-guided device according to a preset distance.
  • the loading platform keeps the preset distance after following the user guiding device; for example, when the user guides the device to advance, the loading platform also accelerates to maintain with the user guiding device.
  • the preset distance when the user boots the device back, the loading platform also retreats, and continues to maintain the preset distance with the user guiding device.
  • the specific distance of the preset distance may be set according to the usage scenario of the loading platform and the type of the specific baggage item carried by the loading platform (for example, the valuable degree of the baggage item).
  • the length of the preset distance is not limited in the embodiment of the present invention.
  • the following following signals include, but are not limited to, electromagnetic waves (eg, radio frequency signals, infrared light signals, visible light signals, etc.), and mechanical waves (eg, sound waves, ultrasonic waves, etc.).
  • electromagnetic waves eg, radio frequency signals, infrared light signals, visible light signals, etc.
  • mechanical waves eg, sound waves, ultrasonic waves, etc.
  • the user guides the device to transmit a wireless electric signal to the loading platform, and simultaneously, the loading platform transmits the ultrasonic signal to the user guiding device after receiving the radio signal. Since a plurality of ultrasonic receivers are provided, for example, four ultrasonic receivers are provided, and the distances of the ultrasonic receivers are different, the ultrasonic signals arrive at the four ultrasonic receivers, and the ultrasonic signals can be received by the four ultrasonic receivers. The comparison and calculation between the ultrasonic waves calculates the distance from each ultrasonic receiver to the user's guiding device.
  • the specific coordinates of the user guiding device in the coordinate system established by the loading platform can be calculated, thereby determining the specific orientation of the user guiding device relative to the loading platform, and controlling the driving device ( For example: PWM control motor speed) to achieve the target platform to follow the target according to the set distance.
  • the driving device For example: PWM control motor speed
  • the difference between the two can be achieved by Time Difference Of
  • TDOA positioning is a method of positioning using the inter-turn difference.
  • the distance of the signal source can be determined, and then the distance from the signal source to each monitoring station is used (centered on the monitoring station. The distance is rounded to determine the position of the signal. In practical applications, it is usually more difficult to measure in absolute time.
  • a hyperbola with the focus of the monitoring station and the long axis as the long axis can be made. The intersection point is the position of the signal, thus achieving the following positioning.
  • the automatic following method of the loading platform of the present invention receives the following signal transmitted by the user guiding device; locks the user guiding device based on the received following signal, and parses the received following signal; And following the parsing result of the following signal, following the locked user guiding device, and maintaining a preset distance with the user guiding device; having the beneficial effect of automatically following the user guiding device, preventing the loss of the baggage item, improving
  • the intelligence of the load platform also enhances the user experience.
  • a corresponding camera is added and set on the platform.
  • the loading platform detects that there is an obstacle in the forward direction of the loading platform through the camera, the loading platform can automatically bypass the corresponding obstacle and maintain the above pre-prevention with the user guiding device. Set the distance and continue to follow the corresponding user boot device.
  • step S30 of the embodiment of FIG. 1 follows the locked user guide device according to the analysis result of the following signal. And after maintaining a preset distance with the user boot device, the steps are further included:
  • Step S40 adding a camera to the loading platform, and monitoring, according to the newly added camera, that there is an obstacle in the forward direction of the loading platform, bypassing the obstacle, and maintaining the The preset distance continues to follow the user boot device.
  • a corresponding camera for example, a Real Sense 3D camera
  • the loading platform controls the camera to perform image collection, and the image collected by the camera is collected.
  • image information it is easy to monitor whether there is an obstacle in the advancing direction of the platform.
  • the load platform when there is an obstacle in the forward direction of the load platform that is insurmountable by the load platform, the load platform first bypasses the obstacle, and then continues to guide the device according to the corresponding platform of the load platform, and The load platform follows the ⁇ and still maintains the above preset distance with the user guiding device.
  • the automatic following method of the loading platform of the present invention bypasses the obstacle by adding a camera to the loading platform and monitoring the advancement direction of the loading platform based on the newly added camera. Determining the obstacle, and maintaining the preset distance to continue following the user guidance device; having the beneficial effect of automatically avoiding obstacles during the process of automatic follow-up.
  • a corresponding pressure sensor may be added and set on the loading platform;
  • the load platform can pass the above pressure sensor
  • Step S30 in the embodiment of FIG.
  • step further comprises:
  • Step S50 adding a pressure sensor to the load platform, and based on the newly added pressure sensor After the items on the loading platform are dropped, the loading platform sends corresponding notification information to remind the user that the items on the loading platform are dropped.
  • a pressure sensor is mounted on the loading platform, and when the luggage item is dropped on the loading platform, the pressure sensor can sense the change of the pressure, thereby monitoring the item on the loading platform. Down the road, the vehicle platform immediately sends a corresponding notification message to remind the user that the baggage item has fallen.
  • the loading platform may send a corresponding notification message by means of a warning tone, and thereby reminding the user that the luggage item on the loading platform is dropped.
  • the automatic following method of the loading platform of the present invention transmits the corresponding notification information by issuing a warning sound to remind the user that the item on the loading platform is dropped; the safety of the handling of the luggage item is improved.
  • a handle can also be added to the loading platform; based on the increased handle, when in a complicated In the environment, the loading platform detects that a hand is placed in the handle, automatically interrupts the following signal with the user guiding device, activates the assisting system corresponding to the handle, and controls the assist according to the force of the handle. The corresponding work of the system.
  • step S30 of the embodiment of FIG. 1 according to the analysis result of the following signal, following the locked user guide After the device, and maintaining a preset distance from the user boot device, the steps are also included:
  • step S60 adding a handle to the loading platform, and monitoring, according to the newly added handle, that the hand is placed in the handle, the loading platform is interrupted and the user guiding device is The following follow-up signal activates the assist system corresponding to the handle and controls the operation of the assist system based on the force of the handle.
  • a handle is newly added on the loading platform, and the user can drag the loading platform through the handle.
  • the loading platform monitors the handle inside the handle of the loading platform, the loading platform is automatically interrupted between the user and the guiding device.
  • the load platform simultaneously activates the assist system corresponding to the handle, and based on the force of the handle, the load platform control The assist system performs the corresponding operations.
  • the load platform control assisting system when it is detected that the user pulls the handle rakes forward, the load platform control assisting system provides corresponding power to provide a driving force for driving the loading platform forward, driving the loading platform to advance, reducing the user's needs.
  • the load platform control assist system stops working.
  • the automatic following method of the loading platform of the present invention is performed by adding a handle on the loading platform, and based on the newly added handle, monitoring that a hand is placed in the handle, the loading platform is interrupted. a follow-up signal with the user guiding device, starting a power assist system corresponding to the handle, and controlling the work of the power assist system based on the force of the handle; having different working modes in different application scenarios The beneficial effects improve the diversity and intelligence of the working mode of the loading platform.
  • the present invention also provides a load platform.
  • the load platform of the present invention includes: a receiving module 110, a parsing module 120, and a following module 130;
  • the receiving module 110 is configured to receive a follow signal sent by the user guiding device.
  • the receiving module 110 receives the following signal sent by the user guiding device; wherein the loading platform is paired with the corresponding user guiding device, and The load platform only automatically follows the user guidance device paired with the load platform.
  • the user in order to facilitate the user's use, can wear or hold a guiding device, that is, the user guiding device, and the user guiding device can be used as a corresponding infrared transmitting device for transmitting the loading platform for automatic implementation.
  • a guiding device that is, the user guiding device
  • the user guiding device can be used as a corresponding infrared transmitting device for transmitting the loading platform for automatic implementation.
  • the carrier platform is in communication communication with the user guidance device via an infrared signal.
  • a corresponding infrared receiving device such as a passive infrared detector or an infrared camera is mounted on the loading platform; the user guiding device may be an infrared emitting device or the like.
  • the following signal transmitted by the user-guided device includes two different following signals; when the first following signal is interrupted and there is no success with the carrier platform within a preset length
  • the user guides the device to send a second following signal to communicate with the carrier platform based on the second following signal; wherein the two different following signals include: Two follower signals of the same, different frequency, and two types of follower signals of different types.
  • the two follow signals are infrared signals, but the frequencies of the two follow signals are different; or the first follow signal is an infrared signal, the second follow signal is a wireless wifi signal, or is different from the infrared signal.
  • the parsing module 120 is configured to lock the user guiding device based on the received following signal, and parse the received following signal;
  • the parsing module 120 locks the guiding device that sends the following signal, and parses the received following signal; for example, the parsing module 120 parses and sends the following Whether the guiding device of the signal is a user guiding device paired with the loading platform to avoid following chaos; or the parsing module 120 parses the sending time of the following signal.
  • the following signal is an infrared signal.
  • the following module 130 is configured to follow the locked user guide device according to the parsing result of the following signal, and maintain a preset distance with the user guiding device.
  • the following module 130 determines, by the parsing module 120, the parsing result of the following signal, and determines that the user guiding device that sends the following signal is the user guiding device that is paired with the loading platform, that is, the following module 130 reconfirms the locked above.
  • the user guiding device is a follower object with the loading platform; and according to the parsing result of the signal by the parsing module 120, the following module 130 confirms the position, distance, and the like of the user guiding device and the loading platform; thereby following the analysis result
  • the module 130 automatically follows the above-mentioned user guidance device that has been locked; meanwhile, the follower module 130 keeps the preset distance following the user guidance device according to a preset distance.
  • the following module 130 keeps the preset distance after following the user guiding device ;; for example, when the user guides the device to accelerate, the following module 130 controls the loading platform to also accelerate, thereby The user guides the device to maintain the preset distance; when the user guides the device back, the follower module 130 controls the load platform to also retreat, so that the load platform continues to maintain the preset distance with the user guide device.
  • the specific length of the preset distance may be set according to the usage scenario of the loading platform and the type of the specific baggage item carried by the loading platform (for example, the valuable degree of the baggage item).
  • the specific length of the preset distance is not limited in the embodiment of the present invention.
  • the load platform of the present invention receives the following signal transmitted by the user guiding device; locks the user guiding device based on the received following signal, and parses the received following signal; Following the parsing result of the signal, following the locked user guiding device, and maintaining a preset distance with the user guiding device; having the beneficial effect of automatically following the user guiding device, preventing the loss of the luggage item, improving the loading platform
  • the intelligence also enhances the user experience.
  • the loading platform of the present invention can add and set a corresponding camera.
  • the loading platform detects that there is an obstacle in the forward direction of the loading platform through the camera, the loading object The platform can automatically bypass the corresponding obstacles and maintain the above preset distance with the user guiding device, and continue to follow the corresponding user guiding device.
  • the load platform further includes:
  • the obstacle avoidance module 150 is configured to add a pressure sensor to the loading platform, and monitor an item falling on the loading platform based on the newly added pressure sensor, where the loading platform sends Corresponding notification information to remind the user that an item on the loading platform has fallen.
  • the obstacle avoidance module 150 may respectively add and set a corresponding camera (for example, a Real Sense 3D camera) on the left and right sides of the loading platform, and the obstacle avoidance module 150 controls the camera to perform image collection, and analyzes The image information collected by the camera, the obstacle avoidance module 150 can conveniently monitor whether there is an obstacle in the forward direction of the load platform.
  • a corresponding camera for example, a Real Sense 3D camera
  • the load platform When the obstacle avoidance module 150 monitors that there is an obstacle that the load platform cannot pass in the forward direction of the load platform, the load platform first bypasses the obstacle, and then continues to the user corresponding to the load platform. The device is booted, and the carrier platform follows, and the preset distance is still maintained with the user boot device.
  • the load platform of the present invention bypasses the obstacle by adding a camera on the load platform and monitoring an obstacle to the forward direction of the load platform based on the newly added camera. And maintaining the preset distance to continue to follow the user guiding device; having the beneficial effect of automatically avoiding obstacles in the process of automatic following.
  • the corresponding pressure sensor can also be added and set on the loading platform of the present invention; based on the above-mentioned pressure sensor, when the luggage item on the loading platform is dropped, The load platform can sense the drop of the luggage item through the above-mentioned pressure sensor, and can remind the user.
  • the load platform of the present invention further includes:
  • the anti-fall module 160 is configured to add a pressure sensor to the loading platform, and monitor an item falling on the loading platform based on the newly added pressure sensor, where the loading platform sends Corresponding notification information to remind the user that an item on the loading platform has fallen.
  • a pressure sensor is mounted on the loading platform.
  • the pressure sensor can sense the change of the pressure, so that the anti-fall module 160 monitors the load. If there is an item on the platform, the anti-fall module 160 immediately sends a corresponding notification message to remind the user that the baggage item has fallen.
  • the anti-fall module 160 can send a corresponding notification message by means of a warning tone to alert the user that the baggage item on the carrier platform is dropped.
  • the loading platform of the present invention sends corresponding notification information by issuing a warning sound to remind the user that there is an item falling on the loading platform; the safety of handling the luggage item is improved.
  • the corresponding handle can also be added and set on the loading platform of the present invention; based on the increased handle, when in a complicated environment, the loading platform When it is detected that the hand is placed in the handle, the following signal is automatically interrupted and the user guides the device, the assist system corresponding to the handle is activated, and the corresponding work of the assist system is controlled according to the force of the handle.
  • the load platform of the present invention further includes:
  • the power assisting module 170 is configured to add a handle on the loading platform, and based on the newly added handle, monitor that a hand is placed in the handle, and the loading platform is interrupted with the user. A follow-up signal between the guiding devices is started, the assisting system corresponding to the handle is activated, and the working of the assisting system is controlled based on the force of the pulling handle.
  • a handle is newly added on the loading platform, and the user can drag the carrier platform through the handle.
  • the loading platform automatically interrupts and guides the user.
  • the assist module 170 simultaneously activates the assist system corresponding to the handle, and based on the force of the handle, the load platform control assist system performs the corresponding operation.
  • the assist module 170 controls the assist system to provide corresponding The power is provided to drive a forward power of the load platform to drive the load platform forward to reduce the pulling force required by the user; when detecting that the user pushes the handle backward, the power assist module 170 controls the power assist system to provide a direction After the force, the driving platform is gradually moved backwards, reducing the thrust required by the user. When it is detected that the user's hand is away from the handle, the assist module 170 controls the assist system to stop working.
  • the loading platform of the present invention is configured to insert a handle on the loading platform, and based on the newly added handle, monitors that a hand is placed in the handle, and the loading platform is interrupted with the user. Guiding the following signals between the devices, starting the assisting system corresponding to the handles, and controlling the work of the assisting system based on the force of the handles; having the beneficial effects of starting different working modes in different application scenarios, improving The diversity and intelligence of the working methods of the platform.
  • the foregoing embodiment method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be through hardware, but in many cases, the former It is a better implementation.
  • the technical solution of the present invention which is essential or contributes to the prior art, may be embodied in the form of a software product stored in a storage medium (such as ROM/RAM, disk,
  • the optical disc includes a number of instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the methods described in various embodiments of the present invention.

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Abstract

一种载物平台的自动跟随方法及载物平台，该自动跟随方法通过接收用户引导设备发送的跟随信号（S10）；基于接收到的跟随信号，锁定用户引导设备，并对接收到的跟随信号进行解析（S20）；根据对跟随信号的解析结果，跟随已锁定的用户引导设备，并与用户引导设备保持预定距离（S30）。该自动跟随方法及载物平台具有自动跟随用户引导设备的效果，防止了行李物品的丢失，提高了载物平台的智能性，提高了用户体验。

Description

说明书 发明名称:载物平台的自动跟随方法及载物平台 技术领域
[0001] 本发明涉及自动化技术领域， 尤其涉及一种载物平台的自动跟随方法及载物平 台。
背景技术
[0002] 随着人们生活水平的不断提高， 人们对出行舒适性的要求也越来越高， 而行李 保管和搬运是人们旅游、 外出及购物吋所不得不面临的一项重要问题， 同吋也 是一项枯燥乏味的任务。 在旅游的过程中， 人们对随身行李进行搬运， 不仅会 消耗体力和精力， 也会极大地影响外出如旅游、 购物等的体验效果。
[0003] 目前普遍使用的搬运行李的机器人能够在一定程度上替代人工， 为客户提供对 应的搬运服务， 实现了机器人代替人工服务， 提高了机场、 车站等接待顾客的 效率， 也节约了人力资源。 但是， 这种搬运行李的机器人， 在搬运行李的过程 中很容易出现丢失行李， 且该搬运行李的机器人在人们旅游或者购物吋不能做 到随吋跟随人们， 所以也不方便用户随吋存取和放置对应的行李物品。
技术问题
[0004] 鉴于此， 有必要提供一种载物平台的自动跟随方法及载物平台， 旨在达到该载 物平台能够自动跟随用户引导设备的目的。
问题的解决方案
技术解决方案
[0005] 本发明实施例公幵了一种载物平台的自动跟随方法， 包括以下步骤：
[0006] 接收用户引导设备发送的跟随信号；
[0007] 基于接收到的所述跟随信号， 锁定所述用户引导设备， 并对接收到的所述跟随 信号进行解析；
[0008] 根据对所述跟随信号的解析结果， 跟随已锁定的所述用户引导设备， 并与所述 用户引导设备保持预设距离。
[0009] 优选地， 所述用户引导设备发送的跟随信号包括两种不同的跟随信号； [0010] 当第一种跟随信号中断且在预设吋长内没有与所述载物平台成功建立通信连接 吋， 用户引导设备发送第二种跟随信号， 以便基于所述第二种跟随信号与所述 载物平台进行通信连接；
[0011] 其中， 所述两种不同的跟随信号包括： 类型相同、 频率不同的两种跟随信号， 以及不同类型的两种跟随信号。
[0012] 优选地， 所述载物平台的自动跟随方法还包括：
[0013] 在所述载物平台上新增摄像头， 并基于新增的所述摄像头监控到所述载物平台 的前进方向存在障碍物吋， 绕过所述障碍物， 并保持所述预设距离继续跟随所 述用户引导设备。
[0014] 优选地， 所述载物平台的自动跟随方法还包括：
[0015] 在所述载物平台上新增压力传感器， 并基于新增的所述压力传感器监控到所述 载物平台上的物品跌落吋， 所述载物平台发送对应的通知信息， 以提醒用户所 述载物平台上有物品跌落。
[0016] 优选地， 所述载物平台的自动跟随方法还包括：
[0017] 在所述载物平台上新增拉手， 并基于新增加的所述拉手， 监控到有手放入所述 拉手吋， 所述载物平台中断与所述用户引导设备之间的跟随信号， 启动所述拉 手对应的助力系统， 并基于所述拉手的受力情况， 控制所述助力系统的工作。
[0018] 对应于以上所公幵的一种载物平台的自动跟随方法， 本发明还公幵了一种载物 平台， 包括：
[0019] 接收模块， 用于接收用户引导设备发送的跟随信号；
[0020] 解析模块， 用于基于接收到的所述跟随信号， 锁定所述用户引导设备， 并对接 收到的所述跟随信号进行解析；
[0021] 跟随模块， 用于根据对所述跟随信号的解析结果， 跟随已锁定的所述用户引导 设备， 并与所述用户引导设备保持预设距离。
[0022] 优选地， 所述用户引导设备发送的跟随信号包括两种不同的跟随信号；
[0023] 当第一种跟随信号中断且在预设吋长内没有与所述载物平台成功建立通信连接 吋， 用户引导设备发送第二种跟随信号， 以便基于所述第二种跟随信号与所述 载物平台进行通信连接； [0024] 其中， 所述两种不同的跟随信号包括： 类型相同、 频率不同的两种跟随信号， 以及不同类型的两种跟随信号。
[0025] 优选地， 所述载物平台还包括：
[0026] 避障模块， 用于在所述载物平台上新增摄像头， 并基于新增的所述摄像头监控 到所述载物平台的前进方向存在障碍物吋， 绕过所述障碍物， 并保持所述预设 距离继续跟随所述用户弓 I导设备。
[0027] 优选地， 所述载物平台还包括：
[0028] 防跌模块， 用于在所述载物平台上新增压力传感器， 并基于新增的所述压力传 感器监控到所述载物平台上的物品跌落吋， 发送对应的通知信息， 以提醒用户 所述载物平台上有物品跌落。
[0029] 优选地， 所述载物平台还包括：
[0030] 助力模块， 用于在所述载物平台上新增拉手， 并基于新增加的所述拉手， 监控 到有手放入所述拉手吋， 所述载物平台中断与所述用户引导设备之间的跟随信 号， 启动所述拉手对应的助力系统， 并基于所述拉手的受力情况， 控制所述助 力系统的工作。
发明的有益效果
有益效果
[0031] 本发明一种载物平台的自动跟随方法及载物平台可以达到如下有益效果： [0032] 通过接收用户引导设备发送的跟随信号； 基于接收到的所述跟随信号， 锁定所 述用户引导设备， 并对接收到的所述跟随信号进行解析； 根据对所述跟随信号 的解析结果， 跟随已锁定的所述用户引导设备， 并与所述用户引导设备保持预 设距离； 具有自动跟随用户引导设备的有益效果， 防止了行李物品的丢失， 提 高了载物平台的智能性， 也提高了用户体验。
对附图的简要说明
附图说明
[0033] 图 1是本发明载物平台的自动跟随方法的第一实施方式的流程示意图；
[0034] 图 2是本发明载物平台的自动跟随方法的第二实施方式的流程示意图；
[0035] 图 3是本发明载物平台的自动跟随方法的第三实施方式的流程示意图； [0036] 图 4是本发明载物平台的自动跟随方法的第四实施方式的流程示意图；
[0037] 图 5是本发明载物平台的第一实施方式的框图；
[0038] 图 6是本发明载物平台的第二实施方式的框图；
[0039] 图 7是本发明载物平台的第三实施方式的框图；
[0040] 图 8是本发明载物平台的第四实施方式的框图。
[0041] 本发明实施例目的的实现、 功能特点及优点将结合实施例， 参照附图做进一步 说明。
本发明的实施方式
[0042] 以下结合说明书附图及具体实施例进一步说明本发明的技术方案。 应当理解， 此处所描述的具体实施例仅仅用以解释本发明， 并不用于限定本发明。
[0043] 本发明一种载物平台的自动跟随方法及载物平台中， 所描述的载物平台可以载 物， 例如行李物品等， 也可以载人； 用户可以根据需要来使用载物平台承载相 应的对象。 本发明实施例对载物平台所承载的具体对象不进行限定。
[0044] 本发明提供了一种载物平台的自动跟随方法， 旨在达到该载物平台能够自动跟 随用户引导设备的目的。 如图 1所示， 本发明一种载物平台的自动跟随方法可以 实施为如下描述的步骤 S10-S30:
[0045] 步骤 S10、 接收用户引导设备发送的跟随信号；
[0046] 本发明实施例中， 用于承载用户行李物品的载物平台接收用户引导设备所发送 的跟随信号； 其中， 该载物平台与对应的用户引导设备配对， 且该载物平台仅 自动跟随与该载物平台配对的用户引导设备。
[0047] 本发明实施例中， 为了便于用户使用， 用户可以佩戴或者持有一个引导设备， 即用户引导设备， 该用户引导设备可以作为对应的红外发射装置， 用以发射供 载物平台实现自动跟随功能的红外跟随信号。
[0048] 在本发明一优选的实施例中， 该载物平台与用户引导设备通过红外信号进行通 信连接。 例如， 在该载物平台上安装对应的红外接收设备， 比如被动式红外探 测器或者红外摄像头； 用户引导设备可以为， 红外发射装置等。
[0049] 在本发明一优选的实施例中， 用户引导设备发送的跟随信号包括两种不同的跟 随信号； 当第一种跟随信号中断且在预设吋长内没有与所述载物平台成功建立 通信连接吋， 用户引导设备发送第二种跟随信号， 以便基于所述第二种跟随信 号与所述载物平台进行通信连接； 其中， 所述两种不同的跟随信号包括： 类型 相同、 频率不同的两种跟随信号， 以及不同类型的两种跟随信号。 例如， 这两 种跟随信号均为红外信号， 只是这两种跟随信号的频率不同； 或者， 第一种跟 随信号为红外信号， 第二种跟随信号为无线 Wifi信号， 或者是与红外信号不同类 型的其他通信信号等。
[0050] 步骤 S20、 基于接收到的所述跟随信号， 锁定所述用户引导设备， 并对接收到 的所述跟随信号进行解析；
[0051] 当载物平台接收到用户引导设备发送的跟随信号后， 锁定发送该跟随信号的引 导设备， 并对接收到的上述跟随信号进行解析； 例如， 解析发送该跟随信号的 引导设备是否为与该载物平台配对的用户引导设备， 以免发生跟随混乱； 或者 ， 解析该跟随信号的发送吋间等。
[0052] 在本发明一优选的实施例中， 上述跟随信号为红外信号。
[0053] 步骤 S30、 根据对所述跟随信号的解析结果， 跟随已锁定的所述用户引导设备 ， 并与所述用户引导设备保持预设距离。
[0054] 载物平台通过对上述跟随信号的解析结果， 再次确定发送该跟随信号的用户引 导设备为与该载物平台配对的用户引导设备， 即再次确认已锁定的上述用户引 导设备为与该载物平台的跟随对象； 并根据对上述信号的解析结果， 确认用户 引导设备与该载物平台的位置、 距离等； 从而根据上述解析结果， 自动跟随已 经锁定的上述用户引导设备； 同吋， 按照预先设定的距离， 保持该预设距离跟 随该用户引导设备。
[0055] 本发明实施例中， 载物平台在跟随用户引导设备吋， 始终保持上述预设距离； 例如， 当用户引导设备加速前进吋， 载物平台也加速前进， 从而与该用户引导 设备保持上述预设距离； 当用户引导设备后退吋， 载物平台也后退， 继续与该 用户引导设备保持上述预设距离。
[0056] 本发明实施例中， 可以根据该载物平台的使用场景及该载物平台所承载的具体 行李物品的种类 （例如， 行李物品的贵重程度） ， 来设置上述预设距离的具体 长度， 本发明实施例对该预设距离的具体长度不做限定。
[0057] 进一步地， 本发明实施例中， 所描述的跟随信号包括但不限于： 电磁波 （例如 射频信号、 红外光信号、 可见光信号等） ， 以及机械波 （例如， 声波和超声波 等） 。 在具体的跟随实现过程中， 首先根据上述跟随信号的具体特征或者多个 接收探头接收信号的吋差或者其他方式去实现定位， 进而控制驱动运动机构去 实现跟随。
[0058] 例如， 针对利用超声波去实现跟随定位吋， 用户引导设备向载物平台发送无线 电信号， 同吋幵始计吋， 载物平台接收到上述无线电信号后向用户引导设备发 送超声波信号。 由于设置了多个超声波接收器例如设置了 4个超声波接收器， 且 各超声波接收器的距离不同， 则超声波信号到达 4个超声波接收器的吋间不同， 则可以通过对 4个超声波接收器接收超声波吋间的比较和运算， 计算出各个超声 波接收器到用户引导设备的距离。 然后基于超声波定位的相应算法， 即可计算 出用户引导设备在载物平台所建立的坐标系中的具体坐标， 从而判断出用户引 导设备相对于载物平台的具体方位， 并通过控制驱动设备 （例如： 通过 PWM控 制电机转速） 来实现载物平台按照设定的距离跟随目标。
[0059] 在另一种实施例方式中， 可以通过达到吋间差 （Time Difference Of
Arrival, TDOA) 来实现定位。 其中， TDOA定位是一种利用吋间差进行定位的 方法， 通过测量信号到达监测站的吋间， 可以确定信号源的距离， 再利用信号 源到各个监测站的距离 （以监测站为中心， 距离为半径做圆） ， 就能确定信号 的位置。 在实际应用场景中， 绝对吋间通常比较难测量， 通常是通过比较信号 到达各个监测站的吋间差， 就能做出以监测站为焦点、 距离差为长轴的双曲线 ， 则双曲线的交点即为信号的位置， 从而实现跟随定位。
[0060] 本发明载物平台的自动跟随方法通过接收用户引导设备发送的跟随信号； 基于 接收到的所述跟随信号， 锁定所述用户引导设备， 并对接收到的所述跟随信号 进行解析； 根据对所述跟随信号的解析结果， 跟随已锁定的所述用户引导设备 ， 并与所述用户引导设备保持预设距离； 具有自动跟随用户引导设备的有益效 果， 防止了行李物品的丢失， 提高了载物平台的智能性， 也提高了用户体验。
[0061] 基于图 1所述实施例的描述， 本发明载物平台的自动跟随方法中， 可以在载物 平台上增加并设置对应的摄像头， 当载物平台通过摄像头检测到该载物平台的 前进方向存在障碍物吋， 该载物平台能够自动绕过对应的障碍物， 并与用户引 导设备保持上述预设距离， 继续跟随对应的用户引导设备。
[0062] 如图 2所示， 本发明载物平台的自动跟随方法在图 1所述实施例的 "步骤 S30、 根 据对所述跟随信号的解析结果， 跟随已锁定的所述用户引导设备， 并与所述用 户引导设备保持预设距离"之后， 还包括步骤：
[0063] 步骤 S40、 在所述载物平台上新增摄像头， 并基于新增的所述摄像头监控到所 述载物平台的前进方向存在障碍物吋， 绕过所述障碍物， 并保持所述预设距离 继续跟随所述用户引导设备。
[0064] 本发明实施例中， 可以在载物平台的左右两侧分别增加并设置对应的摄像头 ( 例如， Real Sense 3D摄像头） ， 载物平台控制摄像头进行图像采集， 通过解析该 摄像头所采集的图像信息， 即可便捷地监控到该载物平台的前进方向上是否存 在障碍物。
[0065] 当监控到该载物平台的前进方向上存在该载物平台不可逾越的障碍物吋， 载物 平台先绕过该障碍物， 进而继续根据该载物平台对应的用户引导设备， 且该载 物平台跟随吋， 仍旧与用户引导设备保持上述预设距离。
[0066] 本发明载物平台的自动跟随方法通过在所述载物平台上新增摄像头， 并基于新 增的所述摄像头监控到所述载物平台的前进方向存在障碍物吋， 绕过所述障碍 物， 并保持所述预设距离继续跟随所述用户引导设备； 具有自动跟随的过程中 能够自动躲避障碍物的有益效果。
[0067] 基于图 1、 图 2所述实施例的描述， 本发明载物平台的自动跟随方法中， 也可以 在该载物平台上增加并设置对应的压力传感器； 基于设置的上述压力传感器， 当载物平台上有行李物品跌落吋， 该载物平台即可通过设置的上述压力传感器
， 感知到有行李物品跌落， 便能够及吋提醒用户。
[0068] 如图 3所示， 本发明载物平台的自动跟随方法中， 在图 1所述实施例的 "步骤 S30
、 根据对所述跟随信号的解析结果， 跟随已锁定的所述用户引导设备， 并与所 述用户引导设备保持预设距离"之后， 还包括步骤：
[0069] 步骤 S50、 在所述载物平台上新增压力传感器， 并基于新增的所述压力传感器 监控到所述载物平台上的物品跌落吋， 所述载物平台发送对应的通知信息， 以 提醒用户所述载物平台上有物品跌落。
[0070] 本发明实施例中， 载物平台上安装有压力传感器， 当该载物平台上有行李物品 跌落吋， 压力传感器即能感知到压力的变化， 从而监控到该载物平台上有物品 跌路， 此吋， 载物平台即刻发出对应的通知信息， 以提醒用户有行李物品跌落
[0071] 在本发明一优选的实施例中， 载物平台可以通过发出警示音的提醒方式发送对 应的通知信息， 从而及吋提醒用户该载物平台上有行李物品跌落。
[0072] 本发明载物平台的自动跟随方法载物平台通过发出警示音的方式来发送对应的 通知信息， 以提醒用户所述载物平台上有物品跌落； 提高了行李物品搬运的安 全性。
[0073] 基于图 1、 图 2和图 3所述实施例的描述， 本发明载物平台的自动跟随方法中， 也可以在该载物平台上增加拉手； 基于增加的拉手， 当处于复杂的环境中吋， 载物平台检测到有手放入所述拉手中吋， 自动中断与用户引导设备之间的跟随 信号， 启动该拉手对应的助力系统， 并根据拉手的受力情况， 控制该助力系统 的相应工作。
[0074] 如图 4所示， 本发明载物平台的自动跟随方法中， 在图 1所述实施例的 "步骤 S30 、 根据对所述跟随信号的解析结果， 跟随已锁定的所述用户引导设备， 并与所 述用户引导设备保持预设距离"之后， 还包括步骤：
[0075] 步骤 S60、 在所述载物平台上新增拉手， 并基于新增加的所述拉手， 监控到有 手放入所述拉手吋， 所述载物平台中断与所述用户引导设备之间的跟随信号， 启动所述拉手对应的助力系统， 并基于所述拉手的受力情况， 控制所述助力系 统的工作。
[0076] 本发明实施例中， 在该载物平台上新增加一拉手， 用户可以通过该拉手拖动载 物平台。 例如， 在复杂的环境中比如人流量多的商场、 机场等场合， 当载物平 台监控到有手放入该载物平台的拉手内吋， 该载物平台自动中断与用户引导设 备之间的跟随信号。 同吋， 为了便于用户通过拉手移动载物平台， 该载物平台 同吋启动该拉手对应的助力系统， 并基于该拉手的受力情况， 该载物平台控制 助力系统执行相应的操作。
[0077] 例如， 当检测到用户向前拉动该拉手吋， 载物平台控制助力系统提供相应的动 力， 以提供一个驱动该载物平台向前的动力， 驱动载物平台前进， 减少用户所 需提供的拉力； 当检测到用户向后推动该拉手吋， 载物平台控制助力系统提供 一个向后的力， 驱动载物平台逐渐向后移动， 减少用户所需提供的推力。 当检 测到用户的手离幵该拉手吋， 载物平台控制助力系统停止工作。
[0078] 本发明载物平台的自动跟随方法通过在所述载物平台上新增拉手， 并基于新增 加的所述拉手， 监控到有手放入所述拉手吋， 所述载物平台中断与所述用户引 导设备之间的跟随信号， 启动所述拉手对应的助力系统， 并基于所述拉手的受 力情况， 控制所述助力系统的工作； 具有在不同应用场景中启动不同工作模式 的有益效果， 提高了载物平台工作方式的多样性和智能性。
[0079] 对应于上述实施例所提供的一种载物平台的自动跟随方法， 本发明还提供了一 种载物平台。 如图 5所示， 本发明载物平台包括： 接收模块 110、 解析模块 120和 跟随模块 130; 其中：
[0080] 接收模块 110， 用于接收用户引导设备发送的跟随信号；
[0081] 本发明实施例中， 用于承载用户行李物品的载物平台中， 接收模块 110接收用 户引导设备所发送的跟随信号； 其中， 该载物平台与对应的用户引导设备配对 ， 且该载物平台仅自动跟随与该载物平台配对的用户引导设备。
[0082] 本发明实施例中， 为了便于用户使用， 用户可以佩戴或者持有一个引导设备， 即用户引导设备， 该用户引导设备可以作为对应的红外发射装置， 用以发射供 载物平台实现自动跟随功能的红外跟随信号。
[0083] 在本发明一优选的实施例中， 该载物平台与用户引导设备通过红外信号进行通 信连接。 例如， 在该载物平台上安装对应的红外接收设备， 比如被动式红外探 测器或者红外摄像头； 用户引导设备可以为， 红外发射装置等。
[0084] 在本发明一优选的实施例中， 用户引导设备发送的跟随信号包括两种不同的跟 随信号； 当第一种跟随信号中断且在预设吋长内没有与所述载物平台成功建立 通信连接吋， 用户引导设备发送第二种跟随信号， 以便基于所述第二种跟随信 号与所述载物平台进行通信连接； 其中， 所述两种不同的跟随信号包括： 类型 相同、 频率不同的两种跟随信号， 以及不同类型的两种跟随信号。 例如， 这两 种跟随信号均为红外信号， 只是这两种跟随信号的频率不同； 或者， 第一种跟 随信号为红外信号， 第二种跟随信号为无线 wifi信号， 或者是与红外信号不同类 型的其他通信信号等。
[0085] 解析模块 120， 用于基于接收到的所述跟随信号， 锁定所述用户引导设备， 并 对接收到的所述跟随信号进行解析；
[0086] 当接收模块 110接收到用户引导设备发送的跟随信号后， 解析模块 120锁定发送 该跟随信号的引导设备， 并对接收到的上述跟随信号进行解析； 例如， 解析模 块 120解析发送该跟随信号的引导设备是否为与该载物平台配对的用户引导设备 ， 以免发生跟随混乱； 或者， 解析模块 120解析该跟随信号的发送吋间等。
[0087] 在本发明一优选的实施例中， 上述跟随信号为红外信号。
[0088] 跟随模块 130， 用于根据对所述跟随信号的解析结果， 跟随已锁定的所述用户 引导设备， 并与所述用户引导设备保持预设距离。
[0089] 跟随模块 130通过解析模块 120对上述跟随信号的解析结果， 再次确定发送该跟 随信号的用户引导设备为与该载物平台配对的用户引导设备， 即跟随模块 130再 次确认已锁定的上述用户引导设备为与该载物平台的跟随对象； 并根据解析模 块 120对上述信号的解析结果， 跟随模块 130确认用户引导设备与该载物平台的 位置、 距离等； 从而根据上述解析结果， 跟随模块 130自动跟随已经锁定的上述 用户引导设备； 同吋， 按照预先设定的距离， 跟随模块 130保持该预设距离跟随 该用户引导设备。
[0090] 本发明实施例中， 跟随模块 130在跟随用户引导设备吋， 始终保持上述预设距 离； 例如， 当用户引导设备加速前进吋， 跟随模块 130控制载物平台也加速前进 ， 从而与该用户引导设备保持上述预设距离； 当用户引导设备后退吋， 跟随模 块 130控制载物平台也后退， 使得载物平台继续与该用户引导设备保持上述预设 距离。
[0091] 本发明实施例中， 可以根据该载物平台的使用场景及该载物平台所承载的具体 行李物品的种类 （例如， 行李物品的贵重程度） ， 来设置上述预设距离的具体 长度， 本发明实施例对该预设距离的具体长度不做限定。 [0092] 本发明载物平台通过接收用户引导设备发送的跟随信号； 基于接收到的所述跟 随信号， 锁定所述用户引导设备， 并对接收到的所述跟随信号进行解析； 根据 对所述跟随信号的解析结果， 跟随已锁定的所述用户引导设备， 并与所述用户 引导设备保持预设距离； 具有自动跟随用户引导设备的有益效果， 防止了行李 物品的丢失， 提高了载物平台的智能性， 也提高了用户体验。
[0093] 基于图 5所述实施例的描述， 本发明载物平台可以新增并设置对应的摄像头， 当载物平台通过摄像头检测到该载物平台的前进方向存在障碍物吋， 该载物平 台能够自动绕过对应的障碍物， 并与用户引导设备保持上述预设距离， 继续跟 随对应的用户引导设备。
[0094] 如图 6所示， 所述载物平台还包括：
[0095] 避障模块 150， 用于在所述载物平台上新增压力传感器， 并基于新增的所述压 力传感器监控到所述载物平台上的物品跌落吋， 所述载物平台发送对应的通知 信息， 以提醒用户所述载物平台上有物品跌落。
[0096] 本发明实施例中， 避障模块 150可以在载物平台的左右两侧分别增加并设置对 应的摄像头 （例如， Real Sense 3D摄像头） ， 避障模块 150控制摄像头进行图像 采集， 通过解析该摄像头所采集的图像信息， 避障模块 150即可便捷地监控到该 载物平台的前进方向上是否存在障碍物。
[0097] 当避障模块 150监控到该载物平台的前进方向上存在该载物平台不可逾越的障 碍物吋， 载物平台先绕过该障碍物， 进而继续根据该载物平台对应的用户引导 设备， 且该载物平台跟随吋， 仍旧与用户引导设备保持上述预设距离。
[0098] 本发明载物平台通过在所述载物平台上新增摄像头， 并基于新增的所述摄像头 监控到所述载物平台的前进方向存在障碍物吋， 绕过所述障碍物， 并保持所述 预设距离继续跟随所述用户引导设备； 具有自动跟随的过程中能够自动躲避障 碍物的有益效果。
[0099] 基于图 5、 图 6所述实施例的描述， 本发明载物平台上也可以增加并设置对应的 压力传感器； 基于设置的上述压力传感器， 当载物平台上有行李物品跌落吋， 该载物平台即可通过设置的上述压力传感器， 感知到有行李物品跌落， 便能够 及吋提醒用户。 [0100] 如图 7所示， 本发明载物平台还包括：
[0101] 防跌模块 160， 用于在所述载物平台上新增压力传感器， 并基于新增的所述压 力传感器监控到所述载物平台上的物品跌落吋， 所述载物平台发送对应的通知 信息， 以提醒用户所述载物平台上有物品跌落。
[0102] 本发明实施例中， 载物平台上安装有压力传感器， 当该载物平台上有行李物品 跌落吋， 压力传感器即能感知到压力的变化， 从而防跌模块 160监控到该载物平 台上有物品跌路， 此吋， 防跌模块 160即刻发出对应的通知信息， 以提醒用户有 行李物品跌落。
[0103] 在本发明一优选的实施例中， 防跌模块 160可以通过发出警示音的提醒方式发 送对应的通知信息， 从而及吋提醒用户该载物平台上有行李物品跌落。
[0104] 本发明载物平台通过发出警示音的方式来发送对应的通知信息， 以提醒用户所 述载物平台上有物品跌落； 提高了行李物品搬运的安全性。
[0105] 基于图 5、 图 6和图 7所述实施例的描述， 本发明载物平台上也可以增加并设置 对应的拉手； 基于增加的拉手， 当处于复杂的环境中吋， 载物平台检测到有手 放入所述拉手中吋， 自动中断与用户引导设备之间的跟随信号， 启动该拉手对 应的助力系统， 并根据拉手的受力情况， 控制该助力系统的相应工作。
[0106] 如图 8所示， 本发明载物平台还包括：
[0107] 助力模块 170， 用于在所述载物平台上新增拉手， 并基于新增加的所述拉手， 监控到有手放入所述拉手吋， 所述载物平台中断与所述用户引导设备之间的跟 随信号， 启动所述拉手对应的助力系统， 并基于所述拉手的受力情况， 控制所 述助力系统的工作。
[0108] 本发明实施例中， 在该载物平台上新增加一拉手， 用户可以通过该拉手拖动载 物平台。 例如， 在复杂的环境中比如人流量多的商场、 机场等场合， 当载物平 台的助力模块 170监控到有手放入该载物平台的拉手内吋， 该载物平台自动中断 与用户引导设备之间的跟随信号。 同吋， 为了便于用户通过拉手移动载物平台 ， 助力模块 170同吋启动该拉手对应的助力系统， 并基于该拉手的受力情况， 该 载物平台控制助力系统执行相应的操作。
[0109] 例如， 当检测到用户向前拉动该拉手吋， 助力模块 170控制助力系统提供相应 的动力， 以提供一个驱动该载物平台向前的动力， 驱动载物平台前进， 减少用 户所需提供的拉力； 当检测到用户向后推动该拉手吋， 助力模块 170控制助力系 统提供一个向后的力， 驱动载物平台逐渐向后移动， 减少用户所需提供的推力 。 当检测到用户的手离幵该拉手吋， 助力模块 170控制助力系统停止工作。
[0110] 本发明载物平台通过在所述载物平台上新增拉手， 并基于新增加的所述拉手， 监控到有手放入所述拉手吋， 所述载物平台中断与所述用户引导设备之间的跟 随信号， 启动所述拉手对应的助力系统， 并基于所述拉手的受力情况， 控制所 述助力系统的工作； 具有在不同应用场景中启动不同工作模式的有益效果， 提 高了载物平台工作方式的多样性和智能性。
[0111] 需要说明的是， 在本文中， 术语"包括"、 "包含 "或者其任何其他变体意在涵盖 非排他性的包含， 从而使得包括一系列要素的过程、 方法、 物品或者装置不仅 包括那些要素， 而且还包括没有明确列出的其他要素， 或者是还包括为这种过 程、 方法、 物品或者装置所固有的要素。 在没有更多限制的情况下， 由语句 "包 括一个 ...... "限定的要素， 并不排除在包括该要素的过程、 方法、 物品或者装置 中还存在另外的相同要素。
[0112] 上述本发明实施例序号仅仅为了描述， 不代表实施例的优劣。
[0113] 通过以上的实施方式的描述， 本领域的技术人员可以清楚地了解到上述实施例 方法可借助软件加必需的通用硬件平台的方式来实现， 当然也可以通过硬件， 但很多情况下前者是更佳的实施方式。 基于这样的理解， 本发明的技术方案本 质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来， 该计 算机软件产品存储在一个存储介质 （如 ROM/RAM、 磁碟、 光盘） 中， 包括若干 指令用以使得一台终端设备 （可以是手机， 计算机， 服务器， 或者网络设备等 ) 执行本发明各个实施例所述的方法。
[0114] 以上所述仅为本发明的优选实施例， 并非因此限制其专利范围， 凡是利用本发 明说明书及附图内容所作的等效结构或等效流程变换， 直接或间接运用在其他 相关的技术领域， 均同理包括在本发明的专利保护范围内。

Claims

权利要求书
一种载物平台的自动跟随方法， 其特征在于， 包括以下步骤： 接收用户引导设备发送的跟随信号；
基于接收到的所述跟随信号， 锁定所述用户引导设备， 并对接收到的 所述跟随信号进行解析；
根据对所述跟随信号的解析结果， 跟随已锁定的所述用户弓 I导设备， 并与所述用户引导设备保持预设距离。
如权利要求 1所述的方法， 其特征在于， 所述用户引导设备发送的跟 随信号包括两种不同的跟随信号；
当第一种跟随信号中断且在预设吋长内没有与所述载物平台成功建立 通信连接吋， 用户引导设备发送第二种跟随信号， 以便基于所述第二 种跟随信号与所述载物平台进行通信连接；
其中， 所述两种不同的跟随信号包括： 类型相同、 频率不同的两种跟 随信号， 以及不同类型的两种跟随信号。
如权利要求 1或 2所述的方法， 其特征在于， 所述载物平台的自动跟随 方法还包括：
在所述载物平台上新增摄像头， 并基于新增的所述摄像头监控到所述 载物平台的前进方向存在障碍物吋， 绕过所述障碍物， 并保持所述预 设距离继续跟随所述用户弓 I导设备。
如权利要求 1或 2所述的方法， 其特征在于， 所述载物平台的自动跟随 方法还包括：
在所述载物平台上新增压力传感器， 并基于新增的所述压力传感器监 控到所述载物平台上的物品跌落吋， 所述载物平台发送对应的通知信 息， 以提醒用户所述载物平台上有物品跌落。
如权利要求 1或 2所述的方法， 其特征在于， 所述载物平台的自动跟随 方法还包括：
在所述载物平台上新增拉手， 并基于新增加的所述拉手， 监控到有手 放入所述拉手吋， 所述载物平台中断与所述用户引导设备之间的跟随 信号， 启动所述拉手对应的助力系统， 并基于所述拉手的受力情况， 控制所述助力系统的工作。
一种载物平台， 其特征在于， 包括：
接收模块， 用于接收用户引导设备发送的跟随信号；
解析模块， 用于基于接收到的所述跟随信号， 锁定所述用户引导设备 ， 并对接收到的所述跟随信号进行解析；
跟随模块， 用于根据对所述跟随信号的解析结果， 跟随已锁定的所述 用户引导设备， 并与所述用户引导设备保持预设距离。
如权利要求 6所述的载物平台， 其特征在于， 所述用户引导设备发送 的跟随信号包括两种不同的跟随信号；
当第一种跟随信号中断且在预设吋长内没有与所述载物平台成功建立 通信连接吋， 用户引导设备发送第二种跟随信号， 以便基于所述第二 种跟随信号与所述载物平台进行通信连接；
其中， 所述两种不同的跟随信号包括： 类型相同、 频率不同的两种跟 随信号， 以及不同类型的两种跟随信号。
如权利要求 6或 7所述的载物平台， 其特征在于， 所述载物平台还包括 避障模块， 用于在所述载物平台上新增摄像头， 并基于新增的所述摄 像头监控到所述载物平台的前进方向存在障碍物吋， 绕过所述障碍物 ， 并保持所述预设距离继续跟随所述用户引导设备。
如权利要求 6或 7所述的载物平台， 其特征在于， 所述载物平台还包括 防跌模块， 用于在所述载物平台上新增压力传感器， 并基于新增的所 述压力传感器监控到所述载物平台上的物品跌落吋， 发送对应的通知 信息， 以提醒用户所述载物平台上有物品跌落。
如权利要求 6或 7所述的载物平台， 其特征在于， 所述载物平台还包括 助力模块， 用于在所述载物平台上新增拉手， 并基于新增加的所述拉 手， 监控到有手放入所述拉手吋， 所述载物平台中断与所述用户引导 设备之间的跟随信号， 启动所述拉手对应的助力系统， 并基于所述拉 手的受力情况， 控制所述助力系统的工作。
PCT/CN2017/071421 2016-01-21 2017-01-17 载物平台的自动跟随方法及载物平台 WO2017125004A1 (zh)

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