CN106338999A - Intelligent following anti-collision dolly and anti-collision method thereof - Google Patents
Intelligent following anti-collision dolly and anti-collision method thereof Download PDFInfo
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- CN106338999A CN106338999A CN201611003754.8A CN201611003754A CN106338999A CN 106338999 A CN106338999 A CN 106338999A CN 201611003754 A CN201611003754 A CN 201611003754A CN 106338999 A CN106338999 A CN 106338999A
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- 238000002604 ultrasonography Methods 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 230000004888 barrier function Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 229910002056 binary alloy Inorganic materials 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
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- 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
- 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
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- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- Radar, Positioning & Navigation (AREA)
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- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an intelligent following anti-collision dolly and a corresponding anti-collision method. The dolly is composed of a frame, wheels, a wireless signal sensor, a driver, and a controller. Two driving wheels are arranged under the front part of the frame; and two universal wheels are arranged under the rear part of the frame. An infrared sensor consists of a remote infrared transmitting device and a remote infrared receiving device; the remote infrared receiving device is arranged at the center of the outer side of the front part of the frame; two groups of ultrasonic sensors are arranged at the two sides of the remote infrared receiving device symmetrically; and the remote infrared transmitting device is a remote wireless remote control unit. The driving wheels are connected with the driver connected with the controller; and a center control module, an infrared positioning module, an ultrasonic distance measuring module and a driving module are arranged inside the controller, wherein the infrared positioning module, the ultrasonic distance measuring module and the driving module are in signal connection with the center control module. According to the invention, the dolly is not only suitable for luggage transporting of passengers at places like an airport but also suitable for a functional shopping cart in a shopping mall or tool conveying in a large workshop and thus the dolly has the broad market prospects.
Description
Technical field
The present invention relates to intelligent electro-mechanical arts, follow anticollision dolly and avoiding collision particularly to a kind of intelligence.
Background technology
In occasions such as airport, high ferro station, supermarkets, people typically can haul more weight;Though there being the instruments such as go-cart to assist to remove
Fortune, but once needing the simple behavior such as answer the call, drink water, then need to stop carrying.In addition, the safety for handbarrow also needs
Will oneself significant care.In automatic electronic increasingly mature today, a kind of dolly that can intelligently follow can be designed, to help
People carry luggage, and at utmost mitigate burden in travelling way for the people.
The patent of Application No. cn201210379250.1 proposes a kind of " automatically following luggage case ", by adopting electric power
Drive, can move with the run trace of the people carrying controller, and need not pull.But this patent only proposes frame for movement
Design, and the selection of undisclosed specific control process and control module and circuit connection.
The patent of Application No. cn201320189204.5 it is also proposed one kind and automatically follows dolly and automatically follow luggage
Case, its controller integrated with intelligent carriage on, without the signal projector on human body, positioning is easily interfered.
Content of the invention
The main object of the present invention is to propose a kind of intelligence to follow anticollision dolly it is intended to solution intelligence prevents from thrusting into amiable
With the design hitting thing.
For achieving the above object, a kind of intelligence of present invention proposition follows anticollision dolly, including vehicle frame, wheel, wireless signal
Sensor, driver and controller;It is characterized in that: described wheel includes driving wheel and universal wheel, described vehicle frame lower front
It is provided with two driving wheels, lower rear is provided with two universal wheels;Described wireless signal sensors include infrared sensor and
Ultrasonic sensor, described infrared sensor includes remote infrared line discharger and remote infrared line reception device;Described car
Frame front outsides center is provided with described remote infrared line reception device, and described remote infrared line reception device both sides are symmetrical
Be provided with ultrasonic sensor remote infrared line discharger described in two groups and be arranged at and automatically follow in target;Described driving wheel
It is connected with described driver, described driver is connected with described controller;
It is provided with Central Control Module, and the infrared positioning mould being connected with described Central Control Module signal in described controller
Block, ultrasonic distance measuring module and drive module.
Preferably, the operating voltage range of described infrared sensor is 5.5v-16v unidirectional current, and effective detection range is
0.2m-6m.
Preferably, the operating voltage range of described ultrasonic distance measuring module is 2.4v-5.5v unidirectional current, and detection range is
2cm-450cm.
Preferably, described drive module adopts the double h bridge DC motor Driver chip of l298n.
Preferably, described Central Control Module adopts atmega328 processor.
Anticollision dolly is followed according to described intelligence, it is further proposed that a kind of avoiding collision, it includes as follows the present invention
Step:
Step one: described remote infrared line reception device receives the signal that described remote infrared line discharger sends, and sends
To described Central Control Module, by described Central Control Module, the direction following target is positioned;
Step 2: ultrasonic sensor transmitting ultrasound wave described in two groups, and receive and follow the ultrasound wave that target sends;
Step 3: described in two groups, the ultrasonic signal of reception is respectively sent to described Central Control Module by ultrasonic sensor,
Described Central Control Module calculates respectively according to the two groups of signals receiving and follows the distance of target;If left side distance is near, right
Wheel accelerates;If right side distance is near, revolver accelerates;If apart from identical, left and right wheels are synchronized;Step 4: described center controls mould
Block calculates following distance;If following distance is more than preset value d, two-wheeled accelerates;If following distance is less than preset value d, two-wheeled
Slow down;
Step 5: repeat step two, step 3 and step 4, the movement velocity of adjustment left and right wheels, ultrasound wave described in two groups of holding
Sensor is constant to the distance following target;
Step 6: if described remote infrared line reception device cannot receive the signal of infrared emitting sensor, or two groups of institutes
State ultrasonic sensor detect shelter distance be less than 20cm, then dolly be automatically stopped;If the distance of shelter is more than
20cm, then dolly continuation is advanced by pre-set programs and is detected.
The intelligence of the present invention follows anticollision dolly, in the energized state, follows target and could be arranged to human body, that is, described remote
Journey infrared transmitting device is arranged on human body target.The signal quilt that described infrared transmitting device with target body sends
Be installed at dolly front end described infrared receiver receive after, according to receive signal target body is carried out substantially square
To positioning.Ultrasonic sensor transmitting ultrasound wave described in two groups, and receive the ultrasound wave of target body reflection, super described in two groups
Sonic sensor sends the ultrasonic signal of reception to described Central Control Module, and described Central Control Module passes through reception
Two groups of signals, to judge the distance of target body, when one group of ultrasonic sensor distance objective human body is nearer, can conclude that target
Human body is partial to this ultrasonic sensor, and dolly turns to this to traveling.
By setting shorter time, constantly carry out the contrast of two ends distance in the process of moving, make dolly all the time towards
The direction running of target body;When described Central Control Module judges that two groups of ultrasonic sensors are equal with the distance of target body
Afterwards, can conclude that target in front, dolly can be made to move ahead or stop (being controlled according to the tracking range 1m-2m that single-chip microcomputer sets, away from
From keeping within the range normally advancing, slow down less than dolly during minima, exceed and accelerate during maximum);Deposit around car body
When barrier (< 20cm), start obstacle avoidance system.The present invention is with low cost, is easy to promote.It is applied to the fields such as airport, high ferro station
Rideshare visitor baggage handling, be also suitable for the functional shopping cart of megastore, also in large-scale workshop unit check personnel instrument
Multiple occasions such as carrying, have wide market prospect and considerable economic benefit, social benefit.
Brief description
Fig. 1 is that the intelligence of the present invention follows the use state schematic diagram of anticollision dolly.
Fig. 2 be the present invention intelligence follow anticollision dolly automatically follow flow chart.
Fig. 3 is that the intelligence of the present invention follows the signal transmission module figure of anticollision dolly.
Fig. 4 be the present invention intelligence follow anticollision dolly l298n drive connection direct current generator circuit diagram.
Fig. 5 is that the intelligence of the present invention follows the system assembles module map of anticollision dolly.
Fig. 6 is arduino uno port and the atmega328 single-chip microcomputer pin corresponding diagram of the present invention.
Fig. 7 is that the intelligence of the present invention follows the field test result of anticollision dolly.
Label declaration:
Remote infrared line discharger 1, motor support base 2, single-chip computer control system 3, vehicle frame 4, universal wheel 5, driver 6, motor
7, driving wheel 8, ultrasonic sensor 9, remote infrared line reception device 10, target body 11.
Specific embodiment
Below in conjunction with accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described it is clear that institute
The embodiment of description is only a part of embodiment of the present invention, rather than whole embodiments.Based on the enforcement in the present invention
Example, the every other embodiment that those of ordinary skill in the art are obtained under the premise of not making creative work, broadly fall into
The scope of protection of the invention.
If it is to be appreciated that relating to directivity instruction (such as up, down, left, right, before and after ...) in the embodiment of the present invention,
Then directionality instruction be only used for explain under a certain particular pose (as shown in drawings) relative position relation between each part,
Motion conditions etc., if this particular pose changes, directionality instruction also correspondingly changes therewith.
The present invention proposes a kind of intelligence and follows anticollision dolly, and its structure is as shown in figure 1, include vehicle frame 4, wheel, wireless communication
Number sensor (including RF transmitter 1, ultrasonic sensor 9 and remote infrared line reception device 10), driver 6 and control
Device (i.e. single-chip computer control system 3);Wherein said wheel includes driving wheel 8 and universal wheel 5, and the lower front of described vehicle frame 4 sets
It is equipped with two driving wheels 8, lower rear is provided with two universal wheels 5;Described wireless signal sensors include infrared sensor and
Ultrasonic sensor 9, described infrared sensor includes remote infrared line discharger 1 and remote infrared line reception device 10 again;
Described vehicle frame 4 front outsides center is provided with described remote infrared line reception device 10, and described remote infrared line receives dress
Put 10 both sides and be symmetrically provided with ultrasonic sensor 9 described in two groups, described remote infrared line discharger 1 is that long distance wireless is distant
Control device, can be installed on the body of target body;Described driving wheel 8 is connected with described driver 6, described driver 6 with described
Controller connects.
During use, as shown in Fig. 2 remote infrared line reception device 10 receives the signal of remote infrared line discharger 1, and
Transmit the signal to controller, by master controller, target body direction is positioned.Simultaneously ultrasonic described in two groups
Wave sensor 9 also sends signal to target body, and receives the signal of feedback, then the feedback signal of reception is passed to control
Device;Controller judges to judge the distance of target body according to this two groups feedback signals;When one group of ultrasonic sensor is apart from mesh
When mark human body is nearer, can conclude that target body is partial to this ultrasonic sensor, dolly turns to this to traveling.Predeterminable one shorter
Time, constantly carry out the contrast of two ends distance in the process of moving, so that dolly is all the time towards the direction running of target body.
When Central Control Module judge two groups of ultrasonic sensors to human body distance equal after can conclude that target in front, dolly can be made
Move ahead or stop;Meanwhile, described Central Control Module calculates following distance;The triggering advanced or stop is arrived in 1m apart from predeterminable
Between 2m, when dolly and target body distance within the range, then keep normal and advance, if less than apart from minima when, little
Car slows down;If exceeding apart from maximum, accelerate to advance.Meanwhile, also need to arrange anticollision mechanism: there is barrier around car body
When, start obstacle mechanism.Predeterminable when having shelter within dolly 20cm, then judge around there is barrier;Obstacle
Mechanism can be for getting around, when cannot be around starting then stop.
Successfully follow and get around the purpose of barrier to reach, described controller needs and each sensor and execute dress
The hardware put keeps instant signal communication, is provided with Central Control Module in described controller, this Central Control Module with
Infrared locating module, ultrasonic distance measuring module and drive module signal communication.Described infrared locating module includes remote infrared line
Discharger 1 and remote infrared line reception device 10, and its associated circuit, described ultrasonic distance measuring module includes two groups of ultrasound wave
Sensor 9 and its associated circuit, described drive module includes driver 6 and driving wheel 8, and its associated circuit.
In order to improve positioning precision, as shown in figure 3, described intelligence follows anticollision dolly includes infrared ray sensor, described
The operating voltage range of infrared sensor is 5.5v-16v unidirectional current, coverage 0.2-6m.Select in the illustrated embodiment
Infrared ray sensor parameter as follows:
1st, module running voltage: 5.5-16vdc;
2nd, standby quiescent current: 3ma;
3rd, detection range: 0.2-6m;
4th, working temperature environment: -20 °+80 °;
5th, triggering mode: repeated trigger (is given tacit consent to);
6th, export refresh rate: 20hz;
7th, infrared modulated frequency: 56hz;
The operating voltage range of the ultrasonic distance measuring module in the present embodiment is 2.4v-5.5v unidirectional current, and detection range is 2cm-
450cm.Important technological parameters are as follows:
Table 1. ultrasonic distance measuring module technical parameter
Electric parameter | Us-100 ultrasonic distance measuring module |
Running voltage | dc 2.4v~5.5v |
Quiescent current | 2ma |
Operating temperature | - 20 ~+70 degree |
The way of output | Level or uart(jumper cap select) |
Sensing angle | Less than 15 degree |
Detection range | 2cm-450cm |
Detection accuracy | 0.3cm+1% |
Serial ports configuration under uart pattern | Baud rate 9600, start bit 1, stop position 1, data bit 8, no parity, no flow control. |
Described Central Control Module adopts arduino uno processor and its platform, and described drive module adopts the double h bridge of l298n
DC motor Driver chip.As shown in figure 3, the system is mainly by infrared sensor, arduino uno, direct current generator, ultrasound wave
Sensor assembly, l298n motor drive module composition, its major function is to launch letter by described infrared sensor discharger
Number, described infrared receiving device receipt signal, and incoming for signal described arduino uno processing platform, thus human body is entered
Row substantially positions;Arduino uno gathers the left-right signal of described ultrasonic sensor, through the comparison of arduino uno, sentences
Disconnected dolly follow direction, meanwhile, by the signal of ultrasonic sensor modules, to judge the distance followed.
Arduino uno is a electronics Prototyping Platform of increasing income, and comprises hardware and software, processor core is
atmega328.Environment can be perceived by various sensors, by controlling light, motor and other device Lai anti-
Feedback, impact environment.Its microcontroller can be compiled into binary system literary composition by the programming language of arduino uno come coding
Part, it is using arduino uno programming language (based on wiring) to the programming of arduino uno that microcontroller is entered in burning
With arduino uno development environment (based on processing) come to realize.Based on the project of arduino uno, permissible
Only comprise arduino uno it is also possible to arduino uno and some other software running are comprised on pc, enter between them
Row communication (such as flash, processing, maxmsp) is realizing.
Follow structure design and the programming of anticollision dolly according to aforesaid intelligence, the present invention also proposes a kind of avoiding collision,
It comprises the steps:
Step one: described remote infrared line reception device receives the signal that described remote infrared line discharger sends, and sends
To described Central Control Module, by described Central Control Module, the direction following target is positioned;
Step 2: ultrasonic sensor transmitting ultrasound wave described in two groups, and receive and follow the ultrasound wave that target sends;
Step 3: described in two groups, the ultrasonic signal of reception is respectively sent to described Central Control Module by ultrasonic sensor,
Described Central Control Module calculates respectively according to the two groups of signals receiving and follows the distance of target;If left side distance is near, right
Wheel accelerates;If right side distance is near, revolver accelerates;If apart from identical, left and right wheels are synchronized;Step 4: described center controls mould
Block calculates following distance;If following distance is more than preset value d, two-wheeled accelerates;If following distance is less than preset value d, two-wheeled
Slow down;
Step 5: repeat step two, step 3 and step 4, the movement velocity of adjustment left and right wheels, ultrasound wave described in two groups of holding
Sensor is constant to the distance following target;
Step 6: if described remote infrared line reception device cannot receive the signal of infrared emitting sensor, or two groups of institutes
State ultrasonic sensor detect shelter distance be less than 20cm, then dolly be automatically stopped;If the distance of shelter is more than
20cm, then dolly continuation is advanced by pre-set programs and is detected.
The result that Fig. 7 tests indoors for the present invention.It can be seen that the intelligence of the present invention follows anticollision dolly, reaction is fast
Speed, accurate positioning, the feature of real-time tracking;And simple to operate, high degree of automation.During use, target body only need to carry
One slight wireless device, then opens switch, set keep at a distance, the parameter such as movement velocity, just can be from motion tracking mesh
Mark, follows target motion.The core technology that the design uses is ripe, with low cost, is easy to promote.It is applied to airport, high ferro station
Etc. the carrying of occasion passenger baggage, it is also suitable for the functional shopping cart of megastore, also unit check personnel in large-scale workshop
Multiple occasions such as instrument carrying, can liberate both hands well.The present invention have wide market prospect and considerable economic benefit,
Social benefit.
The foregoing is only the preferred embodiments of the present invention, not thereby limit the present invention the scope of the claims, every this
Under the inventive concept of invention, the equivalent structure transformation made using description of the invention and accompanying drawing content, or directly/indirectly use
In the scope of patent protection that other related technical fields are included in the present invention.
Claims (6)
1. a kind of intelligence follows anticollision dolly, including vehicle frame, wheel, wireless signal sensors, driver and controller;Its feature
It is: described wheel includes driving wheel and universal wheel, described vehicle frame lower front is provided with two driving wheels, lower rear is arranged
There are two universal wheels;Described wireless signal sensors include infrared sensor and ultrasonic sensor, described infrared sensor bag
Include remote infrared line discharger and remote infrared line reception device;Described vehicle frame front outsides center is provided with described remote
Journey infrared receiver, described remote infrared line reception device both sides are symmetrically provided with ultrasonic sensor described in two groups;
Described remote infrared line discharger is arranged at follows in target automatically;Described driving wheel is connected with described driver, described drive
Dynamic device is connected with described controller;
It is provided with Central Control Module, and the infrared positioning mould being connected with described Central Control Module signal in described controller
Block, ultrasonic distance measuring module and drive module.
2. intelligence as claimed in claim 1 follow anticollision dolly it is characterised in that: the running voltage model of described infrared sensor
Enclose for 5.5v-16v unidirectional current, effective detection range is 0.2m-6m.
3. intelligence as claimed in claim 1 follow anticollision dolly it is characterised in that: the work of described ultrasonic distance measuring module electricity
Pressure scope is 2.4v-5.5v unidirectional current, and detection range is 2cm-450cm.
4. intelligence as claimed in claim 1 follow anticollision dolly it is characterised in that: described drive module adopts the double h bridge of l298n
DC motor Driver chip.
5. intelligence as claimed in claim 1 follow anticollision dolly it is characterised in that: described Central Control Module adopts
Atmega328 processor.
6. a kind of using the intelligence described in claim 1-5 follow anticollision dolly avoiding collision it is characterised in that: it include as
Lower step:
Step one: described remote infrared line reception device receives the signal that described remote infrared line discharger sends, and sends
To described Central Control Module, by described Central Control Module, the direction following target is positioned;
Step 2: ultrasonic sensor transmitting ultrasound wave described in two groups, and receive and follow the ultrasound wave that target sends;
Step 3: described in two groups, the ultrasonic signal of reception is respectively sent to described Central Control Module by ultrasonic sensor,
Described Central Control Module calculates respectively according to the two groups of signals receiving and follows the distance of target;If left side distance is near, right
Wheel accelerates;If right side distance is near, revolver accelerates;If apart from identical, left and right wheels are synchronized;
Step 4: described Central Control Module calculates following distance;If following distance is more than preset value d, two-wheeled accelerates;If with
With distance less than preset value d, then two-wheeled deceleration;
Step 5: repeat step two, step 3 and step 4, the movement velocity of adjustment left and right wheels, ultrasound wave described in two groups of holding
Sensor is constant to the distance following target;
Step 6: if described remote infrared line reception device cannot receive the signal of infrared emitting sensor, or two groups of institutes
State ultrasonic sensor detect shelter distance be less than 20cm, then dolly be automatically stopped;If the distance of shelter is more than
20cm, then dolly continuation is advanced by pre-set programs and is detected.
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CN107145151A (en) * | 2017-06-28 | 2017-09-08 | 上海匀逸电子科技有限公司 | One kind follows dynamic structure and its system automatically |
CN107161198A (en) * | 2017-07-06 | 2017-09-15 | 浙江圆锥科技有限公司 | Perambulator and stroller |
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