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CN106338999A - Intelligent following anti-collision dolly and anti-collision method thereof - Google Patents

Intelligent following anti-collision dolly and anti-collision method thereof Download PDF

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Publication number
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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China
Prior art keywords
dolly
distance
control module
infrared
central control
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Pending
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CN201611003754.8A
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Chinese (zh)
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王昊泓
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Individual
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Individual
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Priority to CN201611003754.8A priority Critical patent/CN106338999A/en
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242Control 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
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • 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

Intelligence follows anticollision dolly and avoiding collision
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.
CN201611003754.8A 2016-11-15 2016-11-15 Intelligent following anti-collision dolly and anti-collision method thereof Pending CN106338999A (en)

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Cited By (18)

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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
CN108974062A (en) * 2018-07-03 2018-12-11 西安思源学院 A kind of safeguard protection trolley
CN109032121A (en) * 2017-06-09 2018-12-18 先进机器人有限公司 Motive objects tracing system
CN109947105A (en) * 2019-03-27 2019-06-28 科大智能机器人技术有限公司 A kind of speed regulating method and speed regulation device of automatic tractor
CN110182511A (en) * 2019-05-13 2019-08-30 盐城品迅智能科技服务有限公司 A kind of the steering deceleration device and turning retarding method of intelligent storage vehicle
CN110376588A (en) * 2019-06-17 2019-10-25 广东工业大学 A kind of automatic follower method of two-wheel balance car
CN110794835A (en) * 2019-10-28 2020-02-14 海航航空技术股份有限公司 Target following obstacle avoidance system and method
CN110825120A (en) * 2018-08-13 2020-02-21 纮信科技股份有限公司 Target following carrier
CN110825119A (en) * 2018-08-13 2020-02-21 纮信科技股份有限公司 Target following method and system
CN110850898A (en) * 2019-11-28 2020-02-28 曾阔 Intelligent medical nursing following trolley and following method
CN110986316A (en) * 2019-12-06 2020-04-10 青岛海尔空调器有限总公司 Air supply control method and device, air conditioner and storage medium
CN111026202A (en) * 2019-09-30 2020-04-17 陕西雷神智能装备有限公司 Motion equipment drive-by-wire signal generation device and drive-by-wire motion equipment
CN111317193A (en) * 2020-03-05 2020-06-23 孔维袈 Intelligent micro-positive pressure circulating wind biosafety high-level protective clothing
CN111361848A (en) * 2020-03-24 2020-07-03 中南大学湘雅三医院 Organ transfer box
CN112702100A (en) * 2020-12-14 2021-04-23 上海磐启微电子有限公司 Automatic following system for luggage
CN113047897A (en) * 2021-04-13 2021-06-29 河海大学 Wet-type dust removal system and method for underground cavern of hydropower station
CN113924861A (en) * 2021-11-05 2022-01-14 广东省农业科学院蔬菜研究所 Automatic harvesting system for greenhouse vegetable cultivation

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Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109032121A (en) * 2017-06-09 2018-12-18 先进机器人有限公司 Motive objects tracing system
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
CN108974062A (en) * 2018-07-03 2018-12-11 西安思源学院 A kind of safeguard protection trolley
CN110825120A (en) * 2018-08-13 2020-02-21 纮信科技股份有限公司 Target following carrier
CN110825119A (en) * 2018-08-13 2020-02-21 纮信科技股份有限公司 Target following method and system
CN109947105A (en) * 2019-03-27 2019-06-28 科大智能机器人技术有限公司 A kind of speed regulating method and speed regulation device of automatic tractor
CN110182511A (en) * 2019-05-13 2019-08-30 盐城品迅智能科技服务有限公司 A kind of the steering deceleration device and turning retarding method of intelligent storage vehicle
CN110182511B (en) * 2019-05-13 2021-06-22 彭甜甜 Steering speed reduction device and steering speed reduction method of intelligent storage vehicle
CN110376588A (en) * 2019-06-17 2019-10-25 广东工业大学 A kind of automatic follower method of two-wheel balance car
CN111026202A (en) * 2019-09-30 2020-04-17 陕西雷神智能装备有限公司 Motion equipment drive-by-wire signal generation device and drive-by-wire motion equipment
CN110794835A (en) * 2019-10-28 2020-02-14 海航航空技术股份有限公司 Target following obstacle avoidance system and method
CN110850898A (en) * 2019-11-28 2020-02-28 曾阔 Intelligent medical nursing following trolley and following method
CN110986316A (en) * 2019-12-06 2020-04-10 青岛海尔空调器有限总公司 Air supply control method and device, air conditioner and storage medium
CN111317193A (en) * 2020-03-05 2020-06-23 孔维袈 Intelligent micro-positive pressure circulating wind biosafety high-level protective clothing
CN111361848A (en) * 2020-03-24 2020-07-03 中南大学湘雅三医院 Organ transfer box
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CN113047897A (en) * 2021-04-13 2021-06-29 河海大学 Wet-type dust removal system and method for underground cavern of hydropower station
CN113924861A (en) * 2021-11-05 2022-01-14 广东省农业科学院蔬菜研究所 Automatic harvesting system for greenhouse vegetable cultivation

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