CN107976995A - Intelligent mobile system, intelligent mobile device and its moving method - Google Patents
Intelligent mobile system, intelligent mobile device and its moving method Download PDFInfo
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- CN107976995A CN107976995A CN201610938916.0A CN201610938916A CN107976995A CN 107976995 A CN107976995 A CN 107976995A CN 201610938916 A CN201610938916 A CN 201610938916A CN 107976995 A CN107976995 A CN 107976995A
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The present invention relates to a kind of intelligent mobile system, intelligent mobile device and its moving method, the intelligent mobile system includes moveable guide device and the intelligent mobile device of the guide device movement can be followed when the guide device moves；The guide device includes guiding signal emission module, and signal is guided for launching；The intelligent mobile device includes：Signal receiving module is guided, for receiving the guiding signal of the guiding signal emission module transmitting；Guide signal processing module, for obtaining the intelligent mobile device and the distance of the guide device according to the intensity of the guiding signal, and the intelligent mobile device according to the intelligent mobile device and the distance controlling of the guide device follows the guide device to move.Intelligent mobile device can follow the movement of user and move in the present invention, so as to fulfill intelligent mobile device is freely rapidly guided.
Description
Technical field
The present invention relates to field of intelligent control, more particularly to a kind of intelligent mobile system, intelligent mobile device and its shifting
Dynamic method.
Background technology
Grass trimmer, trolley, typically by manual operation, take time and effort when movable equipment is in movement.With intelligence
The mobile equipment such as the application of change, grass trimmer, trolley can also be moved by Intelligent control.But such case is typically grass trimmer, hand
Cart is when mobile equipment is in running order, for example, manipulation grass trimmer is mowed in lawn region according to specified route, or
Trolley is manipulated to move according to specified route.But before allowing the mobile equipment such as grass trimmer, trolley to enter working status, usually need
It is actively guided to enter working region, this process also needs to manual operation, time-consuming and laborious.
The content of the invention
Based on this, it is necessary to provide a kind of intelligent mobile system, intelligent mobile device and its moving method, make intelligent mobile
Device follows guide device to move freely automatically.
A kind of intelligent mobile system, including moveable guide device and can be followed when the guide device moves described
The intelligent mobile device of guide device movement；
The guide device includes guiding signal emission module, and signal is guided for launching；
The intelligent mobile device includes：
Signal receiving module is guided, for receiving the guiding signal of the guiding signal emission module transmitting；
Guide signal processing module, for according to the intensity of the guiding signal obtain the intelligent mobile device with it is described
The distance of guide device, and the intelligent mobile device according to the intelligent mobile device and the distance controlling of the guide device
It is mobile.
In one of the embodiments, the guiding signal processing module includes：
First processing module, believes for being more than the guiding in the distance of the intelligent mobile device and the guide device
The maximum preset of number coverage apart from when, send alarm signal.
In one of the embodiments, the guiding signal processing module includes：
Second processing module, allows the intelligence for being less than in the distance of the intelligent mobile device and the guide device
During the minimum pre-determined distance of energy mobile device and the guide device, the intelligent guiding device is controlled to stop movement.
In one of the embodiments, the intelligent mobile device further includes revolver and right wheel, and the guiding signal receives
Module includes left side guiding signal receiving module corresponding with the revolver and right wheel respectively and right side guiding signal receiving module,
The left side guiding signal receiving module and right side guiding signal receiving module receive the guiding letter of corresponding left or right side respectively
Number；
The guiding signal processing module includes：
3rd processing module, allows the intelligence for being more than in the distance of the intelligent mobile device and the guide device
Can mobile device and the guide device minimum pre-determined distance, and less than the guiding signal cover maximum preset away from
From when, the corresponding left side or right that signal receiving module and right side guiding signal receiving module receive respectively is guided according to the left side
The intensity size of the guiding signal of side adjusts the translational speed of the revolver and right wheel, follows the intelligent mobile device described
Guide device moves.
In one of the embodiments, the 3rd processing module includes：
Signal strength detection unit, the left side guiding signal received for detecting the left side guiding signal receiving module
The intensity size for the right side guiding signal that intensity is received with right side guiding signal receiving module；
First guidance unit, for being equal to the intensity of right side guiding signal in the intensity of left side guiding signal
When, make revolver speed movement identical with right wheel holding；
Second guidance unit, when the intensity for left side guiding signal is more than the intensity of right side guiding signal,
Adjusting the translational speed of the right wheel makes the translational speed of the right wheel be more than the translational speed of the revolver；
3rd guidance unit, for being more than the intensity of left side guiding signal in the intensity of right side guiding signal
When, adjusting the translational speed of the revolver makes the translational speed of the revolver be more than the translational speed of the right wheel.
In one of the embodiments, the signal strength detection unit is additionally operable to detect respectively described in before and after the fixed cycle
Left side guides the size for guiding signal that signal receiving module and right side guiding signaling module receive；
3rd processing module further includes：
4th guidance unit, the guiding received for the left side before the fixed cycle and right side guiding signal receiving module
The intensity of signal is more than or equal to the guiding signal that left side and right side the guiding signal receiving module receives after the fixed cycle
During intensity, control the revolver and right wheel to accelerate movement, otherwise, control the revolver and right wheel deceleration movement.
In one of the embodiments, the guiding signal emission module is AM radio transmitting modules, corresponding, described
Signal receiving module is guided to guide signal receiving module for AM radio.
In one of the embodiments, the frequency of the AM radio guiding signal of the AM radio transmitting module transmitting is
500HZ~300KHz.
In one of the embodiments, the waveform of the AM radio guiding signal of the AM radio transmitting module transmitting is
Square wave, triangular wave or sawtooth waveforms.
In one of the embodiments, on the waveform of the AM radio guiding signal of the AM radio transmitting module transmitting
It is 500ns~2000ns to rise along the time.
In one of the embodiments, the guiding signal emission module is bluetooth ibeacon signal emission modules, corresponding
, the guiding signal receiving module guides signal receiving module for bluetooth ibeacon.
In intelligent mobile system described above, for the guide device that can move freely, the guiding that guide device includes is believed
Number transmitting module can launch guiding signal, and the guiding signal receiving module of intelligent mobile device can receive the guiding signal, guiding
Signal processing module can obtain the distance of intelligent mobile device and guide device according to the intensity of the guiding signal, and according to intelligence
The distance controlling intelligent mobile device of mobile device and guide device follows guide device to move；Thus, when user holds guiding
During device, intelligent mobile device can follow the movement of user and move, so as to fulfill intelligent mobile dress is freely rapidly guided
Put.
A kind of intelligent mobile device, the intelligent mobile device can follow the guide device to move when guide device moves
Dynamic, the guide device includes guiding signal emission module, and the intelligent mobile device is based on above-described intelligent mobile
Device.
In intelligent mobile device described above, for the guide device that can move freely, the guiding that guide device includes is believed
Number transmitting module can launch guiding signal, and the guiding signal receiving module of intelligent mobile device can receive the guiding signal, guiding
Signal processing module can obtain the distance of intelligent mobile device and guide device according to the intensity of the guiding signal, and according to intelligence
The distance controlling intelligent mobile device of mobile device and guide device follows guide device to move；Thus, when user holds guiding
During device, intelligent mobile device can follow the movement of user and move, so as to fulfill intelligent mobile dress is freely rapidly guided
Put.
A kind of moving method of intelligent mobile device, the intelligent mobile device are filled based on above-described intelligent mobile
Put, the moving method includes：
Receive the guiding signal of the guiding signal emission module transmitting；
According to the intensity acquisition intelligent mobile device and the distance of the guide device of the guiding signal, and according to
The intelligent mobile device is moved with intelligent mobile device described in the distance controlling of the guide device.
In one of the embodiments, it is described according to the intelligent mobile device and the distance controlling institute of the guide device
Stating the movement of intelligent mobile device includes：
If the distance of the intelligent mobile device and the guide device is more than the maximum of the guiding signal cover
Pre-determined distance, then send the warning that the intelligent mobile device departs from the guiding signal cover；
If the distance of the intelligent mobile device and the guide device be less than allow the intelligent mobile device with it is described
The minimum pre-determined distance of guide device, then control the intelligent guiding device to stop movement.
In one of the embodiments, the intelligent mobile device further includes revolver and right wheel, and the guiding signal receives
Module includes left side corresponding with the revolver and right wheel guiding signal receiving module and right side guiding signal receiving module, described
Left side guides signal receiving module and right side guiding signal receiving module to receive corresponding left or right side guiding signal respectively；
The intelligent mobile device according to the intelligent mobile device and the distance controlling of the guide device moves
Including：
If the distance of the intelligent mobile device and the guide device be more than allow the intelligent mobile device with it is described
The minimum pre-determined distance of guide device, and less than the maximum preset distance of the guiding signal cover, then according to the left side
Side guides the correspondence left or right side guiding signal adjustment that signal receiving module and right side guiding signal receiving module receive respectively
The translational speed of the revolver and right wheel, makes the intelligent mobile device follow the guide device to move.
In one of the embodiments, it is described to guide signal receiving module and right side guiding signal to receive according to the left side
The guiding signal for the correspondence left or right side that module receives respectively, which adjusts the revolver and the translational speed of right wheel, to be included：
The intensity for detecting the left side guiding signal that the left side guiding signal receiving module receives is believed with right side guiding
The intensity size for the right side guiding signal that number receiving module receives；
If the intensity of the left side guiding signal is equal to the intensity of right side guiding signal, make the revolver and right wheel
Identical speed is kept to move；
If the intensity of the left side guiding signal is more than the intensity of right side guiding signal, the right wheel is adjusted
Translational speed makes the translational speed of the right wheel be more than the translational speed of the revolver；
If the intensity of the right side guiding signal is more than the intensity of left side guiding signal, the revolver is adjusted
Translational speed makes the translational speed of the revolver be more than the translational speed of the right wheel.
In one of the embodiments, it is described to guide signal receiving module and right side guiding signal to receive according to the left side
The guiding signal for the correspondence left or right side that module receives respectively adjusts the revolver and the translational speed of right wheel further includes：
The left side guides signal receiving module and right side to guide what signaling module received before and after detecting the fixed cycle respectively
Guide the size of signal；
If the intensity for the guiding signal that left side and right side the guiding signal receiving module receives is more than before the fixed cycle
Or the intensity of the guiding signal received equal to the left side after the fixed cycle and right side guiding signal receiving module, then described in control
Revolver and right wheel accelerate movement, otherwise, control the revolver and right wheel deceleration movement.
In the moving method of intelligent mobile device described above, for the guide device that can move freely, guide device bag
The guiding signal emission module included can launch guiding signal, and the guiding signal receiving module of intelligent mobile device can receive the guiding
Signal, guiding signal processing module can obtain the distance of intelligent mobile device and guide device according to the intensity of the guiding signal,
And guide device is followed to move according to the distance controlling intelligent mobile device of intelligent mobile device and guide device；Thus, when with
When family holds guide device, intelligent mobile device can follow the movement of user and move, so as to fulfill freely rapidly guiding
Intelligent mobile device.
Brief description of the drawings
Fig. 1 is the structure diagram of an embodiment intelligent mobile system；
Fig. 2 is the schematic diagram of guiding signal cover；
Fig. 3 is the moving method flow diagram of the intelligent mobile device of an embodiment.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in Figure 1, the intelligent mobile system of an embodiment, including moveable guide device and can be moved in guide device
The intelligent mobile device for following guide device to move when dynamic；
Guide device includes guiding signal emission module, and signal is guided for launching；
Intelligent mobile device includes：
Signal receiving module is guided, for receiving the guiding signal of guiding signal emission module transmitting；
Guide signal processing module, for according to the intensity of guiding signal obtain intelligent mobile device and guide device away from
From, and moved according to intelligent mobile device and the distance controlling intelligent mobile device of guide device.
In intelligent mobile system described above, for the guide device that can move freely, the guiding that guide device includes is believed
Number transmitting module can launch guiding signal, and the guiding signal receiving module of intelligent mobile device can receive the guiding signal, guiding
Signal processing module can obtain the distance of intelligent mobile device and guide device according to the intensity of the guiding signal, and according to intelligence
The distance controlling intelligent mobile device of mobile device and guide device follows guide device to move；Thus, when user holds guiding
During device, intelligent mobile device can follow the movement of user and move, so as to fulfill intelligent mobile dress is freely rapidly guided
Put.
As shown in Fig. 2, signal is guided since its energy can weaken with the propagation of distance, it usually has one
Fixed coverage, as shown in Figure 2, with r2For the maximum radius of its covering.When intelligent mobile device follows guide device to move
When dynamic, need to keep certain distance between the two, with the minimum range r allowed in Fig. 21To show.
It will be evident that when the distance of intelligent mobile device and guide device exceeds r2When, intelligent mobile device will be unable to receive
To guiding signal.For this reason, in the present embodiment, guiding signal processing module includes：
First processing module, for being more than guiding signal cover in the distance of intelligent mobile device and guide device
Maximum preset apart from when, control the intelligent mobile device to stop mobile and send intelligent mobile device and depart from guiding signal covering
The warning of scope.
Thus, when user holds guide device movement, if intelligent mobile device sends warning, can retract again
Guide the movement of intelligent mobile device.
It is appreciated that when the distance of intelligent mobile device and guide device is less than r1When, due between the two away from
From excessively near, collision is easy to cause.For this reason, guiding signal processing module includes：
Second processing module, for intelligent mobile device and guide device distance be less than allow intelligent mobile device with
During the minimum pre-determined distance of guide device, control intelligent guiding device stops movement.
Thus, when user holds guide device movement, the distance between intelligent mobile device and user can be more than always
Or equal to minimum pre-determined distance r1, prevent intelligent mobile device from striking user.
It is appreciated that feelings when distance is abnormal between intelligent mobile device and guide device are simply expressed above
Condition, when intelligent mobile device follows guide device normal movement, i.e., distance is more than between intelligent mobile device and guide device
r1And it is less than r2When, then need to control intelligent mobile device to follow guide device movement closely.In the present embodiment, intelligent mobile device away from
Movement from guide device mainly includes two aspects, first, intelligent mobile device follows the direction change of guide device and the side of change
To, second, intelligent mobile device with the acceleration or deceleration of guide device synchronizing moving.
For this reason, in the present embodiment, intelligent mobile device further includes revolver and right wheel, and guiding signal receiving module includes and a left side
Wheel left side guiding signal receiving module corresponding with right wheel and right side guiding signal receiving module, left side guiding signal receiving module
Receive the guiding signal of corresponding left or right side respectively with right side guiding signal receiving module.Wherein, respectively with L and R tables in Fig. 2
Show left side guiding signal receiving module and right side guiding signal receiving module.Corresponding, guiding signal processing module further includes：
3rd processing module, for intelligent mobile device and guide device distance be more than allow intelligent mobile device with
The minimum pre-determined distance of guide device, and less than guiding signal cover maximum preset apart from when, according to left side guide believe
The guiding signal adjustment revolver for the correspondence left or right side that number receiving module and right side guiding signal receiving module receive respectively with
The translational speed of right wheel, makes intelligent mobile device follow guide device to move.
It will be evident that received respectively according to left side guiding signal receiving module and right side guiding signal receiving module corresponding left
The translational speed of the guiding signal on side or right side adjustment revolver and right wheel includes the adjustment of moving direction and speed.
Further to realize control to direction, in the present embodiment, the 3rd processing module includes：
Signal strength detection unit, the intensity of the left side guiding signal received for detecting left side guiding signal receiving module
The intensity size of the right side guiding signal received with right side guiding signal receiving module；
First guidance unit, for when the intensity of left side guiding signal is equal to right side and guides the intensity of signal, making revolver
Speed movement identical with right wheel holding；
Second guidance unit, when the intensity for left side guiding signal is more than the intensity of right side guiding signal, adjusts right wheel
Translational speed make right wheel translational speed be more than revolver translational speed；
3rd guidance unit, for when the intensity of right side guiding signal is more than left side and guides the intensity of signal, adjusting left
The translational speed of wheel makes the translational speed of revolver be more than the translational speed of right wheel.
It is appreciated that when user holds guide device and turns left, left side guiding signal receiving module can be caused with drawing
The distance for leading signal emission module reduces, so that the intensity for the guiding signal that left side guiding receiving module receives is drawn more than right side
Lead the intensity of the guiding signal of receiving module reception.Signal strength detection unit detects that left side guiding signal receiving module receives
Guiding signal when being more than the guiding signal that right side guiding signal receiving module receives, the second guidance unit is adjustable right wheel
Translational speed makes the translational speed of right wheel be more than the translational speed of revolver, so that intelligent mobile device turns left.On the contrary, work as user
When holding guide device right-hand rotation, right side guiding signal receiving module can be caused with guiding the distance diminution of signal emission module, from
And the intensity for guiding signal for receiving right side guiding receiving module is more than the guiding signal that left side guiding receiving module receives
Intensity.The guiding signal that the right side guiding signal receiving module of signal strength detection unit detection receives is more than left side guiding signal
During the guiding signal that receiving module receives, the second guidance unit is that the translational speed of adjustable revolver makes the translational speed of revolver big
In the translational speed of right wheel, so that intelligent mobile device is turned right.If user holds guide device straight trip, due to signal strength
The guiding signal that the left side guiding signal receiving module of detection unit detection receives is equal to right side guiding signal receiving module and receives
Guiding signal, the first guidance unit can make the movement of revolver identical with right wheel holding speed, intelligent mobile device is protected with user
Hold synchronous straight trip.
Further to realize control to speed, in the present embodiment, signal strength detection unit is additionally operable to detect respectively solid
The size for the guiding signal that the front and rear left side guiding signal receiving module of fixed cycle and right side guiding signaling module receive；
3rd processing module further includes：
4th guidance unit, the guiding signal received for the left side before the fixed cycle and right side guiding signal receiving module
Intensity be greater than or equal to the fixed cycle after left side and right side guiding signal receiving module receive guiding signal intensity when, control
Revolver processed and right wheel accelerate movement, otherwise, control revolver and right wheel deceleration movement.
It is appreciated that for fixed cycle T, its unit can be second or minute etc., and specific numerical value and unit are set
Putting can be according to practical application, and the present embodiment includes different facilities in the case of different application.Mould is received for guiding signal
The guiding signal that block receives, including the left side guiding signal and right side guiding letter that left side and right side guiding signal receiving module receive
Number, signal strength detection unit can left side guiding signal receiving module and right side guiding before and after fixed cycle T detects T time
The size for the guiding signal that signaling module receives.It is appreciated that when user holds guide device acceleration and advances, due to intelligence
The hysteresis quality of energy mobile device movement, drawing for signaling module reception is guided for left side guiding signal receiving module and right side before T
Left side guides signal receiving module and the guiding signal of right side guiding signaling module reception after leading signal VCL1 and VCR2, and T
VCL2 and VCR2, necessarily there is VCL1>=VCL2 and VCR1>What=VCR2, i.e. left side and right side guiding signal receiving module were received
The intensity of guiding signal reduces before and after T, and therefore, it is necessary to control revolver and right wheel to accelerate movement.
On the contrary, when user holds guide device Easy abeadl, due to the hysteresis quality of intelligent mobile device movement, for T
Left side after guiding signal VCL1 and VCR2, and T that preceding left side guiding signal receiving module and right side guiding signaling module receive
Guiding the signal VCL2 and VCR2 for guiding signal receiving module and right side guiding signaling module to receive, necessarily there is VCL1<=VCL2
And VCR1<The intensity for the guiding signal that=VCR2, i.e. left side and right side guiding signal receiving module are received enhances before and after T,
Therefore, it is necessary to control revolver and right wheel deceleration movement.
In the present embodiment, guiding signal emission module can be AM radio transmitting modules, corresponding, and guiding signal receives
Module guides signal receiving module for AM radio.AM radio transmitting module transmitting AM radio guiding signal frequency be
500HZ~300KHz.The waveform of the AM radio guiding signal of AM radio transmitting module transmitting is square wave, triangular wave or sawtooth
Ripple.The waveform rising time of the AM radio guiding signal of AM radio transmitting module transmitting is 500ns~2000ns.
In the present embodiment, guiding signal emission module can also bluetooth ibeacon signal emission modules, it is corresponding, guiding
Signal receiving module guides signal receiving module for bluetooth ibeacon.
As shown in Figure 1, a kind of intelligent mobile device has also been provided separately in the present embodiment, intelligent mobile device can be filled in guiding
Guide device is followed to move when putting mobile, guide device includes guiding signal emission module, and intelligent mobile device includes：
Signal receiving module is guided, for receiving the guiding signal of guiding signal emission module transmitting,
Guide signal processing module, for according to the intensity of guiding signal obtain intelligent mobile device and guide device away from
From, and follow guide device to move according to the distance controlling intelligent mobile device of intelligent mobile device and guide device.
In intelligent mobile device described above, for the guide device that can move freely, the guiding that guide device includes is believed
Number transmitting module can launch guiding signal, and the guiding signal receiving module of intelligent mobile device can receive the guiding signal, guiding
Signal processing module can obtain the distance of intelligent mobile device and guide device according to the intensity of the guiding signal, and according to intelligence
The distance controlling intelligent mobile device of mobile device and guide device follows guide device to move；Thus, when user holds guiding
During device, intelligent mobile device can follow the movement of user and move, so as to fulfill intelligent mobile dress is freely rapidly guided
Put.
As shown in Fig. 2, signal is guided since its energy can weaken with the propagation of distance, it usually has one
Fixed coverage, as shown in Figure 2, with r2For the maximum radius of its covering.When intelligent mobile device follows guide device to move
When dynamic, need to keep certain distance between the two, with the minimum range r allowed in Fig. 21To show.
It will be evident that when the distance of intelligent mobile device and guide device exceeds r2When, intelligent mobile device will be unable to receive
To guiding signal.When the distance of intelligent mobile device and guide device is less than r1When, due to hypotelorism between the two, easily
Cause to bump against.
For this reason, in the present embodiment, in the present embodiment, guiding signal processing module includes：
First processing module, for being more than guiding signal cover in the distance of intelligent mobile device and guide device
Maximum preset apart from when, control the intelligent mobile device to stop mobile and send intelligent mobile device and depart from guiding signal covering
The warning of scope；
Second processing module, for intelligent mobile device and guide device distance be less than allow intelligent mobile device with
During the minimum pre-determined distance of guide device, control intelligent guiding device stops movement.
Thus, when user holds guide device movement, if intelligent mobile device sends warning, can retract again
Guide the movement of intelligent mobile device.Meanwhile the distance between intelligent mobile device and user can be greater than or equal to minimum always in advance
If distance r1, prevent intelligent mobile device from striking user.
It is appreciated that feelings when distance is abnormal between intelligent mobile device and guide device are simply expressed above
Condition, when intelligent mobile device follows guide device normal movement, i.e., distance is more than between intelligent mobile device and guide device
r1And it is less than r2When, then need to control intelligent mobile device to follow guide device movement closely.In the present embodiment, intelligent mobile device away from
Movement from guide device mainly includes two aspects, first, intelligent mobile device follows the direction change of guide device and the side of change
To, second, intelligent mobile device with the acceleration or deceleration of guide device synchronizing moving.
For this reason, in the present embodiment, intelligent mobile device further includes revolver and right wheel, and guiding signal receiving module includes and a left side
Wheel left side guiding signal receiving module corresponding with right wheel and right side guiding signal receiving module, left side guiding signal receiving module
Receive the guiding signal of corresponding left or right side respectively with right side guiding signal receiving module；
Guiding signal processing module further includes：
3rd processing module, for intelligent mobile device and guide device distance be more than allow intelligent mobile device with
The minimum pre-determined distance of guide device, and less than guiding signal cover maximum preset apart from when, according to left side guide believe
The guiding signal adjustment revolver for the correspondence left or right side that number receiving module and right side guiding signal receiving module receive respectively with
The translational speed of right wheel, makes intelligent mobile device follow guide device to move.
It will be evident that received respectively according to left side guiding signal receiving module and right side guiding signal receiving module corresponding left
The translational speed of the guiding signal on side or right side adjustment revolver and right wheel includes the adjustment of moving direction and speed.
For this reason, in the present embodiment, the 3rd processing module includes：
Signal strength detection unit, the intensity of the left side guiding signal received for detecting left side guiding signal receiving module
The intensity size of the right side guiding signal received with right side guiding signal receiving module；
First guidance unit, for when the intensity of left side guiding signal is equal to right side and guides the intensity of signal, making revolver
Speed movement identical with right wheel holding；
Second guidance unit, when the intensity for left side guiding signal is more than the intensity of right side guiding signal, adjusts right wheel
Translational speed make right wheel translational speed be more than revolver translational speed；
3rd guidance unit, for when the intensity of right side guiding signal is more than left side and guides the intensity of signal, adjusting left
The translational speed of wheel makes the translational speed of revolver be more than the translational speed of right wheel.
It is appreciated that when user holds guide device and turns left, left side guiding signal receiving module can be caused with drawing
The distance for leading signal emission module reduces, so that the intensity for the guiding signal that left side guiding receiving module receives is drawn more than right side
Lead the intensity of the guiding signal of receiving module reception.Signal strength detection unit detects that left side guiding signal receiving module receives
Guiding signal when being more than the guiding signal that right side guiding signal receiving module receives, the second guidance unit is adjustable right wheel
Translational speed makes the translational speed of right wheel be more than the translational speed of revolver, so that intelligent mobile device turns left.On the contrary, work as user
When holding guide device right-hand rotation, right side guiding signal receiving module can be caused with guiding the distance diminution of signal emission module, from
And the intensity for guiding signal for receiving right side guiding receiving module is more than the guiding signal that left side guiding receiving module receives
Intensity.The guiding signal that the right side guiding signal receiving module of signal strength detection unit detection receives is more than left side guiding signal
During the guiding signal that receiving module receives, the second guidance unit is that the translational speed of adjustable revolver makes the translational speed of revolver big
In the translational speed of right wheel, so that intelligent mobile device is turned right.If user holds guide device straight trip, due to signal strength
The guiding signal that the left side guiding signal receiving module of detection unit detection receives is equal to right side guiding signal receiving module and receives
Guiding signal, the first guidance unit can make the movement of revolver identical with right wheel holding speed, intelligent mobile device is protected with user
Hold synchronous straight trip.
Further to realize control to speed, in the present embodiment, signal strength detection unit is additionally operable to detect respectively solid
The size for the guiding signal that the front and rear left side guiding signal receiving module of fixed cycle and right side guiding signaling module receive；
3rd processing module further includes：
4th guidance unit, the guiding signal received for the left side before the fixed cycle and right side guiding signal receiving module
Intensity be greater than or equal to the fixed cycle after left side and right side guiding signal receiving module receive guiding signal intensity when, control
Revolver processed and right wheel accelerate movement, otherwise, control revolver and right wheel deceleration movement.
It is appreciated that for fixed cycle T, its unit can be second or minute etc., and specific numerical value and unit are set
Putting can be according to practical application, and the present embodiment includes different facilities in the case of different application.Mould is received for guiding signal
The guiding signal that block receives, including the left side guiding signal and right side guiding letter that left side and right side guiding signal receiving module receive
Number, signal strength detection unit can left side guiding signal receiving module and right side guiding before and after fixed cycle T detects T time
The size for the guiding signal that signaling module receives.It is appreciated that when user holds guide device acceleration and advances, due to intelligence
The hysteresis quality of energy mobile device movement, drawing for signaling module reception is guided for left side guiding signal receiving module and right side before T
Left side guides signal receiving module and the guiding signal of right side guiding signaling module reception after leading signal VCL1 and VCR2, and T
VCL2 and VCR2, necessarily there is VCL1>=VCL2 and VCR1>What=VCR2, i.e. left side and right side guiding signal receiving module were received
The intensity of guiding signal reduces before and after T, and therefore, it is necessary to control revolver and right wheel to accelerate movement.
On the contrary, when user holds guide device Easy abeadl, due to the hysteresis quality of intelligent mobile device movement, for T
Left side after guiding signal VCL1 and VCR2, and T that preceding left side guiding signal receiving module and right side guiding signaling module receive
Guiding the signal VCL2 and VCR2 for guiding signal receiving module and right side guiding signaling module to receive, necessarily there is VCL1<=VCL2
And VCR1<The intensity for the guiding signal that=VCR2, i.e. left side and right side guiding signal receiving module are received enhances before and after T,
Therefore, it is necessary to control revolver and right wheel deceleration movement.
In the present embodiment, guiding signal emission module can be AM radio transmitting modules, corresponding, and guiding signal receives
Module guides signal receiving module for AM radio.AM radio transmitting module transmitting AM radio guiding signal frequency be
500HZ~300KHz.The waveform of the AM radio guiding signal of AM radio transmitting module transmitting is square wave, triangular wave or sawtooth
Ripple.The waveform rising time of the AM radio guiding signal of AM radio transmitting module transmitting is 500ns~2000ns.
In the present embodiment, guiding signal emission module can also bluetooth ibeacon signal emission modules, it is corresponding, guiding
Signal receiving module guides signal receiving module for bluetooth ibeacon.
As shown in figure 3, being based on above-described intelligent mobile device, the present embodiment additionally provides a kind of intelligent mobile device
Moving method, including step S120 and step S140.
Step S120, receives the guiding signal of guiding signal emission module transmitting；
Step S140, the distance of intelligent mobile device and guide device is obtained according to the intensity of guiding signal, and according to intelligence
The distance controlling intelligent mobile device of energy mobile device and guide device follows guide device to move.
In the moving method of intelligent mobile device described above, for the guide device that can move freely, guide device bag
The guiding signal emission module included can launch guiding signal, and the guiding signal receiving module of intelligent mobile device can receive the guiding
Signal, guiding signal processing module can obtain the distance of intelligent mobile device and guide device according to the intensity of the guiding signal,
And guide device is followed to move according to the distance controlling intelligent mobile device of intelligent mobile device and guide device；Thus, when with
When family holds guide device, intelligent mobile device can follow the movement of user and move, so as to fulfill freely rapidly guiding
Intelligent mobile device.
Wherein, guide device is followed to move according to the distance controlling intelligent mobile device of intelligent mobile device and guide device
Including：
If the distance of intelligent mobile device and guide device is more than the maximum preset distance of guiding signal cover, send out
Go out the warning that intelligent mobile device departs from guiding signal cover；
Allow the minimum of intelligent mobile device and guide device pre- if the distance of intelligent mobile device and guide device is less than
If distance, then intelligent guiding device is controlled to stop movement.
Wherein, intelligent mobile device further includes revolver and right wheel, and guiding signal receiving module includes and revolver and right wheel pair
The left side guiding signal receiving module answered and right side guiding signal receiving module, left side guiding signal receiving module and right side guiding
Signal receiving module receives corresponding left or right side guiding signal respectively；
Guide device movement is followed to include according to the distance controlling intelligent mobile device of intelligent mobile device and guide device：
Allow the minimum of intelligent mobile device and guide device pre- if the distance of intelligent mobile device and guide device is more than
If distance, and less than the maximum preset distance of guiding signal cover, then signal receiving module and right side are guided according to left side
The correspondence left or right side guiding signal adjustment revolver and the translational speed of right wheel that guiding signal receiving module receives respectively, make intelligence
Energy mobile device follows guide device to move.
Wherein, the corresponding left side received respectively according to left side guiding signal receiving module and right side guiding signal receiving module
Or the guiding signal adjustment revolver on right side and the translational speed of right wheel include：
The corresponding left side or right that detection left side guiding signal receiving module and right side guiding signal receiving module receive respectively
The intensity size of the guiding signal of side；
If the guiding signal that left side guiding signal receiving module receives is equal to drawing for right side guiding signal receiving module reception
Signal is led, then makes revolver speed movement identical with right wheel holding；
If the guiding signal that left side guiding signal receiving module receives is more than drawing for right side guiding signal receiving module reception
Signal is led, then adjusting the translational speed of right wheel makes the translational speed of right wheel be more than the translational speed of revolver；
If the guiding signal that right side guiding signal receiving module receives is more than drawing for left side guiding signal receiving module reception
Signal is led, then adjusting the translational speed of revolver makes the translational speed of revolver be more than the translational speed of right wheel.
Wherein, the corresponding left side received respectively according to left side guiding signal receiving module and right side guiding signal receiving module
Or the guiding signal adjustment revolver on right side and the translational speed of right wheel further include：
The guiding that fixed cycle front and rear left side guiding signal receiving module and right side guiding signaling module receive is detected respectively
The size of signal；
If the intensity for the guiding signal that left side and right side guiding signal receiving module receive is more than or waits before the fixed cycle
The intensity for the guiding signal that left side and right side guiding signal receiving module receive, then control revolver and right wheel to add after the fixed cycle
Speed is mobile, otherwise, controls revolver and right wheel deceleration movement.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses the several embodiments of the present invention, its description is more specific and detailed, but simultaneously
Cannot therefore it be construed as limiting the scope of the patent.It should be pointed out that come for those of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (17)
1. a kind of intelligent mobile system, it is characterised in that can move including moveable guide device and in the guide device
When follow the intelligent mobile device of guide device movement；
The guide device includes guiding signal emission module, and signal is guided for launching；
The intelligent mobile device includes：
Signal receiving module is guided, for receiving the guiding signal of the guiding signal emission module transmitting；
Signal processing module is guided, for obtaining the intelligent mobile device and the guiding according to the intensity of the guiding signal
The distance of device, and the intelligent mobile device according to the intelligent mobile device and the distance controlling of the guide device moves
It is dynamic.
2. intelligent mobile system according to claim 1, it is characterised in that the guiding signal processing module includes：
First processing module, covers for being more than the guiding signal in the distance of the intelligent mobile device and the guide device
The maximum preset of lid scope apart from when, send alarm signal.
3. intelligent mobile system according to claim 1, it is characterised in that the guiding signal processing module includes：
Second processing module, allows the intelligent sliding for being less than in the distance of the intelligent mobile device and the guide device
When dynamic device and the minimum pre-determined distance of the guide device, the intelligent guiding device is controlled to stop movement.
4. intelligent mobile system according to claim 1, it is characterised in that the intelligent mobile device further include revolver with
Right wheel, it is described guiding signal receiving module include left side corresponding with the revolver and right wheel guiding signal receiving module and
Right side guides signal receiving module, and left side guiding signal receiving module and right side guiding signal receiving module receive pair respectively
Answer the guiding signal of left or right side；
The guiding signal processing module includes：
3rd processing module, allows the intelligent sliding for being more than in the distance of the intelligent mobile device and the guide device
Dynamic device and the minimum pre-determined distance of the guide device, and less than the maximum preset distance of the guiding signal cover
When, signal receiving module and the right side correspondence left or right side that receives respectively of guiding signal receiving module are guided according to the left side
The intensity size of guiding signal adjust the translational speed of the revolver and right wheel, the intelligent mobile device is followed described draw
Lead device movement.
5. intelligent mobile system according to claim 4, it is characterised in that the 3rd processing module includes：
Signal strength detection unit, the intensity of the left side guiding signal received for detecting the left side guiding signal receiving module
The intensity size of the right side guiding signal received with right side guiding signal receiving module；
First guidance unit, for when the intensity of left side guiding signal is equal to the right side and guides the intensity of signal, making
Revolver speed movement identical with right wheel holding；
Second guidance unit, when the intensity for left side guiding signal is more than the intensity of right side guiding signal, is adjusted
The translational speed of the right wheel makes the translational speed of the right wheel be more than the translational speed of the revolver；
3rd guidance unit, for when the intensity of right side guiding signal is more than the left side and guides the intensity of signal, adjusting
Saving the translational speed of the revolver makes the translational speed of the revolver be more than the translational speed of the right wheel.
6. intelligent mobile system according to claim 5, it is characterised in that the signal strength detection unit is additionally operable to point
Jian Ce not left side guiding signal receiving module and right side guiding signaling module receive before and after the fixed cycle guiding signal
Intensity size；
3rd processing module further includes：
4th guidance unit, the guiding signal received for the left side before the fixed cycle and right side guiding signal receiving module
Intensity be greater than or equal to the intensity of the guiding signal that the left side and right side guiding signal receiving module after the fixed cycle receive
When, control the revolver and right wheel to accelerate movement, otherwise, control the revolver and right wheel deceleration movement.
7. intelligent mobile system according to claim 1, it is characterised in that the guiding signal emission module is wireless for AM
Electric transmitting module, corresponding, the guiding signal receiving module guides signal receiving module for AM radio.
8. intelligent mobile system according to claim 7, it is characterised in that the AM of the AM radio transmitting module transmitting
The frequency of radio guiding signal is 500HZ~300KHz.
9. intelligent mobile system according to claim 7, it is characterised in that the AM of the AM radio transmitting module transmitting
The waveform of radio guiding signal is square wave, triangular wave or sawtooth waveforms.
10. intelligent mobile system according to claim 7, it is characterised in that the AM radio transmitting module transmitting
The waveform rising time of AM radio guiding signal is 500ns~2000ns.
11. intelligent mobile system according to claim 1, it is characterised in that the guiding signal emission module is bluetooth
Ibeacon signal emission modules, corresponding, the guiding signal receiving module guides signal receiving module for bluetooth ibeacon.
12. a kind of intelligent mobile device, the intelligent mobile device can follow the guide device to move when guide device moves
Dynamic, the guide device includes guiding signal emission module, it is characterised in that the intelligent mobile device is based on claim
1-11 any one of them intelligent mobile devices.
13. a kind of moving method of intelligent mobile device, it is characterised in that filled based on intelligent mobile as claimed in claim 12
Put, the moving method includes：
Receive the guiding signal of the guiding signal emission module transmitting；
The intelligent mobile device and the distance of the guide device are obtained according to the intensity of the guiding signal, and according to described
Intelligent mobile device is moved with intelligent mobile device described in the distance controlling of the guide device.
14. moving method according to claim 13, it is characterised in that it is described according to the intelligent mobile device with it is described
The movement of intelligent mobile device includes described in the distance controlling of guide device：
If the distance of the intelligent mobile device and the guide device is more than the maximum preset of the guiding signal cover
Distance, then send the warning that the intelligent mobile device departs from the guiding signal cover；
If the distance of the intelligent mobile device and the guide device is less than and allows the intelligent mobile device and the guiding
The minimum pre-determined distance of device, then control the intelligent guiding device to stop movement.
15. the moving method according to claim 13 or 14, it is characterised in that the intelligent mobile device further includes revolver
With right wheel, the guiding signal receiving module includes left side corresponding with the revolver and right wheel guiding signal receiving module and the right side
Side guides signal receiving module, and the left side guiding signal receiving module and right side guiding signal receiving module receive correspondence respectively
Left or right side guides signal；
The movement of the intelligent mobile device according to the intelligent mobile device with the distance controlling of the guide device includes：
If the distance of the intelligent mobile device and the guide device is more than and allows the intelligent mobile device and the guiding
The minimum pre-determined distance of device, and less than the maximum preset distance of the guiding signal cover, then drawn according to the left side
Lead described in the correspondence left or right side guiding signal adjustment that signal receiving module and right side guiding signal receiving module receive respectively
The translational speed of revolver and right wheel, makes the intelligent mobile device follow the guide device to move.
16. moving method according to claim 15, it is characterised in that described to guide signal to receive mould according to the left side
The correspondence left or right side guiding signal that block and right side guiding signal receiving module receive respectively adjusts the revolver and right wheel
Translational speed includes：
The intensity and right side guiding signal for detecting the left side guiding signal that the left side guiding signal receiving module receives connect
Receive the intensity size for the right side guiding signal that module receives；
If the intensity of the left side guiding signal is equal to the intensity of right side guiding signal, the revolver is set to be kept with right wheel
Identical speed movement；
If the intensity of the left side guiding signal is more than the intensity of right side guiding signal, the movement of the right wheel is adjusted
Speed makes the translational speed of the right wheel be more than the translational speed of the revolver；
If the intensity of the right side guiding signal is more than the intensity of left side guiding signal, the movement of the revolver is adjusted
Speed makes the translational speed of the revolver be more than the translational speed of the right wheel.
17. moving method according to claim 16, it is characterised in that described to guide signal to receive mould according to the left side
The guiding signal for the correspondence left or right side that block and right side guiding signal receiving module receive respectively adjusts the revolver and right wheel
Translational speed further include：
The left side guides signal receiving module and right side to guide the guiding of signaling module reception before and after detecting the fixed cycle respectively
The size of signal；
If the intensity for the guiding signal that left side and right side the guiding signal receiving module receives is more than or waits before the fixed cycle
The intensity for the guiding signal that left side and right side the guiding signal receiving module receives, then control the revolver after the fixed cycle
And right wheel accelerates movement, otherwise, the revolver and right wheel deceleration movement are controlled.
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Cited By (1)
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| CN112915316A (en) * | 2021-01-19 | 2021-06-08 | 上海市第十人民医院 | Infusion control system |
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