CN109164831A - A kind of intelligent-tracking trolley - Google Patents
A kind of intelligent-tracking trolley Download PDFInfo
- Publication number
- CN109164831A CN109164831A CN201810917662.3A CN201810917662A CN109164831A CN 109164831 A CN109164831 A CN 109164831A CN 201810917662 A CN201810917662 A CN 201810917662A CN 109164831 A CN109164831 A CN 109164831A
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- controller
- trolley
- tracking
- vehicle body
- steering engine
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- 238000004891 communication Methods 0.000 claims abstract description 28
- 230000005611 electricity Effects 0.000 claims description 2
- 238000011161 development Methods 0.000 abstract description 8
- 238000000034 method Methods 0.000 description 5
- 230000002452 interceptive effect Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
-
- 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
- G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
-
- 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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of intelligent-tracking trolley, including trolley vehicle body, motor, power module and motor drive module, motor is for driving trolley vehicle body, and motor drive module is for controlling motor, and power module is for providing power supply；It further include pixy camera, steering engine, controller, communication module and host computer, power module, controller and communication module are fixed on trolley vehicle body, motor drive module is electrically connected with the controller and receives the command information of controller, steering engine is fixed on the front end of trolley vehicle body, and pixy camera is fixed on steering engine and tracks target for identification, pixy camera is electrically connected with the controller and the direction information of steering engine is sent back controller；The host computer is communicated by communication module with controller, for sending instruction setting tracking object to controller.The present invention is integrated with tracking objective function, reduces the workload of secondary development by being equipped with pixy camera, pixy camera, reduces the operand of controller, improves the real-time tracking ability of tracking trolley.
Description
Technical field
The present invention relates to field of intelligent control technology, and in particular to a kind of intelligent-tracking trolley.
Background technique
Trolley is tracked, refers to a kind of instrument of the information for tracking target object, to obtain target object.It is tracking
In the process, tracking trolley needs are moved according to the movement of target object in real time, specifically, tracking trolley needs to obtain mesh in real time
The image for marking object, then identifies target object, and judge the moving direction of target object, to follow target from image
Object is mobile.
But this tracking trolley, to guarantee not lose target object, obtains the figure of target object during tracking
Picture can be more frequent, and therefore, a large amount of image is identified and analyzed in the controller needs for tracking trolley, moreover, obtaining every time
After taking image, controller requires to identify target object from image again, therefore, track the operand of agv controller compared with
Greatly, larger burden is caused to tracking trolley, causes the real-time for tracking trolley undesirable.
Summary of the invention
Present invention aims to overcome that the shortcomings that prior art and deficiency, provide a kind of intelligent-tracking trolley, to solve
The operand of tradition tracking agv controller is larger, and causes to track the undesirable problem of trolley real-time.
To achieve the above object, The technical solution adopted by the invention is as follows:
A kind of intelligent-tracking trolley, including trolley vehicle body, motor, power module and motor drive module, motor is for driving
Dynamic trolley vehicle body, motor drive module is for controlling motor, and power module is for providing power supply；It further include pixy camera, rudder
Machine, controller, communication module and host computer, the power module, controller and communication module are fixed on trolley vehicle body, described
Motor drive module is electrically connected with the controller and receives the command information of controller, before the steering engine is fixed on trolley vehicle body
End, and pixy camera is fixed on steering engine and tracks target for identification, the pixy camera be electrically connected with the controller and incite somebody to action
The direction information of steering engine sends back controller；The host computer is communicated by communication module with controller, is used for control
Device processed sends instruction setting tracking object.
From the foregoing, it will be observed that the upper machine information received is sent to pixy camera by controller by the present invention, pixy is taken the photograph
Target is set as head is tracked using the track algorithm control steering engine itself integrated, while the direction information of steering engine is sent back into control
Device, controller handle the steering engine direction information received, control the direction of motion and the speed of trolley vehicle body then to repair
Positive vehicle body；The present invention is integrated with tracking objective function, reduces secondary development by being equipped with pixy camera, pixy camera
Workload reduces the operand of controller, improves the real-time tracking ability of tracking trolley.
As an improvement of the present invention, the trolley vehicle body includes vehicle frame, and the front bottom end of vehicle frame is symmetrically equipped with two
The rear end bottom of a wheel, vehicle frame is equipped with universal wheel, motor driven vehicle wheel rotation.
As an improvement of the present invention, the front end of the trolley vehicle body is equipped with ultrasonic distance-measuring sensor, ultrasound
It is electrically connected with the controller away from sensor, the information control trolley vehicle body and track that controller is obtained according to ultrasonic distance-measuring sensor
Target keeps set distance.
Further, the controller is Arduino single-chip microcontroller.
Further, the communication module is bluetooth communication or Zigbee communication module or WIFI communication module.
Further, the rotation angle range of the steering engine is 0 °~180 °.
Further, the host computer is computer or mobile phone or tablet terminal.
Compared with prior art, the invention has the following advantages that
The present invention is integrated with tracking objective function, reduces secondary development by being equipped with pixy camera, pixy camera
Workload, reduce the operand of controller, improve tracking trolley real-time tracking ability；
Equipped with ultrasonic distance-measuring sensor, can incude with front tracking target at a distance from, thus control trolley vehicle body with
Track target keeps set distance；
Controller is Arduino single-chip microcontroller, which is open source hardware, has enough development technique to support；
Interactive mode is introduced by communication module, is conducive to the intelligence and controllability that improve tracking trolley.
Detailed description of the invention
Fig. 1 is the schematic diagram of intelligent-tracking trolley of the present invention；
Fig. 2 is the bottom view of Fig. 1.
In figure: 1- controller；2- power module；3-pixy camera；4- ultrasonic distance-measuring sensor；5- communication module；
6- trolley vehicle body；61- vehicle frame；62- wheel；63- universal wheel；7- motor；8- motor drive module；9- steering engine.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.It is understood that tool described herein
Body embodiment is used only for explaining the present invention rather than limiting the invention.It also should be noted that for the ease of retouching
It states, only some but not all contents related to the present invention are shown in the drawings.
Embodiment
Fig. 1 and Fig. 2, a kind of intelligent-tracking trolley, including trolley vehicle body 6, motor 7, power module 2 and motor is please referred to drive
Dynamic model block 8, motor 7 is for driving trolley vehicle body 6, and motor drive module 8 is for controlling motor 7, and power module 2 is for providing electricity
Source；
It further include pixy camera 3, steering engine 9, controller 1, communication module 5 and host computer, the power module 2, control
Device 1 and communication module 5 are fixed on trolley vehicle body 6, and the motor drive module 8 is electrically connected with controller 1 and receives controller 1
Command information, the steering engine 9 is fixed on the front end of trolley vehicle body 6, and pixy camera 3 is fixed on steering engine 9 for identification
Target is tracked, the pixy camera 3 is electrically connected with controller 1 and the direction information of steering engine 9 is sent back controller 1；It is described
Host computer communicated with controller 1 by communication module 5, set tracking object for sending instruction to controller 1.
From the foregoing, it will be observed that the upper machine information received is sent to pixy camera by controller by the present invention, pixy is taken the photograph
Target is set as head is tracked using the track algorithm control steering engine itself integrated, while the direction information of steering engine is sent back into control
Device, controller handle the steering engine direction information received, control the direction of motion and the speed of trolley vehicle body then to repair
Positive vehicle body；The present invention is integrated with tracking objective function, reduces secondary development by being equipped with pixy camera, pixy camera
Workload reduces the operand of controller, improves the real-time tracking ability of tracking trolley.
In the present embodiment, the trolley vehicle body 6 includes vehicle frame 61, and the front bottom end of vehicle frame 61 is symmetrically set there are two vehicle
Wheel 62, the rear end bottom of vehicle frame 61 are equipped with universal wheel 62, and motor 7 drives wheel 62 to rotate.
In the present embodiment, the front end of the trolley vehicle body 6 is equipped with ultrasonic distance-measuring sensor 4, ultrasonic distance measurement sensing
Device 4 is electrically connected with controller 1, the information control trolley vehicle body 6 and track that controller 1 is obtained according to ultrasonic distance-measuring sensor 4
Target keeps set distance.Host computer can be not only used for controller send instruction setting tracking object, can be also used for
Controller sends instruction setting trolley vehicle body and tracks the set distance of target；Equipped with ultrasonic distance-measuring sensor, can incude with
Front tracks the distance of target, to control trolley vehicle body and tracking target holding set distance.
In the present embodiment, the controller 1 is Arduino single-chip microcontroller.Controller is Arduino single-chip microcontroller, the list
Piece machine is open source hardware, has enough development technique to support.
In the present embodiment, the communication module 5 is bluetooth communication or Zigbee communication module or WI FI communication
Module.Interactive mode is introduced by communication module, is conducive to the intelligence and controllability that improve tracking trolley.
In the present embodiment, the rotation angle range of the steering engine 9 is 0 °~180 °.
In the present embodiment, the host computer is computer or mobile phone or tablet terminal.
Compared with prior art, the invention has the following advantages that
The present invention is integrated with tracking objective function, reduces secondary development by being equipped with pixy camera, pixy camera
Workload, reduce the operand of controller, improve tracking trolley real-time tracking ability；
Equipped with ultrasonic distance-measuring sensor, can incude with front tracking target at a distance from, thus control trolley vehicle body with
Track target keeps set distance；
Controller is Arduino single-chip microcontroller, which is open source hardware, has enough development technique to support；
Interactive mode is introduced by communication module, is conducive to the intelligence and controllability that improve tracking trolley.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (7)
1. a kind of intelligent-tracking trolley, including trolley vehicle body, motor, power module and motor drive module, motor is for driving
Trolley vehicle body, motor drive module is for controlling motor, and power module is for providing power supply；It is characterized by also including pixy
Camera, steering engine, controller, communication module and host computer, the power module, controller and communication module are fixed on trolley vehicle
With, the motor drive module is electrically connected with the controller and receives the command information of controller, and the steering engine is fixed on trolley
The front end of vehicle body, and pixy camera is fixed on steering engine and tracks target for identification, the pixy camera and controller electricity
It connects and the direction information of steering engine is sent back into controller；The host computer is communicated by communication module with controller,
For sending instruction setting tracking object to controller.
2. intelligent-tracking trolley according to claim 1, it is characterised in that: the trolley vehicle body includes vehicle frame, vehicle frame
Front bottom end is symmetrically set there are two wheel, and the rear end bottom of vehicle frame is equipped with universal wheel, motor driven vehicle wheel rotation.
3. intelligent-tracking trolley according to claim 1, it is characterised in that: the front end of the trolley vehicle body is equipped with ultrasonic wave
Distance measuring sensor, ultrasonic distance-measuring sensor are electrically connected with the controller, the letter that controller is obtained according to ultrasonic distance-measuring sensor
Breath control trolley vehicle body and tracking target keep set distance.
4. intelligent-tracking trolley according to claim 1, it is characterised in that: the controller is Arduino single-chip microcontroller.
5. intelligent-tracking trolley according to claim 1, it is characterised in that: the communication module is bluetooth communication
Or Zigbee communication module or WIFI communication module.
6. intelligent-tracking trolley according to claim 1, it is characterised in that: the rotation angle range of the steering engine is 0 °~
180°。
7. intelligent-tracking trolley according to claim 1, it is characterised in that: the host computer be computer or mobile phone or
Tablet terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810917662.3A CN109164831A (en) | 2018-08-13 | 2018-08-13 | A kind of intelligent-tracking trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810917662.3A CN109164831A (en) | 2018-08-13 | 2018-08-13 | A kind of intelligent-tracking trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109164831A true CN109164831A (en) | 2019-01-08 |
Family
ID=64895773
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810917662.3A Pending CN109164831A (en) | 2018-08-13 | 2018-08-13 | A kind of intelligent-tracking trolley |
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| Country | Link |
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| CN (1) | CN109164831A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109727520A (en) * | 2019-01-29 | 2019-05-07 | 天津卡达克数据有限公司 | Artificial intelligence vehicle |
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| KR20170090631A (en) * | 2016-01-29 | 2017-08-08 | 한국해양대학교 산학협력단 | Pid |
| CN107767402A (en) * | 2017-10-26 | 2018-03-06 | 五邑大学 | A kind of video tracking cart system and method based on Camshift algorithms |
| CN107962546A (en) * | 2017-12-25 | 2018-04-27 | 华南理工大学广州学院 | A kind of image recognition element follows pickup robot |
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2018
- 2018-08-13 CN CN201810917662.3A patent/CN109164831A/en active Pending
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| CN207718226U (en) * | 2017-09-27 | 2018-08-10 | 北京联合大学 | A kind of double-wheel self-balancing trolley automatic following system |
| CN107767402A (en) * | 2017-10-26 | 2018-03-06 | 五邑大学 | A kind of video tracking cart system and method based on Camshift algorithms |
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| CN109727520A (en) * | 2019-01-29 | 2019-05-07 | 天津卡达克数据有限公司 | Artificial intelligence vehicle |
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| PB01 | Publication | ||
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Application publication date: 20190108 |