CN110326867A - Intelligent luggage carrier and its automatic follower method - Google Patents
Intelligent luggage carrier and its automatic follower method Download PDFInfo
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- CN110326867A CN110326867A CN201910686981.2A CN201910686981A CN110326867A CN 110326867 A CN110326867 A CN 110326867A CN 201910686981 A CN201910686981 A CN 201910686981A CN 110326867 A CN110326867 A CN 110326867A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000004891 communication Methods 0.000 claims abstract description 14
- 230000010354 integration Effects 0.000 claims description 12
- 230000009514 concussion Effects 0.000 claims description 11
- 230000004888 barrier function Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 229910001416 lithium ion Inorganic materials 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 4
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- 238000002604 ultrasonography Methods 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A45—HAND OR TRAVELLING ARTICLES
- A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
- A45C13/00—Details; Accessories
- A45C13/18—Devices to prevent theft or loss of purses, luggage or hand carried bags
- A45C13/24—Devices for sound-producing, piercing, gas-discharging, or the like
-
- A—HUMAN NECESSITIES
- A45—HAND OR TRAVELLING ARTICLES
- A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
- A45C15/00—Purses, bags, luggage or other receptacles covered by groups A45C1/00 - A45C11/00, combined with other objects or articles
-
- A—HUMAN NECESSITIES
- A45—HAND OR TRAVELLING ARTICLES
- A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
- A45C5/00—Rigid or semi-rigid luggage
- A45C5/04—Trunks; Travelling baskets
- A45C5/045—Travelling baskets
-
- A—HUMAN NECESSITIES
- A45—HAND OR TRAVELLING ARTICLES
- A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
- A45C5/00—Rigid or semi-rigid luggage
- A45C5/14—Rigid or semi-rigid luggage with built-in rolling means
- A45C5/141—Rigid or semi-rigid luggage with built-in rolling means the rolling means being formed by the trunk itself
-
- 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
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (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
Intelligent luggage carrier, including cabinet, locating module, motor, motor driver, ultrasonic distance measuring module, display screen, bluetooth communication, control chip, power module and operating terminal；Operating terminal and bluetooth communication bluetooth connection, to send control instruction or receive information.A kind of automatic follower method, applied to above-mentioned Intelligent luggage carrier, it can be achieved that Intelligent luggage carrier follows owner to automatically move, steps are as follows: 1, system initialization and setting；2, obtain the relative position of user and Intelligent luggage carrier；3, user is followed automatically.The present invention realizes luggage case and follows user mobile automatically, to liberate the both hands of user, brings preferably trip experience to user, solves traditional luggage case and inflexible in use, the very physical strength of consuming people, the problem of being also easily lost.
Description
Technical field
The present invention relates to automatic control technology field, especially a kind of Intelligent luggage carrier and its automatic follower method.
Background technique
With the development and continuous improvement of people's living standards of travel industry, luggage case already becomes people's daily life
In essential trip article, people are also constantly promoting to the function of luggage case and with quality requirements.First China luggage
The concept of " intelligent luggage " is proposed in " internet+" industrial investment forum for the first time, i.e., is contracted for fixed output quotas by internet and conventional boxes
Industry combines functional change and transition and upgrade to push luggage industry, and " luggage hardware is intelligent ", " luggage strides forward intelligence
The viewpoints such as epoch " are proposed in succession, it can be seen that, " intelligent luggage " by be the following luggage industry development inexorable trend.
It by a large amount of questionnaire survey and visits, it has been found that people mainly face the following during trip and ask
Topic:
1. tired due to carrying bulky luggage case during the journey；
2. forgeing luggage case because hasty during the journey；
3. because luggage box number is more and inconvenient to carry.
Based on above-mentioned problem, and at present, " internet+" historical background nowel is contracted for fixed output quotas the development trend of industry, with and go out
In to luggage case hommization aspect thinking, people start pay attention to luggage case and people interaction, it is desirable to luggage case can automatically with
As people is mobile, but regrettably, traditional luggage case does not have and follows function automatically on the market at present, in use
It is inflexible, the physical strength of people is expended very much, is also easily lost.
Summary of the invention
The purpose of the present invention is overcome the deficiencies in the prior art, and provide a kind of Intelligent luggage carrier and its automatically side of following
Method, it, which solves traditional luggage case and does not have, follows function automatically, inflexible in use, very consuming people
Physical strength, the problem of being also easily lost.
The technical scheme is that Intelligent luggage carrier, including cabinet, locating module, motor, motor driver, ultrasound
Wave range finder module, display screen, bluetooth communication, control chip, power module and operating terminal；
The bottom of box is set there are two idler wheel and two universal wheels, and two idler wheels and two universal wheels are in rectangular layout, and two
Idler wheel is adjacently positioned, and two universal wheels are adjacently positioned；
There are three locating module quantity, and three locating modules are mounted on the bottom of box, and arrange in equilateral triangle；
The quantity of motor is two, and two motors are fixedly mounted on cabinet, and respectively drives an idler wheel rotation；
Motor driver is mounted on cabinet, and is electrically connected with two motors；
On the four sides side wall of ultrasonic distance measuring module installation outside the enclosure；
On the roof of display screen installation outside the enclosure；
Bluetooth communication is mounted on cabinet；
Control chip is mounted on cabinet, and signal input port and locating module, ultrasonic distance measuring module and bluetooth are logical
Believe module electrical connection, signal output port is electrically connected with motor driver and display screen；
Power module is mounted on cabinet, and is electrically connected respectively with motor, display screen and control chip；
Operating terminal and bluetooth communication bluetooth connection, to send control instruction or receive information.
The further technical solution of the present invention is: it further includes USB charging module, GPS positioning module and alarm module；
USB charging module is mounted in cabinet, and is electrically connected with power module, is equipped with USB interface outside the enclosure；GPS positioning module
It is mounted on cabinet, and is electrically connected with the signal input port of control chip；Alarm module is mounted on cabinet, and with control core
The signal output port of piece is electrically connected.
Further technical solution is the present invention: locating module is UWB sensor；Controlling chip model is
STM32F103RCT6；Ultrasonic distance measuring module is HC-SR04 range finder module；Motor is 110ZY12-001 Permanent magnet DC formula electricity
Machine；Motor driver is L298N DC motor driver；Power module includes 12V rechargeable lithium ion batteries, AMS1117-
3.3 electrical level transferring chips and electrical level transferring chip SN74LVC4245A；Operating terminal is the smart phone with Bluetooth function.
The technical scheme is that a kind of automatic follower method, applied to above-mentioned Intelligent luggage carrier, it can be achieved that intelligence
Luggage case follows owner to automatically move, and steps are as follows:
S01, system initialization and setting: user carries UWB sensor, and starts the power supply of Intelligent luggage carrier, to
After the completion of the initialization for controlling chip, bluetooth connection is established by operating terminal and Intelligent luggage carrier, is set by operating terminal
Intelligent luggage carrier is intelligent follow the mode, and sets following distance；
In this step, operating terminal provides intelligent follow the mode and manual follow the mode is available, intelligent follow the mode
Under, it is mobile that Intelligent luggage carrier follows user automatically, and keeps at a distance from setting between user, under manual follow the mode, intelligence
Luggage case is only walked according to track set by user, and for the set interval of following distance in 1-10m, default setting value is 2m；
S02, obtain the relative position of user and Intelligent luggage carrier: the portable UWB sensor of user is to intelligent luggage
3 UWB sensors on case send signal, and the control chip on Intelligent luggage carrier passes through TOA (time of arrival) immediately
Orientation and user are relative to the distance between Intelligent luggage carrier where algorithm operation obtains user；
In this step, the portable UWB sensor of user is positioning label, 3 UWB sensors on Intelligent luggage carrier
For locating base station；
S03 follows user automatically: main control chip calculates the reality of two motors according to the real-time operation result of TOA algorithm
When operating parameter, then drive the operating of two motors, to drive Intelligent luggage carrier mobile, realize and follows function, intelligent luggage automatically
During case follows, when accelerating the following distance for causing the distance between Intelligent luggage carrier and user to be greater than setting by user,
Intelligent luggage carrier slows down, and being slowed down by user causes the distance between Intelligent luggage carrier and user to be less than the following distance set
When, Intelligent luggage carrier is accelerated, to guarantee that its relative distance between user keeps stablizing, when user turns to, and intelligence
Luggage case is by the corresponding differential steering of motor, to guarantee that its relative bearing between user is constant.
The further technical solution of the present invention is: in Intelligent luggage carrier moving process, the revolving speed of motor with load increasing
Reduce greatly, when the load of motor changes and motor speed is caused to change, motor driver then passes through PID control
Motor speed is adjusted, in real time to mitigate the influence that load variation generates motor speed；It is integral, differential, ratio control that PID, which is adjusted,
System, working method be by first setting a setting value, then by Intelligent luggage carrier real work motor output speeds with
The setting value is compared, and is controlled the deviation obtained more afterwards；
The control rule that PID is adjusted is as shown in formula 1:
In formula: u (t) is the output that PID is adjusted；
E (t) is the input (i.e. deviation) that PID is adjusted；
KpFor proportionality coefficient；
TiFor integration time constant；
TdFor derivative time constant；
Proportional coefficient KpDetermination method be that Schilling integration time constant and derivative time constant are 0, then enable ratio system
Number is gradually increased from 0, and the system of increasing to is shaken, and then enables it be gradually reduced again, until system concussion disappears, records this
When Proportional coefficient KpValue；Proportional coefficient KpDebugging is completed；
Proportional coefficient KpAfter determination, a biggish integration time constant T is setiInitial value, be then gradually reduced Ti, directly
It is shaken to system, later again in turn, is gradually increased Ti, until system concussion disappears；The T of record at this timei, the time of integration
Constant TiDebugging is completed；
Derivative time constant TdDetermination method be to enable derivative time constant TdIt is gradually increased from 0, increases to system
Concussion, then enables it be gradually reduced again, until system concussion disappears, records derivative time constant T at this timedValue；Differential
Time constant TdDebugging is completed；
By e (t), Ti、TdValue bring formula 1 into and can solve u (t).
The further technical solution of the present invention is: in S02 step, TOA algorithm passes through measurement and positioning label and known bits
Transmission time between the locating base station set calculates distance, is calculated tested using three or more distance values by triangulation location
Positioning label position；
Positioning label is solved with the distance between Intelligent luggage carrier L by formula 2:
In formula: 3 UWB sensors on setting Intelligent luggage carrier are respectively A, B, C, and the centroid of △ ABC is H point, and is set
Alignment section AB length is a, and the midpoint of line segment BC is O, since 3 UWB sensors on Intelligent luggage carrier are arranged in equilateral triangle,
Then AB=BC=AC=a establishes X/Y plane coordinate system through line segment BC and OA,It is positive for X-axis,For Y-axis forward direction, setting is used
The UWB sensor that family carries is M, and subpoint of the M on X/Y plane coordinate system is M ', and the length of line segment MA is d1, line segment MB's
Length is d2, and the length of line segment MC is d3；
It the time communicated respectively by the UWB sensor that user carries with 3 UWB sensors on Intelligent luggage carrier, can
The value of d1, d2, d3 are directly calculated, a is intrinsic parameter, can directly measure acquisition, bring the value of d1, d2, d3, a into formula 2 i.e.
Can solve positioning label with the distance between Intelligent luggage carrier L；
Orientation (i.e. ∠ MHA) is solved by formula 3 where user:
θ can be solved by bringing the value of d1, d2, d3 into formula 3.
The further technical solution of the present invention is: in Intelligent luggage carrier moving process, control chip passes through to traveling side
Forwards and the detection data of the ultrasonic distance measuring module of two sides is handled in real time, analyzes position and the distance of peripheral obstacle, when
When barrier in Intelligent luggage carrier travelling route enters the safe distance of Intelligent luggage carrier, chip controls motor movement is controlled,
Move Intelligent luggage carrier along the profile of barrier, in the travelling route that setting is returned after bypass barrier.
The invention has the following advantages over the prior art:
1, realize luggage case follows user mobile automatically, to liberate the both hands of user, brings preferably to user
Trip experience solves traditional luggage case and inflexible in use, the very physical strength of consuming people, is also easily lost
The problem of.
2, good reliability: Intelligent luggage carrier follows function to be based on UWB location technology automatically, and UWB location technology is compared
WIFI, bluetooth and GPS positioning technology have the advantages that low in energy consumption, ability of anti-multipath is strong and penetration capacity is strong, in addition to this, UWB
Wireless communication spatial content be much better than other systems, it is no matter indoors or outdoor, high accuracy positioning can be achieved.
3, humanized: user can be manipulated luggage case movement by operating terminal and check electricity, easy to operate, together
When, luggage case is also equipped with anti-lost alarm (being more than 10m with user distance), low battery alarm (the i.e. residue electricity of power module
Measure less than 10%), the function of exceptional state alarm (i.e. bluetooth connection extremely disconnect), advanced optimized usage experience.
Below in conjunction with figure, the invention will be further described with embodiment.
Detailed description of the invention
Fig. 1 is appearance diagram of the invention；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the left view of Fig. 1；
Fig. 4 is the connection relationship schematic block diagram of each component in Intelligent luggage carrier；
Fig. 5 is the TOA algorithm schematic diagram in S02 step of the present invention.
Specific embodiment
Embodiment 1:
As shown in Figs 1-4, Intelligent luggage carrier, including cabinet 1, locating module 2, motor 3, motor driver 4, ultrasound
Away from module 5, display screen 6, bluetooth communication 7, control chip 8, power module and operating terminal 10.
1 bottom of cabinet is set is in there are two idler wheel 1-1 and two universal wheels 1-2, two idler wheel 1-1 and two universal wheel 1-2
Rectangular arrangement, two idler wheel 1-1 are adjacently positioned, and two universal wheel 1-2 are adjacently positioned.
Locating module 2 selects UWB sensor, and there are three quantity, and three locating modules 2 are mounted on 1 bottom of cabinet, and are in
Equilateral triangle arrangement.
Motor 3 selects 110ZY12-001 Permanent magnet DC formula motor, and quantity is two, and two motors 3 are fixedly mounted on
On cabinet 1, and respectively drive an idler wheel 1-1 rotation.
Motor driver 4 is L298N DC motor driver, is mounted on cabinet 1, and be electrically connected with two motors 3.
5 model HC-SR04 range finder module of ultrasonic distance measuring module, is mounted on the four sides side wall outside cabinet 1.
Display screen 6 is mounted on the remaining capacity for being used to show power module on the roof outside cabinet 1, Intelligent luggage carrier
The row of bluetooth connection status, Intelligent luggage carrier between operating terminal 10 and the following distance between user, Intelligent luggage carrier
Sail traveling total kilometrage, the battery dump energy of speed, Intelligent luggage carrier.
Bluetooth communication 7 is mounted on cabinet.
8 model STM32F103RCT6 of chip is controlled, is mounted on cabinet 1, signal input port and locating module
2, ultrasonic distance measuring module 5 and bluetooth communication 7 are electrically connected, 6 electricity of signal output port and motor driver 4 and display screen
Connection.
Power module includes 12V rechargeable lithium ion batteries, AMS1117-3.3 electrical level transferring chip (for exporting 3.3V
Voltage) and electrical level transferring chip SN74LVC4245A (for exporting 5V voltage), power module is mounted on cabinet 1, and respectively
It is electrically connected with motor 3, display screen 6 and control chip 8, the operation for component each in Intelligent luggage carrier provides electric power support.
Operating terminal 10 is the smart phone with Bluetooth function, with 7 bluetooth connection of bluetooth communication, is controlled with sending
System instruction receives information.
It is preferred that Intelligent luggage carrier further includes USB charging module 11, GPS positioning module 12 and alarm module 13.USB charging
Module 11 is mounted in cabinet 1, and is electrically connected with power module, is equipped with usb 1 11 outside the enclosure；GPS positioning module 12
It is mounted on cabinet 1, and is electrically connected with the signal input port of control chip 8；Alarm module 13 is mounted on cabinet 1, and with
Control the signal output port electrical connection of chip 8.
A kind of automatic follower method, applied to above-mentioned Intelligent luggage carrier, it can be achieved that Intelligent luggage carrier follows owner automatic
Mobile, steps are as follows:
S01, system initialization and setting: user carries UWB sensor, and starts the power supply of Intelligent luggage carrier, to
After the completion of the initialization for controlling chip, bluetooth connection is established by operating terminal and Intelligent luggage carrier, is set by operating terminal
Intelligent luggage carrier is intelligent follow the mode, and sets following distance.
In this step, operating terminal provides intelligent follow the mode and manual follow the mode is available, intelligent follow the mode
Under, it is mobile that Intelligent luggage carrier follows user automatically, and keeps at a distance from setting between user, under manual follow the mode, intelligence
Luggage case is only walked according to track set by user, and for the set interval of following distance in 1-10m, default setting value is 2m.
S02, obtain the relative position of user and Intelligent luggage carrier: the portable UWB sensor of user is to intelligent luggage
3 UWB sensors on case send signal, and the control chip on Intelligent luggage carrier passes through TOA (time of arrival) immediately
Orientation and user are relative to the distance between Intelligent luggage carrier where algorithm operation obtains user.
In this step, the portable UWB sensor of user is positioning label, 3 UWB sensors on Intelligent luggage carrier
For locating base station.
In this step, TOA algorithm is the transmission time meter passed through between measurement and positioning label and the locating base station of known location
Distance is calculated, the position of tested positioning label is calculated by triangulation location using three or more distance values.
Positioning label is solved with the distance between Intelligent luggage carrier L by formula 2:
In formula: 3 UWB sensors on setting Intelligent luggage carrier are respectively A, B, C, and the centroid of △ ABC is H point, and is set
Alignment section AB length is a, and the midpoint of line segment BC is O, since 3 UWB sensors on Intelligent luggage carrier are arranged in equilateral triangle,
Then AB=BC=AC=a establishes X/Y plane coordinate system through line segment BC and OA,It is positive for X-axis,For Y-axis forward direction, setting is used
The UWB sensor that family carries is M, and subpoint of the M on X/Y plane coordinate system is M ', and the length of line segment MA is d1, line segment MB's
Length is d2, and the length of line segment MC is d3.
It the time communicated respectively by the UWB sensor that user carries with 3 UWB sensors on Intelligent luggage carrier, can
The value of d1, d2, d3 are directly calculated, a is intrinsic parameter, can directly measure acquisition, bring the value of d1, d2, d3, a into formula 2 i.e.
Can solve positioning label with the distance between Intelligent luggage carrier L.
Orientation (i.e. ∠ MHA) is solved by formula 3 where user:
θ can be solved by bringing the value of d1, d2, d3 into formula 3.
S03 follows user automatically: main control chip calculates the reality of two motors according to the real-time operation result of TOA algorithm
When operating parameter, then drive the operating of two motors, to drive Intelligent luggage carrier mobile, realize and follows function, intelligent luggage automatically
During case follows, when accelerating the following distance for causing the distance between Intelligent luggage carrier and user to be greater than setting by user,
Intelligent luggage carrier slows down, and being slowed down by user causes the distance between Intelligent luggage carrier and user to be less than the following distance set
When, Intelligent luggage carrier is accelerated, to guarantee that its relative distance between user keeps stablizing, when user turns to, and intelligence
Luggage case is by the corresponding differential steering of motor, to guarantee that its relative bearing between user is constant.
In Intelligent luggage carrier moving process, the revolving speed of motor reduces with the increase of load, when the load of motor occurs
When changing and motor speed being caused to change, motor driver then passes through PID control and adjusts motor speed in real time, negative to mitigate
Carry the influence that variation generates motor speed；It is integral, differential, ratio control that PID, which is adjusted, and working method is by first setting
One setting value, then the motor output speeds in Intelligent luggage carrier real work are compared with the setting value, after comparison
Obtained deviation is controlled；
The control rule that PID is adjusted is as shown in formula 1:
In formula: u (t) is the output that PID is adjusted；
E (t) is the input (i.e. deviation) that PID is adjusted；
KpFor proportionality coefficient；
TiFor integration time constant；
TdFor derivative time constant；
Proportional coefficient KpDetermination method be that Schilling integration time constant and derivative time constant are 0, then enable ratio system
Number is gradually increased from 0, and the system of increasing to is shaken, and then enables it be gradually reduced again, until system concussion disappears, records this
When Proportional coefficient KpValue；Proportional coefficient KpDebugging is completed；
Proportional coefficient KpAfter determination, a biggish integration time constant T is setiInitial value, be then gradually reduced Ti, directly
It is shaken to system, later again in turn, is gradually increased Ti, until system concussion disappears；The T of record at this timei, the time of integration
Constant TiDebugging is completed；
Derivative time constant TdDetermination method be to enable derivative time constant TdIt is gradually increased from 0, increases to system
Concussion, then enables it be gradually reduced again, until system concussion disappears, records derivative time constant T at this timedValue；Differential
Time constant TdDebugging is completed；
By e (t), Ti、TdValue bring formula 1 into and can solve u (t).
It is preferred that control chip passes through the ultrasound in front of direction of travel and two sides in Intelligent luggage carrier moving process
Detection data away from module is handled in real time, position and the distance of peripheral obstacle is analyzed, when in Intelligent luggage carrier travelling route
When barrier enters the safe distance of Intelligent luggage carrier, chip controls motor movement is controlled, makes Intelligent luggage carrier along barrier
Profile is mobile, in the travelling route that setting is returned after bypass barrier.
It is preferred that there is one of following situations in intelligent follow the mode moving process in Intelligent luggage carrier, then by control chip
Trigger alarm equipment alarm: 1, Intelligent luggage carrier and user distance are more than 10m；2, the bluetooth connection of operating terminal and Intelligent luggage carrier
It disconnects；3, the remaining capacity of power module is lower than 10%.
Claims (7)
1. Intelligent luggage carrier, it is characterized in that: including cabinet, locating module, motor, motor driver, ultrasonic distance measuring module, showing
Display screen, bluetooth communication, control chip, power module and operating terminal；
The bottom of box is set there are two idler wheel and two universal wheels, and two idler wheels and two universal wheels are in rectangular layout, two idler wheels
It is adjacently positioned, two universal wheels are adjacently positioned；
There are three locating module quantity, and three locating modules are mounted on the bottom of box, and arrange in equilateral triangle；
The quantity of motor is two, and two motors are fixedly mounted on cabinet, and respectively drives an idler wheel rotation；
Motor driver is mounted on cabinet, and is electrically connected with two motors；
On the four sides side wall of ultrasonic distance measuring module installation outside the enclosure；
On the roof of display screen installation outside the enclosure；
Bluetooth communication is mounted on cabinet；
Control chip is mounted on cabinet, signal input port and locating module, ultrasonic distance measuring module and Bluetooth communication mould
Block electrical connection, signal output port are electrically connected with motor driver and display screen；
Power module is mounted on cabinet, and is electrically connected respectively with motor, display screen and control chip；
Operating terminal and bluetooth communication bluetooth connection, to send control instruction or receive information.
2. Intelligent luggage carrier as described in claim 1, it is characterized in that: its further include USB charging module, GPS positioning module and
Alarm module；USB charging module is mounted in cabinet, and is electrically connected with power module, is equipped with USB interface outside the enclosure；GPS
Locating module is mounted on cabinet, and is electrically connected with the signal input port of control chip；Alarm module is mounted on cabinet, and
It is electrically connected with the signal output port of control chip.
3. Intelligent luggage carrier as claimed in claim 2, it is characterized in that: locating module is UWB sensor；Controlling chip model is
STM32F103RCT6；Ultrasonic distance measuring module is HC-SR04 range finder module；Motor is 110ZY12-001 Permanent magnet DC formula electricity
Machine；Motor driver is L298N DC motor driver；Power module includes 12V rechargeable lithium ion batteries, AMS1117-
3.3 electrical level transferring chips and electrical level transferring chip SN74LVC4245A；Operating terminal is the smart phone with Bluetooth function.
4. a kind of automatic follower method is applied to Intelligent luggage carrier of any of claims 1-3, it can be achieved that intelligent row
Lee's case follows owner to automatically move, characterized in that steps are as follows:
S01, system initialization and setting: user carries UWB sensor, and starts the power supply of Intelligent luggage carrier, to be controlled
After the completion of the initialization of chip, bluetooth connection is established by operating terminal and Intelligent luggage carrier, intelligence is set by operating terminal
Luggage case is intelligent follow the mode, and sets following distance；
In this step, operating terminal provides intelligent follow the mode and manual follow the mode is available, under intelligent follow the mode, intelligence
It is mobile that energy luggage case follows user automatically, and keeps at a distance from setting between user, under manual follow the mode, Intelligent luggage carrier
It only walks according to track set by user, for the set interval of following distance in 1-10m, default setting value is 2m；
S02, obtain the relative position of user and Intelligent luggage carrier: the portable UWB sensor of user is on Intelligent luggage carrier
3 UWB sensors send signal, the control chip on Intelligent luggage carrier passes through TOA (time of arrival) algorithm immediately
Orientation and user are relative to the distance between Intelligent luggage carrier where operation obtains user；
In this step, the portable UWB sensor of user is positioning label, and 3 UWB sensors on Intelligent luggage carrier are fixed
Position base station；
S03 follows user automatically: main control chip calculates the real-time fortune of two motors according to the real-time operation result of TOA algorithm
Row parameter, then drive the operating of two motors, to drive Intelligent luggage carrier mobile, realizes and follows function automatically, Intelligent luggage carrier with
During, when accelerating the following distance for causing the distance between Intelligent luggage carrier and user to be greater than setting by user, intelligence
Luggage case slows down, when causing the distance between Intelligent luggage carrier and user to be less than the following distance of setting by user's deceleration,
Intelligent luggage carrier is accelerated, to guarantee that its relative distance between user keeps stablizing, when user turns to, and intelligent luggage
Case is by the corresponding differential steering of motor, to guarantee that its relative bearing between user is constant.
5. automatic follower method as claimed in claim 4, it is characterized in that: in Intelligent luggage carrier moving process, the revolving speed of motor
Reduce with the increase of load, when the load of motor changes and motor speed is caused to change, motor driver
Motor speed is then adjusted by PID control in real time, to mitigate the influence that load variation generates motor speed；PID, which is adjusted, to be accumulated
Point, the control of differential, ratio, working method be by first setting a setting value, then will be in Intelligent luggage carrier real work
Motor output speeds are compared with the setting value, are controlled the deviation obtained more afterwards；
The control rule that PID is adjusted is as shown in formula 1:
In formula: u (t) is the output that PID is adjusted；
E (t) is the input that PID is adjusted；
KpFor proportionality coefficient；
TiFor integration time constant；
TdFor derivative time constant；
Proportional coefficient KpDetermination method be that Schilling integration time constant and derivative time constant are 0, then enable proportionality coefficient from 0
It is gradually increased, the system of increasing to is shaken, and then enables it be gradually reduced again, until system concussion disappears, is recorded at this time
Proportional coefficient KpValue；Proportional coefficient KpDebugging is completed；
Proportional coefficient KpAfter determination, a biggish integration time constant T is setiInitial value, be then gradually reduced Ti, until being
System shakes, and later again in turn, is gradually increased Ti, until system concussion disappears；The T of record at this timei, integration time constant
TiDebugging is completed；
Derivative time constant TdDetermination method be to enable derivative time constant TdIt being gradually increased from 0, the system of increasing to is shaken,
Then it enables it be gradually reduced again, until system concussion disappears, records derivative time constant T at this timedValue；Derivative time is normal
Number TdDebugging is completed；
By e (t), Ti、TdValue bring formula 1 into and can solve u (t).
6. automatic follower method as claimed in claim 5, it is characterized in that: TOA algorithm passes through measurement and positioning in S02 step
Transmission time between label and the locating base station of known location calculates distance, fixed by triangle using three or more distance values
Position calculates the position of tested positioning label；
Positioning label is solved with the distance between Intelligent luggage carrier L by formula 2:
In formula: 3 UWB sensors on setting Intelligent luggage carrier are respectively A, B, C, and the centroid of △ ABC is H point, and sets line
Section AB length is a, and the midpoint of line segment BC is O, since 3 UWB sensors on Intelligent luggage carrier are in equilateral triangle arrangement, then AB
=BC=AC=a establishes X/Y plane coordinate system through line segment BC and OA,It is positive for X-axis,For Y-axis forward direction, user is set
The UWB sensor of carrying is M, and subpoint of the M on X/Y plane coordinate system is M ', and the length of line segment MA is d1, the length of line segment MB
Degree is d2, and the length of line segment MC is d3；
It the time communicated respectively by the UWB sensor that user carries with 3 UWB sensors on Intelligent luggage carrier, can be direct
The value of d1, d2, d3 are calculated, a is intrinsic parameter, can directly measure acquisition, bringing the value of d1, d2, d3, a into formula 2 can ask
Solution positioning label with the distance between Intelligent luggage carrier L；
Orientation (i.e. ∠ MHA) is solved by formula 3 where user:
θ can be solved by bringing the value of d1, d2, d3 into formula 3.
7. automatic follower method as claimed in claim 6, it is characterized in that: control chip is logical in Intelligent luggage carrier moving process
It crosses and the detection data of the ultrasonic distance measuring module of in front of direction of travel and two sides is handled in real time, analyze the position of peripheral obstacle
And distance controls chip controls when the barrier in Intelligent luggage carrier travelling route enters the safe distance of Intelligent luggage carrier
Motor movement moves Intelligent luggage carrier along the profile of barrier, in the travelling route that setting is returned after bypass barrier.
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