CN113040487B - Intelligent luggage case and automatic following method thereof - Google Patents

Intelligent luggage case and automatic following method thereof Download PDF

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Publication number
CN113040487B
CN113040487B CN202110300883.8A CN202110300883A CN113040487B CN 113040487 B CN113040487 B CN 113040487B CN 202110300883 A CN202110300883 A CN 202110300883A CN 113040487 B CN113040487 B CN 113040487B
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tag
luggage case
label
differential wheel
uwb
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CN113040487A (en
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刘珺广
肖子璇
吴家乐
彭俊杰
徐彪
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University of South China
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University of South China
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    • 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
    • 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
    • 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Purses, Travelling Bags, Baskets, Or Suitcases (AREA)
  • Handcart (AREA)

Abstract

The intelligent luggage comprises a luggage, a UWB base station, a main UWB tag and a controller; the lower end of the luggage case is provided with a universal wheel A, a universal wheel B, a differential wheel C and a differential wheel D which are distributed in a rectangular shape; the UWB base station comprises a tag A, a tag B, a tag C and a tag D which are arranged on the luggage case; the main UWB tag is respectively connected with the tag A, the tag B, the tag C and the tag D in a communication mode; the signal input port of the controller is respectively connected with the label A, the label B, the label C and the label D in a communication mode, and the signal output port of the controller is respectively connected with the two motors in a communication mode. A method for automatically moving a luggage case along with a user is applied to the intelligent luggage case. The invention realizes that the luggage case automatically moves along with the user, the luggage case can move along with the user at a certain distance, and the posture and the speed are self-adaptively adjusted according to the advancing direction and the speed of the user, thereby liberating the two hands of the user and improving the intellectualization of the luggage case.

Description

Intelligent luggage case and automatic following method thereof
Technical Field
The invention relates to the technical field of intelligent control, in particular to an intelligent luggage case and an automatic following method thereof.
Background
With the development of scientific technology and the progress of human society, the intelligent technology increasingly deepens into the daily life of people, and brings great convenience to the life of people. However, in an intelligent army, the field of intelligent following still belongs to the starting stage at home at present, and the intelligent following technology has application prospects in many production, living scenes and daily living goods, and can bring great convenience to the production and the life of people.
Taking the case and bag field as an example, if the suitcase can realize moving along with the people on a trip automatically, the physical power of the pedestrian can be saved, and the convenience is brought to the pedestrian. The intelligent luggage case integrates an automatic control technology, a single chip microcomputer technology, a power electronic technology, an electric dragging technology and a self-adaptive control algorithm. In the current market, the traditional luggage case still occupies most of the market share, and no intelligent luggage case capable of being applied to the market appears yet. With the increasing popularity of intelligent equipment, the luggage case will necessarily meet a technical revolution.
Thus, in the current context, there is a tremendous market and technical gap in the field of luggage. The traditional luggage case changes sliding into rolling depending on a mechanical structure, so that manpower is saved, and the friction coefficient of wheels is reduced by the conventional mechanical improved type of multi-enclosure. The electric luggage case is followed by remote control. The user realizes the forward, backward and steering of the luggage case by manually and remotely controlling the luggage case. The luggage cases with the two working modes need to be manually dragged or controlled, and can not automatically follow the user.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an intelligent luggage case and an automatic following method thereof, which solve the problems that the conventional luggage case needs manual dragging or control and cannot automatically follow a user.
The technical scheme of the invention is as follows: the intelligent luggage comprises a luggage, a UWB base station, a main UWB tag and a controller; the lower end of the luggage case is provided with a universal wheel A, a universal wheel B, a differential wheel C and a differential wheel D which are distributed in a rectangular shape, the universal wheel A and the universal wheel B are arranged in a diagonal manner, the differential wheel C and the differential wheel D are arranged in a diagonal manner, and the differential wheel C and the differential wheel D are respectively connected with a motor arranged at the bottom of the luggage case and are respectively driven to rotate by the corresponding motors; the UWB base station comprises a tag A, a tag B, a tag C and a tag D which are arranged on the luggage case; the label A, the label B, the label C and the label D are coplanar, and any three of the label A, the label B, the label C and the label D are not collinear; the main UWB tag is respectively connected with the tag A, the tag B, the tag C and the tag D in a communication mode; the signal input port of controller is connected with label A, label B, label C and label D communication mode respectively, and the signal output port of controller is connected with two motor communication modes respectively.
The further technical scheme of the invention is as follows: the tag A, the tag B, the tag C, the tag D and the main UWB tag are all located on the same horizontal plane; and label A, label B, label C and label D connect in proper order and form the square.
The further technical scheme of the invention is as follows: the label A, the label B, the label C and the label D are positioned on the same horizontal plane, and the label A, the label B, the label C and the label D are sequentially connected to form a square; the main UWB tag is positioned above the horizontal plane, and the vertical distance between the main UWB tag and the horizontal plane is h.
The further technical scheme of the invention is as follows: the tag B, the tag C and the tag D are located on the same horizontal plane, the vertical projection point on the horizontal plane of the tag A is sequentially connected with the tag B, the tag C and the tag D to form a square, the tag A and the main UWB tag are located above the horizontal plane, the vertical distance between the tag A and the horizontal plane is m, and the vertical distance between the main UWB tag and the horizontal plane is h.
The technical scheme of the invention is as follows: a method for automatically following a user to move a luggage case is applied to the intelligent luggage case and comprises the following steps:
setting parameters:
the linear distance from the main UWB tag to the tag A is set to be L A The linear distance from the main UWB tag to the tag B is L B The linear distance from the main UWB tag to the tag C is L C The linear distance from the main UWB tag to the tag D is L D (ii) a The master UWB tag is carried on the user; is provided with L C -L D ＝err，L A -L B ＝dir，(L A +L B ) 2 ═ gap; setting the positive direction as that the label B points to the label A; the negative direction is that the label A points to the label B;
the mobile logic:
when err is larger than 0, dir is larger than or equal to 0, the rotating speed of the differential wheel C is larger than that of the differential wheel D, and the overall direction of the intelligent luggage case is a negative direction;
when err is less than 0, dir is more than or equal to 0, the rotating speed of the differential wheel C is less than that of the differential wheel D, and the overall direction of the intelligent luggage case is a negative direction;
when err is greater than 0 and dir is less than 0, the rotating speed of the differential wheel C is greater than that of the differential wheel D, and the overall direction of the intelligent luggage case is a positive direction;
when err is greater than 0 and dir is less than 0, the rotating speed of the differential wheel C is less than that of the differential wheel D, and the overall direction of the intelligent luggage case is a positive direction;
following mechanism:
setting the final keeping distance between the trunk and the pedestrian as g, wherein n is an addition coefficient;
when gap is larger than nxg, the controller controls the motor to act to make the trunk move at full speed in the positive direction; when g is not less than gap and not more than nxg, the controller controls the motor to act, so that the luggage case decelerates to move in the positive direction; when gap is less than g, the controller controls the motor to act to accelerate the trunk to move backwards.
The technical scheme of the invention is as follows: a following method for automatic user movement of a luggage case is applied to the intelligent luggage case and comprises the following steps:
setting parameters:
the linear distance from the main UWB tag to the tag A is set to be L A The linear distance from the main UWB tag to the tag B is L B The linear distance from the main UWB tag to the tag C is L C The linear distance from the main UWB tag to the tag D is L D (ii) a The master UWB tag is carried on the user; let L C -L D ＝err，L A -L B ＝dir，
Figure BDA0002986219830000041
Setting the positive direction as that the label B points to the label A; the negative direction is that the label A points to the label B;
the moving logic:
when err is larger than 0, dir is larger than or equal to 0, the rotating speed of the differential wheel C is larger than that of the differential wheel D, and the overall direction of the intelligent luggage case is a negative direction;
when err is less than 0, dir is more than or equal to 0, the rotating speed of the differential wheel C is less than that of the differential wheel D, and the overall direction of the intelligent luggage case is a negative direction;
when err is greater than 0 and dir is less than 0, the rotating speed of the differential wheel C is greater than that of the differential wheel D, and the overall direction of the intelligent luggage case is a positive direction;
when err is greater than 0 and dir is less than 0, the rotating speed of the differential wheel C is less than that of the differential wheel D, and the overall direction of the intelligent luggage case is a positive direction;
a following mechanism:
setting the final keeping distance between the trunk and the pedestrian as g, wherein n is an addition coefficient;
when gap is larger than nxg, the controller controls the motor to act, so that the luggage case moves at full speed in the positive direction; when g is not less than gap and not more than nxg, the controller controls the motor to act, so that the luggage case decelerates to move in the positive direction; when gap is less than g, the controller controls the motor to act to accelerate the luggage case backward.
The technical scheme of the invention is as follows: a method for automatically following a user to move a luggage case is applied to the intelligent luggage case and comprises the following steps:
setting parameters:
let the linear distance from the master UWB tag to the tag A be L A The linear distance from the main UWB tag to the tag B is L B The linear distance from the main UWB tag to the tag C is L C The linear distance from the main UWB tag to the tag D is L D (ii) a The master UWB tag is carried on the user; is provided with L C -L D ＝err，L A -L B ＝dir，
Figure BDA0002986219830000051
Setting the positive direction as that the label B points to the label A; the negative direction is that the label A points to the label B;
the mobile logic:
when err is larger than 0, dir is larger than or equal to 0, the rotating speed of the differential wheel C is larger than that of the differential wheel D, and the overall direction of the intelligent luggage case is a negative direction;
when err is less than 0, dir is more than or equal to 0, the rotating speed of the differential wheel C is less than that of the differential wheel D, and the overall direction of the intelligent luggage case is a negative direction;
when err is greater than 0 and dir is less than 0, the rotating speed of the differential wheel C is greater than that of the differential wheel D, and the overall direction of the intelligent luggage case is a positive direction;
when err is greater than 0 and dir is less than 0, the rotating speed of the differential wheel C is less than that of the differential wheel D, and the overall direction of the intelligent luggage case is a positive direction;
following mechanism:
setting the final keeping distance between the trunk and the pedestrian as g, wherein n is an addition coefficient;
when gap is larger than nxg, the controller controls the motor to act, so that the luggage case moves at full speed in the positive direction; when g is not less than gap and not more than nxg, the controller controls the motor to act, so that the luggage case decelerates to move in the positive direction; when gap is less than g, the controller controls the motor to act to accelerate the luggage case backward.
The further technical scheme of the invention is as follows: the control mode of the controller to the motor is cascade PID control.
Compared with the prior art, the invention has the following advantages:
it has realized that the suitcase is automatic to be followed the user and has removed, and the suitcase can be followed and removed at user's certain distance behind one's body to according to user's advancing direction and speed adaptive adjustment gesture and speed, liberated user's both hands, improved the intellectuality of suitcase.
The invention is further described below with reference to the figures and examples.
Drawings
FIG. 1 is a schematic diagram of the communication connections of the components of the present invention;
FIG. 2 is a schematic view of the luggage case from a bottom perspective;
fig. 3 is a schematic diagram showing the installation position of the UWB base station on the trunk and the positional relationship between the UWB base station and the host UWB tag in embodiment 1;
fig. 4 is a schematic diagram showing the installation position of the UWB base station on the trunk and the positional relationship between the UWB base station and the host UWB tag in embodiment 2;
fig. 5 is a schematic diagram illustrating an installation position of the UWB base station on the trunk and a positional relationship between the UWB base station and the host UWB tag in embodiment 3.
Detailed Description
Example 1:
the intelligent luggage case comprises a luggage case 1, a UWB base station, a main UWB tag 3 and a controller 4.
The lower end of the luggage case 1 is provided with a universal wheel A11, a universal wheel B12, a differential wheel C13 and a differential wheel D14 which are distributed in a rectangular shape, the universal wheel A11 and the universal wheel B12 are arranged in a diagonal manner, the differential wheel C13 and the differential wheel D14 are arranged in a diagonal manner, and the differential wheel C13 and the differential wheel D14 are respectively connected with a motor 15 arranged at the bottom of the luggage case 1 and are driven to rotate by the corresponding motors 15.
The UWB base station includes tag a21, tag B22, tag C23 and tag D24 mounted on the luggage 1. Tag a21, tag B22, tag C23, and tag D24 are coplanar, and any three of tag a21, tag B22, tag C23, and tag D24 are not collinear.
Master UWB tag 3 is communicatively connected to tag a21, tag B22, tag C23 and tag D24, respectively.
Signal input ports of controller 4 are communicatively connected to tag a21, tag B22, tag C23, and tag D24, respectively, and signal output ports of controller 4 are communicatively connected to two motors 15, respectively.
Preferably, the controller 4 is a stm32 single chip microcomputer, and the control mode of the controller 4 on the motor 15 is cascade PID control.
In this embodiment, tag a21, tag B22, tag C23, tag D24 and master UWB tag 3 are all on the same horizontal plane. And, tag a21, tag B22, tag C23 and tag D24 are connected in this order to form a square.
Briefly describing the working principle of the embodiment: the intelligent luggage case can automatically move along with a user, and the method comprises the following steps:
setting parameters:
let L be the linear distance from the master UWB tag 3 to the tag A21 A The straight-line distance from the master UWB tag 3 to the tag B22 is L B The straight-line distance from the master UWB tag 3 to the tag C23 is L C The straight-line distance from the master UWB tag 3 to the tag D24 is L D (ii) a The master UWB tag 3 is carried on the user; is provided with L C -L D ＝err，L A -L B ＝dir，(L A +L B ) 2 ═ gap; setting the positive direction as that the label B points to the label A; the negative direction is label a pointing to label B.
The mobile logic:
when err is more than 0, dir is more than or equal to 0, and the rotating speed of the differential wheel C is greater than that of the differential wheel D, the overall direction of the intelligent luggage case is a negative direction;
when err is less than 0, dir is more than or equal to 0, and the rotating speed of the differential wheel C is less than that of the differential wheel D, the overall direction of the intelligent luggage case is a negative direction;
when err is more than 0, dir is less than 0, and the rotating speed of the differential wheel C is more than that of the differential wheel D, the overall direction of the intelligent luggage case is a positive direction;
when err is more than 0, dir is less than 0, and the rotating speed of the differential wheel C is less than that of the differential wheel D, the overall direction of the intelligent luggage case is a positive direction;
following mechanism:
setting the final keeping distance between the trunk and the pedestrian as g, wherein n is an addition coefficient;
when gap is larger than nxg, the controller controls the motor to act, so that the luggage case moves at full speed in the positive direction; when g is not less than gap and not more than nxg, the controller controls the motor to act, so that the luggage case decelerates to move in the positive direction; when gap is less than g, the controller controls the motor to act to accelerate the trunk to move backwards.
Example 2:
this example is different from example 1 in that: label A21, label B22, label C23 and label D24 are on the same horizontal plane, and label A21, label B22, label C23 and label D24 are connected in sequence to form a square. The main UWB tag 3 is positioned above the horizontal plane, and the vertical distance between the main UWB tag 3 and the horizontal plane is h.
Briefly describing the working principle of the embodiment: the intelligent luggage case can automatically move along with a user, and the method comprises the following steps:
setting parameters:
let the linear distance from the master UWB tag to the tag A be L A The linear distance from the main UWB tag to the tag B is L B The linear distance from the main UWB tag to the tag C is L C The linear distance from the main UWB tag to the tag D is L D (ii) a The master UWB tag is carried on the user; is provided with L C -L D ＝err，L A -L B ＝dir，
Figure BDA0002986219830000081
Setting the positive direction as that the label B points to the label A; the negative direction is that the label A points to the label B;
the mobile logic:
when err is more than 0, dir is more than or equal to 0, and the rotating speed of the differential wheel C is greater than that of the differential wheel D, the overall direction of the intelligent luggage case is a negative direction;
when err is less than 0, dir is more than or equal to 0, and the rotating speed of the differential wheel C is less than that of the differential wheel D, the overall direction of the intelligent luggage case is a negative direction;
when err is more than 0, dir is less than 0, and the rotating speed of the differential wheel C is more than that of the differential wheel D, the overall direction of the intelligent luggage case is a positive direction;
when err is more than 0, dir is less than 0, and the rotating speed of the differential wheel C is less than that of the differential wheel D, the overall direction of the intelligent luggage case is a positive direction;
following mechanism:
setting the final keeping distance between the trunk and the pedestrian as g, wherein n is an addition coefficient;
when gap is larger than nxg, the controller controls the motor to act, so that the luggage case moves at full speed in the positive direction; when g is not less than gap and not more than nxg, the controller controls the motor to act, so that the luggage case decelerates to move in the positive direction; when gap is less than g, the controller controls the motor to act to accelerate the luggage case backward.
Example 3:
this example is different from example 1 in that: the tag B, the tag C and the tag D are located on the same horizontal plane, the vertical projection point on the horizontal plane of the tag A is sequentially connected with the tag B, the tag C and the tag D to form a square, the tag A and the main UWB tag are located above the horizontal plane, the vertical distance between the tag A and the horizontal plane is m, and the vertical distance between the main UWB tag and the horizontal plane is h.
Briefly describing the working principle of the embodiment: the intelligent luggage case can automatically move along with a user, and the method comprises the following steps:
setting parameters:
let the linear distance from the master UWB tag to the tag A be L A The linear distance from the main UWB tag to the tag B is L B The linear distance from the main UWB tag to the tag C is L C The linear distance from the main UWB tag to the tag D is L D (ii) a The master UWB tag is carried on the user; is provided with L C -L D ＝err，L A -L B ＝dir，
Figure BDA0002986219830000101
Setting the positive direction as that the label B points to the label A; the negative direction is label a pointing to label B.
The mobile logic:
when err is more than 0, dir is more than or equal to 0, and the rotating speed of the differential wheel C is more than that of the differential wheel D, the overall direction of the intelligent luggage case is a negative direction;
when err is less than 0, dir is more than or equal to 0, and the rotating speed of the differential wheel C is less than that of the differential wheel D, the overall direction of the intelligent luggage case is a negative direction;
when err is more than 0, dir is less than 0, and the rotating speed of the differential wheel C is more than that of the differential wheel D, the overall direction of the intelligent luggage case is a positive direction;
when err is greater than 0, dir is less than 0, and the rotating speed of the differential wheel C is less than that of the differential wheel D, the overall direction of the intelligent luggage case is a positive direction.
Following mechanism:
setting the final keeping distance between the trunk and the pedestrian as g, wherein n is an addition coefficient;
when gap is larger than nxg, the controller controls the motor to act, so that the luggage case moves at full speed in the positive direction; when the gap is more than or equal to g and less than or equal to nxg, the controller controls the motor to act to enable the trunk to slow down to move in the positive direction; when gap is less than g, the controller controls the motor to act to accelerate the luggage case backward.
In this embodiment, let the coordinates of the master UWB tag be (x, y, z) and the coordinates of the tag a be (x 2 ，y 2 ，z 2 ) The coordinates of the label B are (x) 4 ，y 4 ，z 4 ) The coordinates of the label C are (x) 3 ，y 3 ，z 3 ) The coordinates of the label D are (x) 1 ，y 1 ，z 1 )；
The following system of equations follows:
Figure BDA0002986219830000111
Figure BDA0002986219830000112
Figure BDA0002986219830000113
Figure BDA0002986219830000114
(1) - (2), (2) - (3), (3) - (4) get three equations, and solve simultaneously:
Figure BDA0002986219830000115
in this embodiment, a parameter m is introduced into the calculation formula of the gap, and the label a is lifted by a height of m in actual operation, so that the vertical distance between the label a and the horizontal plane is m. Due to the introduction of the parameter m, the influence of height fluctuation (namely fluctuation change of h value) of the main UWB tag on the ranging accuracy of LA and LB can be reduced, and the following accuracy of the intelligent luggage case is improved.

Claims (2)

1. A method for automatically moving a luggage case along with a user is characterized in that: the method is applied to the intelligent luggage case; the intelligent luggage case comprises a luggage case, a UWB base station, a main UWB tag and a controller; the lower end of the luggage case is provided with a universal wheel A, a universal wheel B, a differential wheel C and a differential wheel D which are distributed in a rectangular shape, the universal wheel A and the universal wheel B are arranged in a diagonal manner, the differential wheel C and the differential wheel D are arranged in a diagonal manner, and the differential wheel C and the differential wheel D are respectively connected with a motor arranged at the bottom of the luggage case and are respectively driven to rotate by the corresponding motors; the UWB base station comprises a tag A, a tag B, a tag C and a tag D which are arranged on the luggage case; any three of the label A, the label B, the label C and the label D are not collinear; the main UWB tag is respectively connected with the tag A, the tag B, the tag C and the tag D in a communication mode; the signal input port of the controller is respectively connected with the label A, the label B, the label C and the label D in a communication mode, and the signal output port of the controller is respectively connected with the two motors in a communication mode;
the tag B, the tag C and the tag D are positioned on the same horizontal plane, the vertical projection point of the tag A on the horizontal plane is sequentially connected with the tag B, the tag C and the tag D to form a square, the tag A and the main UWB tag are positioned above the horizontal plane, the vertical distance between the tag A and the horizontal plane is m, and the vertical distance between the main UWB tag and the horizontal plane is h;
the method comprises the following steps:
setting parameters:
let the linear distance from the master UWB tag to the tag A be L A The linear distance from the main UWB tag to the tag B is L B The linear distance from the main UWB tag to the tag C is L C The linear distance from the main UWB tag to the tag D is L D (ii) a The master UWB tag is carried on the user; is provided with L C -L D ＝err，L A -L B ＝dir，
Figure FDA0003738594330000011
Setting the positive direction as that the label B points to the label A; the negative direction is that the label A points to the label B;
the moving logic:
when err is more than 0, dir is more than or equal to 0, and the rotating speed of the differential wheel C is greater than that of the differential wheel D, the overall direction of the intelligent luggage case is a negative direction;
when err is less than 0, dir is more than or equal to 0, and the rotating speed of the differential wheel C is less than that of the differential wheel D, the overall direction of the intelligent luggage case is a negative direction;
when err is more than 0, dir is less than 0, and the rotating speed of the differential wheel C is more than that of the differential wheel D, the overall direction of the intelligent luggage case is a positive direction;
when err is more than 0, dir is less than 0, and the rotating speed of the differential wheel C is less than that of the differential wheel D, the overall direction of the intelligent luggage case is a positive direction;
following mechanism:
setting the final keeping distance between the trunk and the pedestrian as g, wherein n is an addition coefficient;
when gap is larger than nxg, the controller controls the motor to act to make the trunk move at full speed in the positive direction; when the gap is more than or equal to g and less than or equal to nxg, the controller controls the motor to act to enable the trunk to slow down to move in the positive direction; when gap is less than g, the controller controls the motor to act to accelerate the luggage case backward.
2. A method of automatically following the movement of a user with a luggage case as claimed in claim 1, wherein: the control mode of the controller to the motor is cascade PID control.
CN202110300883.8A 2021-03-22 2021-03-22 Intelligent luggage case and automatic following method thereof Expired - Fee Related CN113040487B (en)

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