CN214875254U

CN214875254U - Sharing carrier

Info

Publication number: CN214875254U
Application number: CN202120357869.7U
Authority: CN
Inventors: 刘敏
Original assignee: South China Institute Of Software Engineering Gu
Current assignee: South China Institute Of Software Engineering Gu
Priority date: 2021-02-09
Filing date: 2021-02-09
Publication date: 2021-11-26
Anticipated expiration: 2031-02-09

Abstract

The utility model discloses a sharing carrier relates to automatic control technical field. The device comprises a chassis, a carrying box body, a plurality of wheels and a control system, wherein the control system comprises a control module, and a target tracking module, a driving module, a positioning module and a communication module which are interacted with the control module; the target tracking module is used for acquiring the position information of the tracked label and sending the position information to the control module; the control module is used for generating a driving instruction according to the position information and sending the driving instruction to the driving module; the driving module is used for acquiring a driving instruction of the control module so as to drive the wheels to drive the carrier to move; the positioning module is used for acquiring the current geographic information of the carrier and sending the geographic information to the control module; the communication module is used for transmitting the instruction information of the control module and the cloud platform. The utility model discloses can follow user and transport article in real time, deposit the article of user's trip safely.

Description

Sharing carrier

Technical Field

The utility model relates to an automatic control technical field especially relates to a sharing carrier.

Background

With the development of modern economy and the improvement of living standard, the transportation trip becomes more convenient, and people have more and more trip demands. But many times, the luggage also becomes a great obstacle to improving the travel experience. The heavy luggage is easy to bring inconvenience and trouble to people, and affects the quality of travel of people. The accidents that the left luggage is forgotten and the luggage is stolen are also frequently happened at each large station or airport.

Therefore, in order to solve the problem that a large amount of luggage articles are inconvenient to carry and bring difficulty to people going out, an intelligent carrying device needs to be designed, so that both hands of people are liberated, and the people can easily go out conveniently.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a sharing carrier realizes trailing the transport, for people's liberation both hands, provides convenient trip, sets up the degree of safety that further improves the carrier simultaneously through different detection module's range.

In order to achieve the above object, an embodiment of the present invention provides a sharing carrier, including a chassis, a carrier box, a plurality of wheels, and a control system, where the control system includes a control module, and a target tracking module, a driving module, a positioning module, and a communication module, which interact with the control module; the target tracking module is used for acquiring the position information of the tracked label and sending the position information to the control module; the control module is used for generating a driving instruction according to the position information and sending the driving instruction to the driving module; the driving module is used for acquiring a driving instruction of the control module so as to drive the wheels to drive the carrier to move; the positioning module is used for acquiring the current geographic information of the carrier and sending the geographic information to the control module; the communication module is used for transmitting the instruction information of the control module and the cloud platform.

Preferably, the system further comprises an obstacle avoidance module interacting with the control module, wherein the obstacle avoidance module is used for detecting surrounding environment information of the transport vehicle and sending the environment information to the control module. And when the control module judges that the environmental information is abnormal, generating an emergency braking instruction by taking the environmental information as a priority condition.

Preferably, the system further comprises a quality detection module which is interactive with the control module, wherein the quality detection module is used for detecting the bearing information of the carrying box body and sending the bearing information to the control module.

Preferably, the vehicle chassis further comprises an inclination detection module interacting with the control module, wherein the inclination detection module is used for detecting inclination information of the chassis and sending the inclination information to the control module.

Preferably, the portable box further comprises a box door arranged on the carrying box body and an infrared detection module interacted with the control module; the infrared detection module is used for generating infrared detection information according to whether the box door is in a closed state or not and sending the infrared detection information to the control module.

Preferably, the target tracking module comprises a plurality of UWB base stations, and the plurality of UWB base stations form an equilateral shape and are fixedly arranged at the top of the carrying box body.

Preferably, the obstacle avoidance module comprises a plurality of laser range finders, and the laser range finders are fixedly arranged on the bottom edge of the chassis.

Preferably, the obstacle avoidance module comprises a plurality of ultrasonic units, and the plurality of ultrasonic units are fixedly arranged on the top edge of the carrying box body.

Preferably, the mobile terminal further comprises a display module interacting with the control module, wherein the display module is used for acquiring a display instruction of the control module, so that a user can intuitively acquire the received external information of the control module.

Preferably, the power supply further comprises an electric quantity detection module which interacts with the control module, wherein the electric quantity detection module is used for acquiring voltage information of the power supply circuit and sending the voltage information to the control module.

Compared with the prior art, the utility model discloses following beneficial effect has:

(1) the carrier does not need manual push-pull, is provided with a driving module controlled by the control module, can receive an instruction and automatically moves.

(2) The carrier possesses the target tracking module, and the user carries and can be made the carrier follow the removal by the tracking label, need not complicated instruction operation.

(3) Keep away the setting of barrier module and make the carrier can not follow blindly, can keep away the barrier according to the ambient environment information intelligence that keeps away the barrier module and acquire, rationally optimize the moving path, intelligence is followed.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings required for the embodiments will be briefly described below, and obviously, the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a shared cart according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a control system of a shared cart according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a control system of a shared cart according to another embodiment of the present invention;

fig. 4 is a schematic structural diagram of a control system of a shared cart according to another embodiment of the present invention;

fig. 5 is a schematic structural diagram of a top portion of a carrying case 12 of a sharing cart according to an embodiment of the present invention;

fig. 6 is a schematic structural view of the top of the carrying case 12 of the shared transporting vehicle according to another embodiment of the present invention;

fig. 7 is a schematic structural view of a bottom of a chassis 11 of a sharing cart according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be understood that the step numbers used herein are for convenience of description only and are not intended as limitations on the order in which the steps are performed.

It is to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

The terms "comprises" and "comprising" indicate the presence of the described features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

The term "and/or" refers to and includes any and all possible combinations of one or more of the associated listed items.

Referring to fig. 1-2, fig. 1 is a schematic structural diagram of a sharing truck according to an embodiment of the present invention, and fig. 2 is a schematic structural diagram of a control system of a sharing truck according to an embodiment of the present invention. The shared transport cart provided by the embodiment comprises a chassis 11, a carrying case 12, a plurality of wheels 13 and a control system, wherein the control system comprises a control module 21, and an object tracking module 22, a driving module 23, a positioning module 24 and a communication module 25 which are interacted with the control module 21.

The target tracking module 22 is configured to obtain position information of the tracked tag and send the position information to the control module 21.

In one embodiment, the object tracking module 22 includes a plurality of UWB base stations 221, and the plurality of UWB base stations 221 are equilaterally fixed to the top of the carrying case 12. Preferably, the object tracking module 22 includes 3 UWB base stations 221, and the 3 UWB base stations 221 form an equilateral triangle (as shown in fig. 5). Compared with a product which usually uses two uwb modules to follow the target in the prior art, the target position cannot be really positioned, and the problems of error in the target following direction and large data error exist. By using 3 or more than 3 UWB base stations 221, the accurate two-dimensional positioning of the tracked object can be realized. The UWB base station 221 and the tracked tag can carry out data interaction, a structure that a plurality of UWB base stations 221 are placed at the regular sides is adopted, the distance between each UWB base station 221 and the tracked tag can be accurately calculated, the precision can reach below 5cm, accurate positioning is realized, and then a user (the user is provided with the tracked tag, namely the UWB tag) is stably followed. The UWB tag sends a radio signal with a certain frequency spectrum to the UWB base station 221 to establish communication connection, the tag and the base station receive and send data in a polling mode, after the polling is completed, the UWB tag obtains the distance between the UWB tag and each base station on the vehicle, then the distances between all the base stations and the tag are sent to the main base station, the main base station packages the data into frame data with a fixed header and a fixed tail, the frame data are sent to the control module 21 through USART communication, the control module 21 outputs corresponding PWM and controls corresponding IO pins to output high and low levels to the motor to drive, the rotating speed state of the motor is controlled, and the UWB tag is followed.

The control module 21 is configured to generate a driving instruction according to the position information, and send the driving instruction to the driving module 23.

In one embodiment, the control module 21 includes a primary control unit and a secondary control unit. The main control uses an AT command mode to interact with the communication module 25 (NB-iot is adopted in the embodiment), after the power is on, the NB-iot is in a sleep state, the main control sends the AT command through USART communication to wake up the NB-iot, and then the module is initialized to be connected with the cloud platform. The initialization includes: the method comprises the steps of networking, creating object resources, subscribing resources and logging in the cloud platform of hardware, wherein any step of initialization cannot be completed successfully, and data cannot be reported to the cloud platform successfully. After the hardware is connected with the cloud platform, data interaction is started, and data such as the quality of goods, the electric quantity of a vehicle, the number of the goods and the geographic position of the vehicle are reported to the cloud platform. The data is stored in the sim card needed by the NB-iot, so that the resources are fully utilized, and the overhead of additionally installing a memory chip is saved. When the carrier exceeds a certain use range area, the main controller sends an AT instruction of an alarm to NB-iot by utilizing USART communication, and then sends alarm information to the cloud platform to inform a manager; when the electric quantity of the vehicle is smaller than a certain threshold value, the master control can send corresponding alarm information to cloud platform management personnel in the same way.

The main control is connected with the relay of the driving module 23 and the motor drive respectively, the multiplexing PWM (pulse width modulation) function of the main control outputs different PWM, and the motor drive receives different PWM and controls the rotating speed of the motor. The main control outputs different levels, when the output level is a low level, the relay receives the low level, the relay is in a default state, when the output level is a high level, the relay is in a trigger state, and the relay realizes the voltage switch effect of the control motor.

In one embodiment, the driving module 23 further includes a steering engine interacting with the main control of the control module 21, and the steering engine fixes a car lock and is used for closing a car door and protecting luggage safety.

Referring to fig. 3, fig. 3 is a schematic structural diagram of a control system of a shared cart according to another embodiment of the present invention. The auxiliary control is connected with the ultrasonic unit 262 of the obstacle avoidance module 26, a signal trigger pin of the ultrasonic unit 262 receives a high level signal of at least 10us, a transmitting head of the ultrasonic module is triggered to transmit ultrasonic waves, at the moment, the signal trigger pin of the ultrasonic waves can automatically transmit 8 square waves of 40khz to automatically detect the return of signals, and the auxiliary control multiplexes the signal trigger pin of the connected ultrasonic waves into an input interrupt function for detecting an edge trigger interrupt function. When the receiving head of the ultrasonic unit 262 receives the ultrasonic put-back signal, the secondary control detects the edge trigger, calculates the duration of the high level (the time of the ultrasonic wave moving in the air), and calculates the obstacle distance.

Preferably, the ultrasonic units 262 are fixedly disposed at the top edge of the carrier case 12 (as shown in fig. 6), in a certain embodiment, the obstacle avoidance module 26 includes 12 ultrasonic units 262, as shown in fig. 6, the 12 ultrasonic units 262 are uniformly distributed according to the central points 30 °, 60 °, 90 °, 120 °, 150 °, 180 °, 210 °, 240 °, 270 °, 300 °, 330 °, and 360 °. A single ultrasonic sensor has a large blind area for detecting the spatial information, and phantom interference exists. 12 ultrasonic waves are distributed in a radian of 30 degrees to form a structure, and compared with a single ultrasonic wave obstacle avoidance technology, the multi-ultrasonic wave obstacle avoidance technology has higher stability and intelligence in the aspect of positioning obstacles. The ultrasonic sensor has a diffusion characteristic, emitted ultrasonic energy is mainly concentrated on a main lobe and is attenuated in a wave form along two sides of a main wave axis, a diffusion angle is about 35 degrees, and when an obstacle is located in the non-vertical direction of the sensor, the closer the obstacle distance is, the larger the measured data error is, and phantom interference exists. Therefore, the method for acquiring the distance information of the obstacles in multiple directions by adopting the multiple sensors increases the ultrasonic detection area of the robot, overcomes the defect that a single-sensor robot can only acquire the obstacles in a single direction, overcomes the adverse effect caused by the unreal interference, and improves the safety and stability of obstacle avoidance.

The driving module 23 is configured to obtain a driving instruction of the control module 21, so as to drive the wheels 13 to drive the truck to move.

The positioning module 24 is used for acquiring the current geographic information of the truck and sending the geographic information to the control module 21.

In one embodiment, the positioning module 24 comprises a GPS and compass unit for detecting the power of the vehicle during the transportation of the object, and the vehicle automatically starts the navigation function when the power is less than a certain threshold. The UWB base station 221 has a navigation function, searches for nearby charging piles, and calculates the azimuth angle and distance of the carrier through the longitude and latitude provided by the GPS, the geomagnetic of the compass and other data, and navigates to a specified place. Meanwhile, in the process of automatic navigation, the obstacle avoidance module 26 detects surrounding environments, avoids surrounding obstacles, and ensures that the carrier safely runs to the charging pile. The compass module is connected with the secondary control of the control module 21, the secondary control communicates with the compass module in an AT instruction mode, and pins of the secondary control can be reused as a USART (universal asynchronous receiver transmitter) function. The communication module 25 is used for transmitting instruction information of the control module 21 and the cloud platform.

Preferably, the system further comprises an obstacle avoidance module 26 interacting with the control module 21, wherein the obstacle avoidance module 26 is configured to detect environmental information around the truck and send the environmental information to the control module 21. (when the control module 21 judges that the environmental information is abnormal, an emergency braking instruction is generated with the environmental information as a priority condition)

Referring to fig. 4, fig. 4 is a schematic structural diagram of a control system of a shared cart according to another embodiment of the present invention. The embodiment further comprises a quality detection module 27 interacting with the control module 21, wherein the quality detection module 27 is configured to detect the load bearing information of the carrying case 12 and send the load bearing information to the control module 21.

In one embodiment, the quality detection module 27 includes a plurality of quality detection units, and the quality detection modules 27 are respectively connected to the main controller. Preferably, the mass detection unit adopts an HX711 chip, which is a 24-bit a/D converter chip specially designed for high-precision electronic scales, wherein an SLKx (x ═ 1 to 4) pin is used as a clock line for data transmission, a DTx pin is used for transmitting a numerical value of an analog quantity of mass, a certain pulse is output by the master controller, and after receiving the pulse, an SCKx (x ═ 1 to 4) pin of the mass detection module 27 prompts DTx (x ═ 1 to 4) to transmit data, the master controller receives the data, and estimates the mass of the article. Airport baggage is limited and the quality detection module 27 can help the user confirm the weight of the baggage prior to check-in.

Preferably, a tilt detection module 28 interacting with the control module 21 is further included, and the tilt detection module 28 is configured to detect tilt information of the chassis 11 and send the tilt information to the control module 21.

In one embodiment, the tilt detection module 28 includes a gyroscope (as shown in fig. 7) disposed at the bottom of the chassis 11, and the gyroscope performs data transmission by outputting high and low level analog IIC communication, and calculates the roll angle and the pitch angle of the chassis 11 by using the internal DMP function of the gyroscope.

Preferably, in one embodiment, the device further comprises a door 121 disposed on the carrier case 12, and an infrared detection module 29 interacting with the control module 21. The infrared detection module 29 is configured to generate infrared detection information according to whether the door 121 is in a closed state, and send the infrared detection information to the control module 21.

Preferably, in an embodiment, the object tracking module 22 includes a plurality of UWB base stations 221, and the plurality of UWB base stations 221 are equilaterally fixed on the top of the carrying case 12.

Preferably, in an embodiment, the obstacle avoidance module 26 includes a plurality of laser range finders 261, and the laser range finders 261 are fixedly disposed on the bottom edge of the chassis 11.

Preferably, in one embodiment, the obstacle avoidance module 26 includes a plurality of ultrasonic units 262, and the plurality of ultrasonic units 262 are fixedly disposed on the top edge of the carrier case 12.

Preferably, in an embodiment, the shared cart further includes a display module 31 interacting with the control module 21, and the display module 31 is configured to obtain a display instruction of the control module 21, so that the user can visually obtain the received external information of the control module 21.

In one embodiment, the display module 31 displays the quality and the number of the articles in real time, when the control module 21 receives that the quality value of the quality detection module 27 is overloaded, the display module 31 may display an "overloaded" word to remind the user, and meanwhile, the main control may send out an alarm message to be transmitted to the cloud platform through the NB-iot. The infrared sensor module can also detect whether the vehicle door is closed, and when the vehicle door is not closed for a long time, the vehicle sends out alarm information. If the mass is too large, the torque force required by the wheels 13 is larger, and the voltage provided by the motor drive is larger; similarly, the smaller the mass, the less voltage the motor drive will supply to the motor. Therefore, in order to stably carry the luggage along with the user, the main control outputs the corresponding PWM to control the speed of the motor according to different qualities and numbers of articles, and safe and reliable service is provided. The control module 21 runs a domestic Rt-thread real-time operating system, and creates threads for sending data to the platform, quality detection threads, electric quantity detection threads and the like while ensuring the detection sequence of the module. All threads are almost simultaneously carried out, and the real-time performance of the system is guaranteed. And stable communication of the whole system is realized among threads in a mode of message queues, semaphores and mailboxes.

Preferably, the shared carrier further includes an electric quantity detection module 32 interacting with the control module 21, and the electric quantity detection module 32 is configured to obtain voltage information of the power circuit and send the voltage information to the control module 21.

In one embodiment, the lighting detection module adopts the ADC power detection module 32 to reduce the power voltage by the voltage division principle, and then outputs the converted voltage value to the inside of the amplifier, and after performing complicated processing, outputs the stable analog quantity. The main control amplifier is connected, the main control multiplexes the analog sampling function of the ADC, the analog quantity is output through sampling, and the electric quantity of the battery at the moment is calculated through the internal processing of the main control amplifier.

The intelligent carrier can detect the quality of articles, the electric quantity of a battery, the obstacle distance of the surrounding environment, the geographic position of a positioning vehicle and the distance of a positioning user in real time. The alarm function is realized under the conditions of overload of articles, insufficient electric quantity, forced unlocking, unclosed vehicle door, out of the area range and the like; meanwhile, the user can be followed and the articles can be carried in real time, and the articles for the user to go out can be safely placed; when the electric quantity is less than a certain threshold value, the carrier can automatically return to the charging pile, and management of the vehicle by managers is facilitated.

The foregoing is a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations are also considered as the protection scope of the present invention.

Claims

1. A sharing carrier is characterized by comprising a chassis, a carrying box body, a plurality of wheels and a control system, wherein the control system comprises a control module, and a target tracking module, a driving module, a positioning module and a communication module which are interacted with the control module;

the target tracking module is used for acquiring the position information of the tracked label and sending the position information to the control module;

the control module is used for generating a driving instruction according to the position information and sending the driving instruction to the driving module;

the driving module is used for acquiring a driving instruction of the control module so as to drive the wheels to drive the carrier to move;

the positioning module is used for acquiring the current geographic information of the carrier and sending the geographic information to the control module;

the communication module is used for transmitting the instruction information of the control module and the cloud platform.

2. The shared cart of claim 1, further comprising an obstacle avoidance module interacting with said control module, said obstacle avoidance module configured to detect environmental information about a perimeter of the cart and send said environmental information to said control module.

3. The shared cart of claim 1, further comprising a mass detection module that interacts with the control module, the mass detection module configured to detect load bearing information for a carrier case and send the load bearing information to the control module.

4. The shared cart of claim 1, further comprising a tilt detection module that interacts with the control module, the tilt detection module configured to detect tilt information for the chassis and send the tilt information to the control module.

5. The shared cart of claim 1, further comprising a door disposed on said cart bay, an infrared detection module interacting with said control module; the infrared detection module is used for generating infrared detection information according to whether the box door is in a closed state or not and sending the infrared detection information to the control module.

6. The shared cart of claim 1, wherein said object tracking module comprises a plurality of UWB base stations, said plurality of UWB base stations being equilaterally fixed to a top of said carrying case.

7. The shared cart of claim 2, wherein the obstacle avoidance module comprises a plurality of laser range finders fixedly disposed at a bottom edge of the chassis.

8. The shared cart of claim 2, wherein said obstacle avoidance module comprises a plurality of ultrasonic units, said plurality of ultrasonic units being fixedly disposed at a top edge of said carrying case.

9. The shared cart of claim 1, further comprising a display module that interacts with the control module, the display module configured to obtain display instructions for the control module to enable a user to visually obtain received external information for the control module.

10. The shared cart of claim 1, further comprising a power detection module interacting with the control module, the power detection module configured to obtain voltage information of a power circuit and send the voltage information to the control module.