CN111679694A - A self-following car and its following method - Google Patents

Abstract

The invention discloses a self-following trolley, which includes a UWB communication module, a mobile terminal, a trolley and a first alarm. The mobile terminal is provided with a second alarm. Both the administrator and the first alarm manager can know in time that the mobile terminal has left the first area, thus ensuring the safety of the mobile terminal carrier and the mobile terminal itself within a specific range; at the same time, within a specific range, the car can pass UWB. The mobile terminal location information provided by the communication module tracks the mobile terminal; finally, the mobile terminal, the car and the first alarm are in one-to-one correspondence, so that the UWB communication module can serve the combination of multiple mobile terminals, the car and the first alarm; The invention also discloses the following method of the self-following car. Using the UWB communication module as a platform in an area and the mobile terminal as a positioning point, the car can track the position of the mobile terminal within the transmission range of the UWB communication module.

Description

A self-following car and its following method

technical field

The invention relates to the technical field of intelligent transportation, in particular to a self-following trolley and a following method thereof.

Background technique

There are many corresponding finished products of automatic following technology, mainly including laser guidance, ultrasonic guidance, GPS positioning and Bluetooth guidance, such as an autonomous following car and its system (application number 201510381849.2), intelligent following anti-collision car and anti-collision method ( Application No. 201611003754.8) and self-following luggage (application No. 201822051701.4), etc., there is also a UWB-based automatic following and transporting master-slave trolley (application No. 201822051701.4), the mobile terminal uses UWB as a signal transmitter, and a UWB signal is set on the trolley The receiver performs positioning guidance.

However, the existing automatic following car has a disadvantage: the car can only follow within the coverage of the signal transmitter of the mobile terminal. When the position of the car exceeds the coverage of the signal transmitter of the mobile terminal, the car cannot follow. The existing practice of using UWB as the mobile terminal signal transmitter only expands the signal range of the mobile terminal. When the car is out of the range of the mobile terminal, there is no feedback from the self-following car and the mobile terminal. It is very inconvenient, such as a self-following wheelchair in a certain community, if the elderly go out to exercise, there is no feedback; such as a self-following freight trolley equipped in a shopping mall, if the customer leaves the shopping mall with the mobile terminal and there is no feedback, it is time to move The end is hard to find.

SUMMARY OF THE INVENTION

In view of the deficiencies of the prior art, the present invention aims to provide a self-following car within a specific area, which can feedback whether the position of the mobile terminal exceeds the range of the area and can still follow when the car exceeds the signal position of the mobile terminal.

To achieve the above object, the present invention adopts the following technical solutions:

A self-following car, comprising

Fixed position UWB communication module;

Portable mobile terminal;

A car that is located within the coverage of the UWB communication module and can move with the mobile terminal;

A first alarm for feeding back whether the mobile terminal is within the signal range of the UWB communication module;

The mobile terminal includes a first sending module and a second sending module, the car includes a first processing module, a first receiving module, a third sending module, a second receiving module and a control module, the first processing module and the The control module is connected, the first receiving module and the second receiving module are both connected with the first processing module, and the mobile terminal, the trolley and the first alarm are paired;

The range covered by the UWB communication module is the first area, and the range covered by the first sending module is the second area;

the second sending module continuously communicates with the UWB communication module;

When the mobile terminal is located within the first area and the car is located outside the second area, the second sending module communicates with the UWB communication module, and the third sending module communicates with the UWB module communication, the UWB communication module communicates with the second receiving module; when the car is located within the second area, the UWB communication module stops communicating with the second receiving module, the first a sending module communicates with the first receiving module;

When the mobile terminal is located outside the first area, the second sending module stops communicating with the UWB communication module, and the UWB communication module communicates with the first alarm to turn on the first alarm.

Further, the trolley further includes an infrared detector disposed around the trolley, the infrared detector includes an infrared signal module, and the infrared signal module is connected to the first processing module.

Further, the first alarm device includes a second processing module, a third receiving module and a second control module, the third receiving module communicates with the UWB communication module, and the third receiving module communicates with the second The processing module is connected, and the second processing module is connected with the second control module.

Further, the mobile terminal further includes a second alarm device, the second alarm device includes a fourth receiving module, a third processing module and a third control module, and the UWB communication module communicates with the fourth receiving module, The fourth receiving module is connected to a third processing module, and the third processing module is connected to the third control module.

Further, the first processing module, the second processing module and the third processing module are all central processing units, and the second control module and the third control module are all electronically controlled switches.

Further, the control module includes a driving module and a steering module, both of which are connected to the first processing module.

The purpose of the present invention also provides a following method in which the trolley can still follow the mobile terminal when the trolley exceeds the signal position of the mobile terminal within a specific area:

A method for following a self-following car, comprising the following steps:

Step 1: The third sending module continuously sends the location information of the car to the UWB communication module, the UWB communication module maintains communication with the fourth receiving module, and the first sending module sends the location information of the mobile terminal to the first receiving module, Then the first receiving module sends the location information of the mobile terminal to the first processing module, if the distance between the first sending module and the first receiving module is less than a certain set distance X, the first processing module sends the first sending module and the first receiving module The information that the distance between the modules is too small is sent to the control module, and the control module controls the car to stop. If the distance between the first sending module and the first receiving module is greater than or equal to a certain set distance X, the first processing module will The location information of the mobile terminal sent by the first sending module is sent to the control module, and the control module controls the trolley to move to the mobile terminal; if the first sending module and the first receiving module cannot communicate, step 2 is performed;

Step 2: The second sending module sends the location information of the mobile terminal to the UWB communication module, if the UWB processing module receives the location information of the mobile terminal sent by the second sending module, the UWB communication module sends the location information For the second receiving module, perform step 3, if the second sending module cannot communicate with the UWB communication module, the UWB communication module sends the information that the first processing module cannot communicate with the UWB communication module at the same time. to the second receiving module and the third receiving module, and the fourth receiving module cannot communicate with the UWB communication module, perform step 4;

Step 3: Then the UWB communication module sends the information to the second receiving module, the second receiving module sends the information to the first processing module, and the first processing module processes the location information and the location information of the second sending module. The position information of the third sending module is used to calculate and obtain the distance from the trolley to the mobile terminal. The first processing module sends the distance information from the trolley to the mobile terminal to the control module, and the control module drives the trolley to the mobile terminal. The mobile terminal moves in the direction until the first receiving module receives the position information sent by the first sending module, at which time the UWB communication module stops sending the position signal of the third sending module, and then jumps to step one.

Step 4: The third receiving module sends the information that the first processing module cannot communicate with the UWB communication module to the second processing module, the second processing module sends the information to the second control module, and the second processing module sends the information to the second control module. The control module controls the first alarm to give an alarm, the fourth receiving module sends the information that cannot communicate with the UWB communication module to the third processing module connected to it, and the third processing module processes the information and sends the information to the third A control module, wherein the third control module controls the second alarm to give an alarm.

The present invention has the following beneficial effects:

In the present invention, a self-following car is provided with a first alarm device and a second alarm device, so that both the mobile terminal carrier and the first alarm device manager can know in time that the mobile terminal has left the first area, thereby ensuring the guarantee in a specific range. The safety of the mobile terminal carrier and the mobile terminal itself; at the same time, within a specific range, the trolley can track the mobile terminal through the mobile terminal location information provided by the UWB communication module; finally, the mobile terminal, the trolley and the first alarm one by one Correspondingly, the UWB communication module can serve the combination of multiple mobile terminals, trolleys and first alarms.

Description of drawings

Fig. 1 is the module diagram of a kind of self-following car of the present invention;

FIG. 2 is a flow chart of a self-following car of the present invention.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so as to facilitate a clearer understanding of the technical idea claimed in the present invention.

As shown in Figures 1-2, the present invention discloses a self-following car, comprising:

Fixed UWB communication module 1;

Portable mobile terminal 2;

A car 3 that is located within the coverage of the UWB communication module 1 and can move with the mobile terminal 2;

The first alarm 4 for feeding back whether the mobile terminal 2 is within the signal range of the UWB communication module 1;

The mobile terminal 2 includes a first sending module 21 and a second sending module 22, and the trolley 3 includes a first processing module 31, a first receiving module 32, a third sending module 33, a second receiving module 34 and a control module 35 , the first processing module 31 is connected to the control module 35, the first receiving module 32 and the second receiving module 34 are both connected to the first processing module 31, the mobile terminal 2, the trolley 3 and the An alarm 4 is paired;

The range covered by the UWB communication module 1 is the first area, and the range covered by the first sending module 21 is the second area;

The second sending module 22 continuously communicates with the UWB communication module 1;

When the mobile terminal 2 is located within the first area and the cart 3 is located outside the second area, the second sending module 22 communicates with the UWB communication module 1, and the third sending module 33 communicate with the UWB communication module 1, and the UWB communication module 1 communicates with the second receiving module 34; when the car 3 is located within the second area, the UWB communication module 1 stops communicating with the second receiving module 34; The second receiving module 22 communicates, and the first sending module 21 communicates with the first receiving module 32;

When the mobile terminal 2 is located outside the first area, the second sending module 22 stops communicating with the UWB communication module 1, and the UWB communication module 1 communicates with the first alarm 4 so that the first An alarm 4 is turned on.

It should be noted that the specific use environment of the trolley 3 of the present invention is a flat ground and a slope, the ground with a height difference of less than or equal to 20 cm, and the like.

It should be noted that the UWB communication module 1 is embodied as a UWB signal transceiver.

It should be noted that the mobile terminal 2 is embodied as a wristband, the mobile terminal 2 is provided with a switch, and the trolley 3 starts to follow after the switch is turned on.

It should be noted that the trolley 3 may be an electric powered tool such as an electric vehicle, an electric wheelchair, and an electric suitcase.

When the self-following car disclosed in the present invention is in use, if the mobile terminal 2 is located outside the first area, the second sending module 22 and the UWB communication module 1 cannot maintain communication. The UWB sends the information that the mobile terminal 2 is out of the first area to the first alarm device 4, and the first alarm device 4 performs alarm feedback, so that people can find out that the mobile terminal 2 has left the first area in time.

It should be noted that the mobile terminal 2, the trolley 3 and the first alarm 4 are in one-to-one correspondence, so that the UWB communication module 1 can serve multiple different mobile terminals 2, the trolley 3 and the first alarm 4 .

The method for realizing the one-to-one correspondence between the mobile terminal 2, the trolley 3 and the first alarm device 4 is: the mobile terminal 2 is provided with a signal code A, and the first processing module 31 and the first alarm device 4 only use the signal code A for this signal. The information of code A is fed back to achieve one-to-one correspondence.

Further, the trolley 3 further includes an infrared detector 5 arranged around the trolley. The infrared detector 5 includes an infrared signal module 51 , and the infrared signal module 51 is connected to the first processing module 31 .

More specifically, infrared detectors 5 are arranged around the trolley 3. When the infrared detectors 5 detect that there are obstacles around, the infrared signal module 51 sends the information to the first processing module 31, and the The first processing module 31 processes the information and sends it to the control module 35, and the control module 35 drives the cart to turn to avoid the obstacle, thereby avoiding the collision between the cart and the obstacle.

Further, the first alarm 4 includes a second processing module 41, a third receiving module 42 and a second control module 43, the third receiving module 42 communicates with the UWB communication module 1, and the third receiving module 42 communicates with the UWB communication module 1. The module 42 is connected to the second processing module 41 , and the second processing module 41 is connected to the second control module 43 .

It should be noted that the second processing module 41 only feeds back the information of the signal code A, so as to realize the one-to-one correspondence between the first alarm device 4 and the mobile terminal 2 .

It should be noted that the first alarm device 4 is embodied as an alarm bell, a red light, etc. The first alarm device 4 can be fixedly installed in the user's home. When the mobile terminal 2 is in the first area When outside, the first alarm 4 is activated, and people can know in time that the mobile terminal 2 has left the first area.

It should be noted that the first alarm 4 can be replaced by a mobile phone connected to the UWB communication module 1 via Bluetooth or a mobile phone connected to the UWB communication module 1 through a mobile network. When the mobile terminal 2 leaves the first area , the UWB communication module 1 will send the information to the mobile phone, and people can know that the mobile terminal 2 has left the first area through the mobile phone in time.

Further, the mobile terminal 2 further includes a second alarm device 23, and the second alarm device 23 includes a fourth receiving module 24, a third processing module 25 and a third control module 26. The UWB communication module 1 communicates with all The fourth receiving module 24 communicates with each other, the fourth receiving module 24 is connected to the third processing module 25 , and the third processing module 25 is connected to the third control module 26 .

More specifically, the second alarm device 23 is embodied as a buzzer or a repeater. When the fourth receiving module 24 cannot communicate with the UWB communication module 1, the fourth receiving module 24 will not be able to communicate with the UWB communication module 1. The communication information is sent to the third processing module 25 connected to it, and the third processing module 25 analyzes and processes the information to obtain the information that the carrier of the mobile terminal 2 has left the first area at this time. The processing module 25 transmits the information to the third control module 26, and then the third control module 26 controls the second alarm 23 to turn on, thereby alerting the mobile terminal 2 that the carrier has exceeded the first area.

Further, the first processing module 31, the second processing module 41 and the third processing module 25 are all central processing units, and the second control module 43 and the third control module 26 are all electronically controlled switches.

More specifically, the central processing unit has the advantage of rapid information processing, which is beneficial for the trolley 3 to quickly and timely feedback the ground information.

Further, the control module 35 includes a driving module 36 and a steering module 37 , and the driving module 36 and the steering module 37 are both connected to the first processing module 31 .

More specifically, the driving module 36 is the driving motor of the trolley 3 , and the steering module 37 is the wheel of the trolley 3 oscillatingly driven.

More specifically, a self-following car of the present invention is provided with a second alarm 23 at the mobile terminal 2, so that the mobile terminal 2 can give a feedback warning to its carrier, if the mobile terminal 2 is located in the Outside the range of the first area, the fourth receiving module 24 cannot communicate with the UWB communication module 1 , and the second alarm device 23 alarms the carrier of the mobile terminal 2 .

The advantages of the present invention are: 1. By setting the first alarm 4 and the mobile terminal 2 with the second alarm 23, it is possible to give feedback on whether the mobile terminal 2 leaves the first area, so that both the mobile terminal 2 carrier and the staff are The location information of the mobile terminal 2 can be obtained in time to protect the carrier and the mobile terminal 2 itself; 2. By setting the UWB communication module 1, the mobile terminal 2 and the trolley 3, when the mobile terminal 2 is kept within the communication range of the communication module 1 , when the trolley 3 exceeds the communication range of the mobile terminal 2, the trolley 3 can receive the location information of the mobile terminal 2 from the UWB communication module 1, so that the trolley 3 can keep track of the mobile terminal 2.

The invention also discloses the following method of the self-following trolley, which comprises the following steps:

Step 1: The third sending module 33 continues to send the position information of the car 3 to the UWB communication module 1, the UWB communication module 1 maintains communication with the fourth receiving module 24, and the first sending module 21 sends the position information of the mobile terminal 2 to the UWB communication module 1. The information is sent to the first receiving module 32, and then the first receiving module 32 sends the location information of the mobile terminal 2 to the first processing module 31. If the distance between the first sending module 21 and the first receiving module 32 is less than a certain set distance X , the first processing module 31 sends the information that the distance between the first sending module 21 and the first receiving module 32 is too small to the control module 35, and the control module 35 controls the cart 3 to stop. If the distance between the first receiving modules 32 is greater than or equal to a certain set distance X, the first processing module 31 sends the location information of the mobile terminal 2 sent by the first sending module 21 to the control module 35, and the control module 35 controls the car Move to the mobile terminal 2; if the first sending module 21 and the first receiving module 32 cannot communicate, perform step 2;

Step 2: The second sending module 22 sends the location information of the mobile terminal 2 to the UWB communication module 1. If the UWB processing module 1 receives the location information of the mobile terminal 2 sent by the second sending module 22, the The UWB communication module 1 sends the location information to the second receiving module 34, and executes step 3. If the second sending module 22 cannot communicate with the UWB communication module 1, the UWB communication module 1 sends the first The information that the processing module 31 cannot communicate with the UWB communication module 1 is sent to the second receiving module 34 and the third receiving module 42 at the same time, and the fourth receiving module 24 cannot communicate with the UWB communication module 1. Step 4 ;

Step 3: Then the UWB communication module 1 sends the information to the second receiving module 34, the second receiving module 34 sends the information to the first processing module 31, and the first processing module 31 processes the second transmission The position information of the module 22 and the position information of the third sending module 33 are used to calculate and obtain the distance from the trolley 3 to the mobile terminal 2, and the first processing module 31 calculates and obtains the distance from the trolley 3 to the mobile terminal 2. The information is sent to the control module 35, and the control module 35 drives the trolley to move in the direction of the mobile terminal 2 until the first receiving module 32 receives the location information sent by the first sending module 21. At this time, the UWB communication module 1. Stop sending the position signal of the third sending module 33, and then jump to step 1.

Step 4: The third receiving module 42 sends the information that the first processing module 31 cannot communicate with the UWB communication module 1 to the second processing module 41, and the second processing module 41 sends the information to the second control module 43. The second control module 43 controls the first alarm 4 to give an alarm, the fourth receiving module 24 sends the information that cannot communicate with the UWB communication module 1 to the third processing module 25 connected to it, and the third processing After the module 25 processes the information, it sends the information to the third control module 26, and the third control module 26 controls the second alarm device 23 to give an alarm.

It should be noted that, in step 1, if the distance between the first sending module 21 and the first receiving module 32 is less than a certain set distance X, the first processing module 31 will make the first sending module 21 unable to communicate with the first receiving module. 32 communication information is sent to the control module 35, the control module 35 controls the trolley 3 to stop, the purpose is to avoid the distance between the trolley 3 and the mobile terminal 2 being too small, causing the trolley 3 to hit a person.

The advantages of the present invention are: the self-following car disclosed in the present invention sets the first alarm device 4 and the second alarm device 23, so that both the mobile terminal 2 carrier and the first alarm device 4 manager can know the mobile terminal 2 in time. Leaving the range of the first area, thus ensuring the safety of the mobile terminal 2 carrier and the mobile terminal 2 itself within a specific range; at the same time, within a specific range, the trolley 3 can pass the mobile terminal 2 The location information provided by the UWB communication module 1 Track the mobile terminal 2; finally, the mobile terminal 2, the trolley 3 and the first alarm 4 are in one-to-one correspondence, so that the UWB communication module 1 can serve multiple combinations of the mobile terminal 2, the trolley 3 and the first alarm 4.

For those skilled in the art, various other corresponding changes and deformations can be made according to the technical solutions and concepts described above, and all these changes and deformations should fall within the protection scope of the claims of the present invention.

Claims (7)

1. a self-following trolley is characterized in that: comprising: A UWB communication module (1) with a fixed position; Portable mobile terminal (2); A trolley (3) that is located within the coverage of the UWB communication module (1) and can move with the mobile terminal (2); a first alarm device (4) for feeding back whether the mobile terminal (2) is within the signal range of the UWB communication module (1); The mobile terminal (2) includes a first sending module (21) and a second sending module (22), and the trolley (3) includes a first processing module (31), a first receiving module (32) and a third sending module A module (33), a second receiving module (34) and a control module (35), the first processing module (31) is connected to the control module (35), the first receiving module (32) and the second The receiving modules (34) are all connected with the first processing module (31), and the mobile terminal (2), the trolley (3) and the first alarm device (4) are paired; The range covered by the UWB communication module (1) is the first area, and the range covered by the first sending module (21) is the second area; The second sending module (22) continuously communicates with the UWB communication module (1); When the mobile terminal (2) is located within the first area and the cart (3) is located outside the second area, the second sending module (22) communicates with the UWB communication module (1) , the third sending module (33) communicates with the UWB communication module (1), and the UWB communication module (1) communicates with the second receiving module (34); When within the second area, the UWB communication module (1) stops communicating with the second receiving module (22), and the first sending module (21) communicates with the first receiving module (32); When the mobile terminal (2) is located outside the first area, the second sending module (22) stops communicating with the UWB communication module (1), and the UWB communication module (1) communicates with the UWB communication module (1). The first alarm (4) communicates so that the first alarm (4) is turned on. 2. A self-following trolley as claimed in claim 1, characterized in that: the trolley (3) further comprises an infrared detector (5) arranged around the trolley, and the infrared detector (5) comprises an infrared signal module ( 51), the infrared signal module (51) is connected to the first processing module (31). 3. The self-following car according to claim 1, characterized in that: the first alarm device (4) comprises a second processing module (41), a third receiving module (42) and a second control module ( 43), the third receiving module (42) communicates with the UWB communication module (1), the third receiving module (42) is connected with the second processing module (41), and the second processing module (41) is connected to the second control module (43). 4. The self-following trolley according to claim 3, wherein the mobile terminal (2) further comprises a second alarm (23), and the second alarm (23) comprises a fourth receiving module (24), a third processing module (25) and a third control module (26), the UWB communication module (1) communicates with the fourth receiving module (24), and the fourth receiving module (24) communicates with A third processing module (25) is connected, and the third processing module (25) is connected with the third control module (26). 5. The self-following trolley according to claim 4, wherein the first processing module (31), the second processing module (41) and the third processing module (25) are all central processing units, Both the second control module (43) and the third control module (26) are electrically controlled switches. 6. A self-following car according to claim 1, characterized in that: the control module (35) comprises a driving module (36) and a steering module (37), the driving module (36) and the steering module ( 37) are all connected to the first processing module (31). 7. A method for following a self-following trolley as claimed in claim 5, characterized in that: it comprises the following steps: Step 1: The third sending module (33) continuously sends the position information of the car (3) to the UWB communication module (1), the UWB communication module (1) maintains communication with the fourth receiving module (24), and the first A sending module (21) sends the location information of the mobile terminal (2) to the first receiving module (32), and then the first receiving module (32) sends the location information of the mobile terminal (2) to the first processing module (31) ), if the distance between the first sending module (21) and the first receiving module (32) is less than a certain set distance X, the first processing module (31) will separate the first sending module (21) and the first receiving module (32) ) is too small to be sent to the control module (35), and the control module (35) controls the trolley (3) to stop, if the distance between the first sending module (21) and the first receiving module (32) is greater than or equal to A certain set distance X, the first processing module (31) sends the location information of the mobile terminal (2) sent by the first sending module (21) to the control module (35), and the control module (35) Control the trolley to move to the mobile terminal (2); if the first sending module (21) and the first receiving module (32) cannot communicate with each other, step 2 is performed; Step 2: The second sending module (22) sends the location information of the mobile terminal (2) to the UWB communication module (1), if the UWB processing module (1) receives the information sent by the second sending module (22), the location information of the mobile terminal (2), the UWB communication module (1) sends the location information to the second receiving module (34), and executes step 3, if the second sending module (22) is connected to the second receiving module (34) The UWB communication module (1) cannot communicate, then the UWB communication module (1) sends the information that the first processing module (31) cannot communicate with the UWB communication module (1) to the second receiving module (34) and the second receiving module (34) at the same time. The third receiving module (42), and the fourth receiving module (24) cannot communicate with the UWB communication module (1), step 4 is performed; Step 3: Then the UWB communication module (1) sends the information to the second receiving module (34), the second receiving module (34) sends the information to the first processing module (31), and the second receiving module (34) sends the information to the first processing module (31). A processing module (31) processes the position information of the second sending module (22) and the position information of the third sending module (33), so as to calculate and obtain the displacement of the trolley (3) to the mobile terminal (2). distance, the first processing module (31) sends the distance information from the trolley (3) to the mobile terminal (2) to the control module (35), and the control module (35) drives the trolley to the mobile terminal (2) move in the direction until the first receiving module (32) receives the position information sent by the first sending module (21), at which time the UWB communication module (1) stops sending the position of the third sending module (33). signal, then jump to step one. Step 4: The third receiving module (42) sends the information that the first processing module (31) cannot communicate with the UWB communication module (1) to the second processing module (41), and the second processing module (41) Send information to the second control module (43), the second control module (43) controls the first alarm (4) to give an alarm, the fourth receiving module (24) will not be able to communicate with the UWB module (1) The communication information is sent to the third processing module (25) connected to it, the third processing module (25) processes the information and sends the information to the third control module (26), the third control module (26) ) controls the second alarm device (23) to alarm.

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