A servo control method, a servo device and a servo system

A follow-up device and wireless control technology, applied in two-dimensional position/channel control and other directions, can solve the problem that the shopping cart or suitcase cannot follow the owner's movement by itself, and achieve the effect of low cost and high control accuracy

Active Publication Date: 2017-05-10
式问(杭州)人工智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a follow-up control method, a follow-up device and a follow-up system in view of the problem in the prior art that shopping carts or suitcases cannot follow the owner to move by themselves.

Method used

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  • A servo control method, a servo device and a servo system
  • A servo control method, a servo device and a servo system
  • A servo control method, a servo device and a servo system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0092]In the first embodiment, the distance and direction are determined by using the judgment of the radio signal strength RSSI.

[0093] The main controller and the slave device communicate by sending and receiving information through radio signals, and determine whether it is the signal sent by the matching master controller according to the ID code contained in the received information. If they match, then judge the signal strength RSSI, And according to the RSSI signal strength, the corresponding distance data is searched in the database. The corresponding value of the RSSI signal strength and the distance is determined and saved in advance in the previous experiment. Or calculate the corresponding distance through empirical formula.

[0094] In this embodiment, the main controller and the slave device each have a wireless transceiver module, communicate by sending a signal with an ID code, receive a signal with a matching ID code, detect the RSSI signal strength at this ...

Embodiment 2

[0097] In the second embodiment, the distance and direction are judged by using the relationship between the regularly changing magnetic field and the distance.

[0098] There is a magnetic field transceiver device between the master controller and the follower device. The magnetic field is controlled by a circuit and has a certain rhythm, which is convenient for the receiver to distinguish. The distance between the two parties is determined by detecting the corresponding relationship between the magnetic field strength and the distance.

[0099] It is similar to the RSSI in Embodiment 1, except that the RSSI is replaced by a magnetic field. The main controller has a magnetic field that can produce regular changes, just like sending digital signals: 1110000, 1110000... Such continuously changing magnetic field data, with a magnetic field detection circuit (such as a magnetic sensor, a magnetic field meter) at the slave device end, can Identify this regularly changing magnetic ...

Embodiment 3

[0102] Embodiment 3, the master controller and the slave device use the combination of infrared LED and camera.

[0103] There are at least 2 infrared LEDs and at least one camera between the main controller and the follow-up device, and the distance and orientation can be judged by detecting the distance and orientation of the infrared light emitted by the two sets of infrared LED groups at the opposite end. direction.

[0104] The main controller has at least two infrared LEDs separated by a certain distance. There is at least one CMOS positioning sensor on the follower device. For example, a circle of infrared LEDs is used around the main controller, so that the camera can see bright bars of the same length from any angle, such as feet with infrared LED halos, or There is a halo around the neck, and the camera installed on the follower device sees that the length of the infrared LED light bar is converted into a distance and provides a direction. Of course, a database of t...

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Abstract

The invention relates to a servo control method, a servo device and a servo system. The method includes the following steps that A, wireless control signals from a master controller are received; B, according to the wireless control signals, the distance between the servo device and the master controller is judged; C, the direction of the master controller is judged, the servo device is driven to move in the direction of the master controller so that the distance between the servo device and the master controller is smaller than a preset value and servo motion can be achieved, wherein the wireless control signals carry ID code information of the master controller and / or the servo device and the step A includes the parts that ID codes contained in the ID code information are compared with ID codes, stored in the servo device in advance, of the master controller and / or the servo device, when the ID codes are matched, the following step B and the step C are executed. When the distance between the servo device and the master controller exceeds the preset value, the direction of the master controller can be judged, the servo device is driven to move in the direction of the master controller, the distance between the servo device and the master controller is maintained, and therefore servo motion is achieved.

Description

technical field [0001] The invention relates to the technical field of wireless tracking, and more specifically, to a follow-up control method, a follow-up device and a follow-up system. Background technique [0002] People usually carry shopping carts or suitcases in their daily life or work, such as shopping, traveling or business trips. When the owner moves, he needs to drag the shopping cart or suitcase to make it move with him, which is very inconvenient . Another most primitive follow-up method is to find someone to follow you. This person is called a follower, and he pushes and pulls a shopping cart or suitcase. In modern society, the labor cost is high, and it is unrealistic to find someone to follow you at any time. If technology is used to achieve follow-up, the highest technology should be to design a robot follower, which can carry luggage and follow the owner, and the follow-up technology solution is the key to solving the follow-up problem. [0003] Therefor...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 罗富强
Owner 式问(杭州)人工智能科技有限公司
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