Intelligent following vehicle movement control device and intelligent following vehicle

Abstract

The present invention discloses a mobile control device for an intelligent following vehicle and an intelligent following vehicle, comprising: a mobile signal generating device, generating and sending a mobile signal according to an external action received; a command module, receiving the mobile signal, generating a first mobile command according to the mobile signal, and sending the first mobile command through a first command channel; a wheel driving device, receiving the first mobile command through the first command channel, and driving the wheels of the intelligent following vehicle to move according to the first mobile command. The technical solution of the present invention can arbitrarily adjust the speed and driving direction of the intelligent following vehicle when the intelligent following vehicle is in a following state, especially when the intelligent following vehicle loses the following target or enters a blind spot and cannot automatically move out, the mobile control of the intelligent following vehicle can be timely performed, and it will not prevent the intelligent following vehicle from entering the automatic following state again after being moved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent supermarket equipment, and in particular to an intelligent following vehicle movement control device and an intelligent following vehicle. Background Art

[0002] With the development of indoor navigation and positioning technology, smart supermarkets follow shopping cart products. The emergence of smart supermarkets follows shopping carts to meet the needs of shopping carts in supermarkets to automatically follow users and improve the user's shopping experience. In the existing technology, there are mainly two mainstream indoor shopping cart control solutions:

[0003] 1. Image recognition: Identify the user's location based on the image and calculate the distance between the shopping cart and the user to control the shopping cart to follow the user's movement.

[0004] 2. Based on ultra-wideband (UWB) positioning technology, the user wears a bracelet with a UWB positioning tag, and the supermarket following car follows the user's movement based on the user's bracelet position obtained by the UWB base station.

[0005] The above-mentioned prior art solutions free the hands of users and bring a pleasant shopping experience, but at the same time there are also the following problems that cause trouble to users:

[0006] 1. For the image recognition technology solution, when there are many people in the supermarket, the camera is easily blocked, making it impossible for the camera to accurately identify the location of the tracked user. In addition, when the user shuttles between multiple shelves, it is also very easy to lose the user due to the obstruction of the shelves.

[0007] 2. For the solution based on UWB positioning technology, due to the low positioning accuracy of UWB positioning technology and the slow updating speed of positioning data, this solution cannot achieve the situation where the shopping cart follows the user in real time, accurately and quickly. When there are many people in the supermarket, it is more likely to lose the tracking user. Summary of the invention

[0008] In view of this, the present invention provides a mobile control device for an intelligent following vehicle and an intelligent following vehicle, so as to timely control the mobile movement of the intelligent following vehicle when the intelligent following vehicle loses the tracking target.

[0009] The technical solution of the present invention is achieved in this way:

[0010] An intelligent following vehicle movement control device, comprising:

[0011] A mobile signal generating device, wherein the mobile signal generating device generates a mobile signal according to the received external action and sends the mobile signal;

[0012] an instruction module, the instruction module receiving the movement signal, generating a first movement instruction according to the movement signal, and sending the first movement instruction through a first instruction channel; and

[0013] A wheel driving device receives the first movement instruction through the first instruction channel, and drives the wheel movement of the intelligent following vehicle according to the first movement instruction.

[0014] Furthermore, the movement signal generating device is a joystick device.

[0015] Further, the rocker device comprises:

[0016] Base;

[0017] A rocker, the rocker being mounted on the base and having the freedom to swing from an initial position to any direction with a hinge between the rocker and the base as a fulcrum; and

[0018] A measuring module, the measuring module is installed on the base to obtain the yaw direction data and yaw angle data of the rocker;

[0019] A movement signal generating module is electrically connected to the measurement module and the instruction module to receive the yaw direction data and the yaw angle data from the measurement module and generate the movement signal, wherein the movement signal contains the yaw direction data and the yaw angle data.

[0020] Furthermore, the first movement instruction includes:

[0021] The moving direction of the intelligent following vehicle obtained according to the yaw direction data; and

[0022] The moving speed of the intelligent following vehicle is obtained according to the yaw angle data.

[0023] Furthermore, the smart following vehicle is equipped with a handrail;

[0024] The movement signal generating device is installed on the armrest.

[0025] Furthermore, the intelligent following vehicle movement control device also includes a wireless signal sending device and a wireless signal receiving device; wherein,

[0026] The wireless signal sending device is electrically connected to the mobile signal generating device, and the wireless signal receiving device is electrically connected to the instruction module;

[0027] The mobile signal generating device sends the mobile signal through the wireless signal sending device, and the instruction module receives the mobile signal through the wireless signal receiving device.

[0028] Furthermore, the wireless signal sending device and the mobile signal generating device are integrated into one body and carried by the user of the intelligent following vehicle.

[0029] Furthermore, the intelligent following vehicle movement control device further includes:

[0030] a following target acquisition module, the following target acquisition module is used to acquire movement information of a following target and generate a following signal according to the movement information of the following target; and

[0031] A central control module, wherein the central control module is electrically connected to the following target acquisition module and the wheel drive device to receive the following signal from the following target acquisition module, generate a second movement instruction according to the following signal, and send the second movement instruction to the wheel drive device through a second instruction channel, so that the wheel drive device drives the wheel movement of the intelligent following vehicle according to the second movement instruction.

[0032] Furthermore, the instruction module is also electrically connected to the central control module;

[0033] When the movement signal generating device starts to generate the movement signal, the instruction module opens the first instruction channel and sends a channel closing instruction to the central control module;

[0034] After receiving the channel closing instruction, the central control module closes the second instruction channel to stop sending the second movement instruction to the wheel driving device.

[0035] Further, if the mobile signal generating device stops generating mobile signals and no longer generates mobile signals within a set time threshold range starting from the time when the mobile signal generating device stops generating mobile signals, then when the timing reaches the set time threshold, the instruction module closes the first instruction channel and sends a channel opening instruction to the central control module;

[0036] After receiving the channel opening instruction, the central control module opens the second instruction channel.

[0037] Furthermore, the set time threshold is 3 to 10 seconds.

[0038] An intelligent following vehicle adopts the intelligent following vehicle movement control device as described in any one of the above items.

[0039] It can be seen from the above scheme that the intelligent following vehicle movement control device and the intelligent following vehicle of the present invention use a movement signal generating device to generate a movement signal, and then use the instruction module to generate a first movement instruction according to the movement signal to control the wheel driving device to drive the wheel movement, thereby driving the movement of the intelligent following vehicle, and realizing simple control of the intelligent following vehicle. When the intelligent following vehicle is in a following state, the speed and driving direction of the intelligent following vehicle can be adjusted arbitrarily, especially when the intelligent following vehicle loses the following target or enters a blind spot and cannot automatically move out, the intelligent following vehicle can be controlled to move in time, and it will not prevent the intelligent following vehicle from entering the automatic following state again after being moved. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic diagram of a mobile control device for an intelligent following vehicle implemented in the present invention;

[0041] Figure 2 It is a schematic diagram of a rocker device in the implementation of the present invention;

[0042] Figure 3 Schematic diagram of an intelligent following vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0044] like Figure 1 As shown, the intelligent following vehicle movement control device of the embodiment of the present invention includes a movement signal generating device 11, an instruction module 12 and a wheel driving device 13. Among them, the movement signal generating device 11 generates a movement signal according to the received external action and sends the movement signal. The instruction module 12 receives the movement signal, generates a first movement instruction according to the movement signal, and sends the first movement instruction through the first instruction channel. The wheel driving device 13 receives the first movement instruction through the first instruction channel and drives the wheel movement of the intelligent following vehicle according to the first movement instruction.

[0045] In the embodiment of the present invention, the mobile signal generating device 11 is a rocker device, such as Figure 2 As shown, the rocker device mainly includes a base 21 and a rocker 22. The rocker 22 is mounted on the base 21, and the rocker 22 has the freedom to swing from the initial position to any direction with the hinge between the rocker 22 and the base 21 as the fulcrum. The initial position is the position when the rocker 22 is perpendicular to the base 21. Figure 2In addition to the above, in the embodiment of the present invention, the rocker device further includes a measuring module and a movement signal generating module. The measuring module is installed in the base 21, and is used to obtain the yaw direction data and the yaw angle data of the rocker 22. The movement signal generating module is electrically connected to the measuring module and the instruction module 12 to receive the yaw direction data and the yaw angle data from the measuring module, and generate a movement signal, and the movement signal contains the yaw direction data and the yaw angle data.

[0046] In other optional embodiments, the measuring module may be installed outside the base 21, and the mobile signal generating module may be installed inside or outside the base 21. The installation positions of the measuring module and the mobile signal generating module may be selected according to actual needs.

[0047] In addition, in other optional embodiments, an automatic return component may be installed in the base 21. When the rocker arm 22 is deflected, the automatic return component applies a force to the rocker arm 22 to force it to return to its initial position. In this way, after the rocker arm 22 is pulled and released, the rocker arm 22 can automatically return to its initial position.

[0048] In an embodiment of the present invention, the first movement instruction includes the moving direction and moving speed of the smart following car. The moving direction of the smart following car is obtained according to the yaw direction data, and the moving speed of the smart following car is obtained according to the yaw angle data. In an optional embodiment, a mapping relationship can be established between the moving speed of the smart following car and the yaw angle of the joystick 22, and the moving speed of the smart following car can be controlled by controlling the yaw angle of the joystick 22 according to the mapping relationship; in an optional embodiment, a mapping relationship can be established between the moving direction of the smart following car and the yaw direction of the joystick 22, and the moving direction of the smart following car can be controlled by controlling the yaw direction of the joystick 22 according to the mapping relationship. The moving direction is, for example, the turning angle of the smart following car.

[0049] In an optional embodiment, the smart following vehicle is equipped with an armrest, and the rocker device is installed on the armrest. The installation position of the rocker device is convenient for the user to operate.

[0050] In an optional embodiment, the instruction module 12 is electrically connected to the movement signal generating device 11 .

[0051] In an optional embodiment, the mobile control device of the intelligent following car also includes a wireless signal sending device and a wireless signal receiving device. The wireless signal sending device is electrically connected to the mobile signal generating device 11 (such as a joystick device), and the wireless signal receiving device is electrically connected to the instruction module 12. The mobile signal generating device 11 sends the mobile signal through the wireless signal sending device, and the instruction module 12 receives the mobile signal through the wireless signal receiving device. In this way, the wireless signal sending device and the wireless signal receiving device will not be constrained by the wire harness and can be carried by the user. When the intelligent following car loses the following target (such as the user) or enters a blind spot and cannot automatically move out, the user can use remote control to control the movement of the intelligent following car without approaching the intelligent following car. In an optional embodiment, the mobile signal generating device 11 and the wireless signal sending device are designed in an integrated manner, that is, the wireless signal sending device and the mobile signal generating device 11 are integrated into one and carried by the user of the smart following car. For example, the wireless signal sending device is integrated with the joystick device serving as the mobile signal generating device 11 to become a device that generates and wirelessly sends a mobile signal. The user of the smart following car is the target followed by the smart following car (such as a user). When the smart following car loses the ability to follow the user or the smart following car enters a blind spot and cannot automatically move out, the user uses the integrated wireless signal sending device and mobile signal generating device 11 carried by the user to remotely control the smart following car, thereby achieving remote control of the smart following car.

[0052] In an optional embodiment, the device for generating and wirelessly transmitting a mobile signal may have a fixing part that can be fixed to the armrest of the smart following vehicle, such as a clamping part. The device for generating and wirelessly transmitting a mobile signal may use the fixing part to fix the device for generating and wirelessly transmitting a mobile signal to the armrest of the smart following vehicle or remove it from the armrest of the smart following vehicle.

[0053] In an optional embodiment, the wireless signal sending device and the wireless signal receiving device are Bluetooth devices, and the Bluetooth protocol is used between the wireless signal sending device and the wireless signal receiving device to send and receive mobile signals.

[0054] In an optional embodiment, the command module 12 and the wheel drive device 13 are both installed on the intelligent following vehicle, and the wheel drive device 13 is electrically connected to the command module 12 .

[0055] Continue to see Figure 1As shown, the intelligent following vehicle movement control device of the embodiment of the present invention further includes a following target acquisition module 14 and a central control module 15. The following target acquisition module 14 is used to acquire movement information of the following target and generate a following signal according to the movement information of the following target. The central control module 15 is electrically connected to the following target acquisition module 14 and the wheel drive device 13 to receive the following signal from the following target acquisition module 14, generate a second movement instruction according to the following signal, and send the second movement instruction to the wheel drive device 13 through the second instruction channel, so that the wheel drive device 13 drives the wheel movement of the intelligent following vehicle according to the second movement instruction.

[0056] In an optional embodiment, the tracking target acquisition module 14 is, for example, a tracking device. Accordingly, the user carries the target device with him, and the target device has a positioning unit that provides positioning features. The tracking device can obtain the movement information of the target device by analyzing the positioning features and generate a following signal based on the movement information of the target device.

[0057] In an optional embodiment, the following target acquisition module 14 is, for example, a Bluetooth device, which uses a mobile Bluetooth device carried by the customer to communicate with the Bluetooth device, obtains movement information of the mobile Bluetooth device through Bluetooth signals, and generates a following signal according to the movement information of the mobile Bluetooth device.

[0058] In an optional embodiment, the following target acquisition module 14 is, for example, a camera and an intelligent recognition module. The camera takes a photo of the customer that the smart following car is to follow and identifies and obtains the movement information of the customer that the smart following car is to follow through the intelligent recognition module, and generates a following signal according to the movement information of the customer that the smart following car is to follow.

[0059] In the embodiment of the present invention, the instruction module 12 is also electrically connected to the central control module 15. When the mobile signal generating device 11 starts to generate a mobile signal, the instruction module 12 opens the first instruction channel and sends a channel closing instruction to the central control module 15. After receiving the channel closing instruction, the central control module 15 closes the second instruction channel to stop sending the second mobile instruction to the wheel drive device 13. Thus, when the intelligent following vehicle automatically follows, the current braking following action can be interrupted by operating the mobile signal generating device 11, thereby increasing the flexible operation capability of the intelligent following vehicle, and when the intelligent following vehicle has a following target error, the running direction of the intelligent following vehicle can be corrected and adjusted in time.

[0060] In an embodiment of the present invention, if no mobile signal is generated within the set time threshold range starting from the moment when the mobile signal generating device 11 stops generating the mobile signal, then when the timing reaches the set time threshold, the instruction module 12 closes the first instruction channel and sends a channel opening instruction to the central control module 15. After receiving the channel opening instruction, the central control module 15 opens the second instruction channel. In this way, after completing the mobile control of the smart following vehicle, the smart following vehicle can automatically enter the following state again without having to manually turn on the following mode. In this way, when the smart following vehicle enters a blind spot and cannot follow the target out of the blind spot, the smart following vehicle can quickly get out of the blind spot and automatically follow the target again.

[0061] In a specific embodiment, the time threshold is set to 3 to 10 seconds, preferably, the time threshold is set to 5 seconds. In the embodiment of the present invention, by setting the time threshold, after the manual control mode in which the mobile signal generating device 11 generates the mobile signal, a pause period can be experienced before entering the automatic following mode, which can reduce the mental tension caused by the rapid switching between the manual control mode and the automatic following mode. This is similar to the effect that the free travel designed for the steering wheel and the free travel designed for the clutch in the car can reduce the mental tension of the driver.

[0062] The embodiment of the present invention further provides an intelligent following vehicle, which adopts the intelligent following vehicle movement control device as described in the above embodiment. Figure 3 The following figure shows an embodiment of a smart follow-up vehicle, wherein a handrail 3 is installed at the front of the smart follow-up vehicle, and a rocker device 2 is installed on the handrail 3 for easy operation by customers. The smart follow-up vehicle has an item basket 4 for placing items purchased by customers. Figure 3 In the illustrated embodiment, the item basket 4 is located on the chassis box 5 of the intelligent following vehicle. The chassis box 5 may be installed with other control modules of the intelligent following vehicle movement control device described in the above embodiment except the rocker device 2, such as the wheel drive device 13, etc. The wheel 6 is installed at the bottom end of the chassis box 5 and driven by the wheel drive device 13.

[0063] The intelligent following vehicle movement control device and the intelligent following vehicle of the embodiments of the present invention use a movement signal generating device to generate a movement signal, and then use an instruction module to generate a first movement instruction according to the movement signal to control the wheel driving device to drive the wheel movement, thereby driving the movement of the intelligent following vehicle, realizing simple control of the intelligent following vehicle. When the intelligent following vehicle is in a following state, the speed and driving direction of the intelligent following vehicle can be adjusted arbitrarily. In particular, when the intelligent following vehicle loses the following target or enters a blind spot and cannot automatically move out, the intelligent following vehicle can be controlled to move in time, and it will not prevent the intelligent following vehicle from entering the automatic following state again after being moved.

[0064] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent following vehicle movement control device, characterized in that: include: A mobile signal generating device, wherein the mobile signal generating device generates a mobile signal according to the received external action and sends the mobile signal; an instruction module, wherein the instruction module receives the movement signal, generates a first movement instruction according to the movement signal, and sends the first movement instruction through a first instruction channel; as well as, a wheel driving device, wherein the wheel driving device receives the first movement instruction through the first instruction channel, and drives the wheels of the intelligent following vehicle to move according to the first movement instruction; Wherein, the intelligent following vehicle movement control device also includes: A central control module, the central control module is electrically connected to the wheel drive device, and is used to receive a follow-up signal, generate a second movement instruction according to the follow-up signal, and send the second movement instruction to the wheel drive device through a second instruction channel, so that the wheel drive device drives the wheel movement of the intelligent following vehicle according to the second movement instruction; The command module is also electrically connected to the central control module; when the movement signal generating device starts to generate the movement signal, the command module opens the first command channel and sends a channel closing command to the central control module; after receiving the channel closing command, the central control module closes the second command channel to stop sending the second movement command to the wheel drive device; If the mobile signal generating device stops generating the mobile signal and no longer generates the mobile signal within the set time threshold range starting from the moment the timing reaches the set time threshold, the instruction module closes the first instruction channel and sends a channel opening instruction to the central control module; after receiving the channel opening instruction, the central control module opens the second instruction channel.

2. The intelligent following vehicle movement control device according to claim 1, characterized in that: The movement signal generating device is a rocker device.

3. The intelligent following vehicle movement control device according to claim 2, characterized in that: The rocker device comprises: Base; A rocker, the rocker being mounted on the base and having the freedom to swing from an initial position to any direction with a hinge between the rocker and the base as a fulcrum; and A measuring module, the measuring module is installed on the base to obtain the yaw direction data and yaw angle data of the rocker; A movement signal generating module is electrically connected to the measurement module and the instruction module to receive the yaw direction data and the yaw angle data from the measurement module and generate the movement signal, wherein the movement signal contains the yaw direction data and the yaw angle data.

4. The intelligent following vehicle movement control device according to claim 3, characterized in that: The first movement instruction includes: The moving direction of the intelligent following vehicle obtained according to the yaw direction data; and The moving speed of the intelligent following vehicle is obtained according to the yaw angle data.

5. The intelligent following vehicle movement control device according to claim 1, characterized in that: The smart following car is equipped with a handrail; The movement signal generating device is installed on the armrest.

6. The intelligent following vehicle movement control device according to claim 1, characterized in that: The intelligent following vehicle movement control device also includes a wireless signal sending device and a wireless signal receiving device; wherein, The wireless signal sending device is electrically connected to the mobile signal generating device, and the wireless signal receiving device is electrically connected to the instruction module; The mobile signal generating device sends the mobile signal through the wireless signal sending device, and the instruction module receives the mobile signal through the wireless signal receiving device.

7. The intelligent following vehicle movement control device according to claim 6, characterized in that: The wireless signal sending device and the mobile signal generating device are integrated into one body and carried by the user of the intelligent following vehicle.

8. The intelligent following vehicle movement control device according to claim 1, characterized in that: The intelligent following vehicle movement control device also includes: A following target acquisition module is used to acquire movement information of a following target and generate the following signal according to the movement information of the following target, wherein the central control module is electrically connected to the following target acquisition module.

9. The intelligent following vehicle movement control device according to claim 1, characterized in that: The set time threshold is 3 to 10 seconds.

10. An intelligent following vehicle, characterized in that: An intelligent following vehicle movement control device as described in any one of claims 1 to 9 is used.

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