Multifunctional intelligent transport trolley based on bracelet positioning and air bag stabilization

Abstract

The invention provides a multifunctional intelligent transportation trolley based on bracelet positioning and air bag stabilization. The multifunctional intelligent transportation trolley comprises a trolley body and a bracelet. Wheels, a power control system, an automatic following driving system and an obstacle avoidance detection system are preassembled on the trolley body. The bracelet is worn on the wrist of an operator and communicates with the automatic following driving system; opening the bracelet to position the current coordinate position of the operator; the trolley body sets the current coordinate position positioned by the bracelet as a target position through the automatic following driving system, plans an initial path for moving to the target position, and re-plans a final path in combination with a detection result of the obstacle avoidance detection system on the initial path so as to indicate the power control system to drive the trolley body to follow driving; and the moving direction and the rotating direction are adjusted, so that the trolley body travels to the target position in a following manner. By implementing the platform cart, the problems that an existing platform cart is low in working efficiency, inflexible in steering and poor in stability can be solved, and efficient, flexible and stable tool carrying is achieved.

Description

Technical Field

[0001] This invention relates to the field of substation outdoor operation technology, and in particular to a multifunctional intelligent transport vehicle based on wristband positioning and airbag stabilization. Background Technology

[0002] Substation work teams require a wide variety of tools during outdoor operations, including testing instruments, hand tools, night lighting equipment, smart safety monitoring cameras, and other tools and equipment.

[0003] Currently, workers often use flatbed carts to move tools and equipment. This means that when moving work sites, workers often need to manually push the tools and equipment continuously, which not only consumes a lot of work time and leads to low work efficiency, but also requires controlling the flatbed cart by the handles to avoid obstacles, resulting in inflexible steering. In addition, when the flatbed cart is used on uneven surfaces, the vibration of the wheels on the chassis can easily cause poor stability, making it very easy for instruments on the cart to slip or be damaged.

[0004] Therefore, it is necessary to improve the existing trolleys for handling tools to solve the problems of low working efficiency, inflexible steering and poor stability of existing flatbed trolleys, and to achieve efficient, flexible and stable handling of tools. Summary of the Invention

[0005] The technical problem to be solved by the embodiments of the present invention is to provide a multifunctional intelligent transport vehicle based on wristband positioning and airbag stabilization, which can solve the problems of low working efficiency, inflexible steering and poor stability of existing flatbed trolleys, and realize efficient, flexible and stable tool handling.

[0006] To address the aforementioned technical problems, embodiments of the present invention provide a multifunctional intelligent transport vehicle based on wristband positioning and airbag stabilization, comprising a wristband and a movable vehicle body; wherein... The vehicle body is pre-installed with wheels, a power control system for driving the wheels of the vehicle body and controlling the direction of movement and rotation, an automatic following driving system for cooperating with the wristband, and an obstacle avoidance detection system for automatically detecting obstacles. The wristband is worn on the operator's wrist and communicates with the automatic following system on the trolley body; When the wristband is activated, it locates the current coordinates of the worker and transmits them to the automatic following driving system on the vehicle body. The vehicle body uses its onboard automatic following system to set the current coordinates of the wristband as the target position. Combined with the vehicle body's current coordinates, an initial path is planned for the vehicle body to move to the target position. Then, based on the obstacle detection system's detection of obstacles on the initial path, a final path is planned for the vehicle body. This path is then used to instruct the power control system to drive the vehicle body's wheels and adjust the following and rotation directions, enabling the vehicle body to follow the wristband to the target position.

[0007] The wristband is equipped with a first GPS positioning module and a wireless transmission and communication module; wherein, The first GPS positioning module communicates with the BeiDou satellite to determine the current coordinates of the workers; The wireless transmission and communication module communicates with the automatic following system on the vehicle body to send the current coordinate position located by the wristband to the automatic following system on the vehicle body.

[0008] The obstacle avoidance detection system includes an ultrasonic / infrared sensor; the ultrasonic / infrared sensor is connected to the automatic following driving system and is used to detect the distance and position between obstacles on any driving path of the vehicle.

[0009] The automatic following driving system includes a wireless receiving and communication module, a second GPS positioning module, and an information processing module; the power control system includes an interconnected motor drive module and a motor; wherein, One end of the wireless receiving communication module communicates with the wireless transmitting communication module of the wristband, and the other end is connected to the information processing module to receive the current coordinate position of the wristband. One end of the second GPS positioning module communicates with the Beidou satellite, and the other end is connected to the information processing module to locate the current coordinate position of the vehicle body; The information processing module is also connected to the motor drive module and the ultrasonic / infrared sensor. It is used to set the current coordinate position of the wristband as the target position, and combine it with the current coordinate position of the vehicle body to plan the initial path for the vehicle body to move to the target position. Based on the results of the ultrasonic / infrared sensor detecting obstacles on the initial path, it replans the final path for the vehicle body to move. According to the final path, it generates follow driving instructions, motion adjustment instructions, steering adjustment instructions, and the execution time of each instruction and sends them to the motor drive module to instruct the motor drive module to drive the motor to make the wheels of the vehicle body move, and to adjust the follow driving direction and rotation direction so that the vehicle body can follow the wristband to the target position.

[0010] The vehicle body is also pre-installed with a balance control system; the vehicle body controls the degree of swaying during driving through the balance control system.

[0011] The balance control system includes a height sensor, a pressure control module, and an airbag connected in sequence; wherein, The height sensor is used to sense the height and tilt angle of the vehicle body in real time. The air pressure control module is used to determine the degree of swaying of the vehicle body based on the height and tilt angle of the vehicle body sensed in real time by the height sensor, and in combination with the preset height comparison table and tilt angle comparison table. Furthermore, based on the degree of swaying, the module controls the inflation or deflation of the airbag to adjust the air pressure of the airbag. The airbags are installed on the axles of each wheel and are used to adjust the height of the vehicle body according to the air pressure to ensure the vehicle body is balanced.

[0012] The wheels of the vehicle body are all omnidirectional wheels.

[0013] The body of the vehicle is made of steel.

[0014] Implementing the embodiments of the present invention has the following beneficial effects: 1. The trolley body of the present invention automatically identifies the coordinate position of the hand ring positioning through the automatic following driving system and follows the operator, thereby improving work efficiency, solving the problem of low work efficiency of existing flatbed trolleys, and realizing efficient, flexible and stable tool handling; 2. The trolley body of the present invention effectively prevents damage to tools and ensures operational safety by using the active obstacle avoidance function of the obstacle avoidance detection system and the automatic leveling function of the balance control system. It solves the problems of inflexible steering and poor stability of existing flatbed trolleys, and realizes efficient, flexible and stable tool handling. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, obtaining other drawings based on these drawings without creative effort still falls within the scope of the present invention.

[0016] Figure 1 This is a schematic diagram of the structure of a multi-functional intelligent transport vehicle based on wristband positioning and airbag stabilization provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the logical functional structure connection of a wristband in a multi-functional intelligent transport vehicle based on wristband positioning and airbag stabilization, provided in an embodiment of the present invention. Figure 3 This is a schematic diagram showing the logical functional structure connection between the automatic following driving system, obstacle avoidance detection system and power control system inside the main body of a multifunctional intelligent transport vehicle based on wristband positioning and airbag stabilization, provided in an embodiment of the present invention. Figure 4 This is a schematic diagram of the logical functional structure of the internal balance control system of a multifunctional intelligent transport vehicle based on wristband positioning and airbag stabilization, provided in an embodiment of the present invention. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings.

[0018] like Figures 1 to 4 As shown in the figure, a multifunctional intelligent transport vehicle based on wristband positioning and airbag stabilization is proposed in an embodiment of the present invention, including a wristband 1 and a movable vehicle body 2; wherein, The body of the car body 2 is made of steel or other metals and is pre-installed with wheels (such as casters, installed on the outer bottom surface of the body), a power control system 21 (installed inside the body and acting on the wheels) for driving the wheels of the car body 2 and controlling the direction of movement and rotation, an automatic following driving system 22 (installed inside the body) for cooperating with the wristband 1, and an obstacle avoidance detection system (installed on the outer top surface of the body) for automatically detecting obstacles 23. The wristband 1 is worn on the operator's wrist and communicates with the automatic following system on the trolley body 2 via wireless communication; When the wristband 1 is activated, it locates the current coordinates of the worker using the built-in first GPS positioning module 11 and transmits the information to the automatic following system on the vehicle body 1 via the built-in wireless communication module 12. Specifically, the wristband 1 is equipped with a first GPS positioning module 11 and a wireless communication module 12. The first GPS positioning module 11 communicates with the BeiDou satellite to locate the worker's current coordinates; the wireless communication module 12 communicates with the automatic following system on the vehicle body 2 to send the current coordinates located by the wristband 1 to the automatic following system on the vehicle body 2. The vehicle body 2 uses its automatic following driving system 22 to set the current coordinate position of the wristband 1 as the target position. Combined with the current coordinate position of the vehicle body 2, it plans the initial path for the vehicle body 2 to move to the target position. Combined with the results of the obstacle avoidance detection system 23 detecting obstacles on the initial path, it replans the final path for the vehicle body 2 to move. This instructs the power control system 21 to drive the wheels of the vehicle body 2 to move, and adjust the following driving direction and rotation direction, so that the vehicle body 2 can follow the wristband 1 to the target position.

[0019] In this embodiment of the invention, the obstacle avoidance detection system 23 includes an ultrasonic / infrared sensor 231 (at this time, the ultrasonic / infrared sensor is connected to the automatic following driving system 22), which is used to detect the distance and position between obstacles on any driving path of the vehicle body 2; The automatic following driving system 22 includes a wireless receiving communication module 221, a second GPS positioning module 222, and an information processing module 223; the power control system 21 includes an interconnected motor drive module 211 and a motor 212; it should be noted that there are one or more motors 212, which can drive the wheels of the vehicle body 2 and control the direction of movement and rotation. Among them, one end of the wireless receiving communication module 221 communicates with the wireless transmitting communication module 12 of the wristband 1, and the other end is connected to the information processing module 223, which is used to receive the current coordinate position of the wristband 1. One end of the second GPS positioning module 222 communicates with the Beidou satellite, and the other end is connected to the information processing module 223 to locate the current coordinate position of the vehicle body 2; The information processing module 223 is also connected to the motor drive module 211 and the ultrasonic / infrared sensor 231. It is used to set the current coordinate position of the wristband 1 as the target position, and combine it with the current coordinate position of the vehicle body 2 to plan the initial path for the vehicle body 2 to move to the target position. Combined with the results of the ultrasonic / infrared sensor 231 detecting obstacles on the initial path, it replans the final path for the movement of the vehicle body 2. Based on the final path, it generates follow driving command, motion adjustment command, steering adjustment command and execution time of each command and sends them to the motor drive module 211 to instruct the motor drive module 211 to drive the motor 212 to make the wheels of the vehicle body 2 move, and to adjust the following driving direction and rotation direction so that the vehicle body 2 can follow the wristband 1 to the target position.

[0020] In this embodiment of the invention, a balance control system 24 is pre-installed on the vehicle body 2. The vehicle body 2 controls the degree of swaying during vehicle movement through the balance control system 24. The balance control system 24 includes a height sensor 241 (e.g., mounted on the outer bottom surface of the vehicle body), an air pressure control module 242 (e.g., mounted on the outer bottom surface of the vehicle body), and an airbag 243 (e.g., mounted on the axle of the wheel) connected in sequence. The height sensor 241 is used to sense the height and tilt angle of the vehicle body 2 in real time. The air pressure control module 242 is used to determine the degree of swaying of the vehicle body 2 based on the height and tilt angle of the vehicle body sensed in real time by the height sensor 241, and in combination with a preset height comparison table and tilt angle comparison table. Furthermore, it controls the inflation or deflation of the airbag 243 according to the degree of swaying to adjust the air pressure of the airbag 243. The airbag 243 is mounted on the axle of each wheel to stabilize the direction and is used to adjust the height of the vehicle body 2 according to the air pressure to ensure the balance of the vehicle body 2. It should be noted that the degree of sway is obtained by referring to preset height and tilt angle comparison tables based on the sensed height and tilt angle of the vehicle body. Furthermore, determining the inflation / deflation size of the airbag 243 based on the final value of the sway is a common technique in the field, and will not be elaborated upon here.

[0021] Therefore, it can be seen that the multifunctional intelligent transport vehicle based on wristband positioning and airbag stabilization in this embodiment of the invention has autonomous following function, active obstacle avoidance function, and automatic leveling function, as detailed below: (1) Autonomous following function: Based on the positioning function of the wristband 1, the coordinate information sent by the wristband 1 is received in real time using wireless communication technology, and the wheel speed is adjusted by the power control system 21 to realize autonomous following of the workers, reducing manual handling time. (2) Active obstacle avoidance function: By using ultrasonic and infrared sensors, the distance and position of the obstacle are detected, and the speed difference of the wheels is adjusted by the power control system 21 to automatically adjust the direction to avoid the obstacle and ensure safe driving; (3) Automatic leveling function: an airbag 243 is installed on the axle. The height and tilt angle of the vehicle body are detected by the height sensor 241. The air pressure control module 242 is used to inflate and deflate the airbag 243 to adjust the height of the vehicle body, ensuring that the vehicle body remains stable on uneven roads and preventing tools from slipping.

[0022] Implementing the embodiments of the present invention has the following beneficial effects: 1. The trolley body of the present invention automatically identifies the coordinate position of the hand ring positioning through the automatic following driving system and follows the operator, thereby improving work efficiency, solving the problem of low work efficiency of existing flatbed trolleys, and realizing efficient, flexible and stable tool handling; 2. The trolley body of the present invention effectively prevents damage to tools and ensures operational safety by using the active obstacle avoidance function of the obstacle avoidance detection system and the automatic leveling function of the balance control system. It solves the problems of inflexible steering and poor stability of existing flatbed trolleys, and realizes efficient, flexible and stable tool handling.

[0023] The above description discloses only preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Therefore, equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A multifunctional intelligent transport trolley based on hand ring positioning and air bag stabilization, characterized in that, The hand ring and the movable trolley body are included. The trolley body is pre-installed with wheels, a power control system for driving the wheels of the trolley body to move and controlling the moving direction and the rotating direction, an automatic following driving system for cooperating with the hand ring, and an obstacle avoidance detection system for automatically detecting obstacles. The hand ring is worn on the wrist of the operator and communicates with the automatic following system on the trolley body. When the hand ring is turned on, the current coordinate position of the operator is located and transmitted to the automatic following driving system on the trolley body. The trolley body sets the current coordinate position located by the hand ring as a target position through the automatic following driving system, combines the current coordinate position of the trolley body to plan an initial path for the trolley body to move to the target position, and re-plans a final path for the trolley body to move according to the detection result of obstacles on the initial path by the obstacle avoidance detection system, to instruct the power control system to drive the wheels of the trolley body to move and adjust the following driving direction and the rotating direction, so that the trolley body can follow the hand ring to drive to the target position.

2. The multi-functional smart transport trolley based on hand loop positioning and air bag stabilization of claim 1, wherein, The hand ring is provided with a first GPS positioning module and a wireless transmission communication module. The first GPS positioning module communicates with the Beidou satellite to locate the current coordinate position of the operator. The wireless transmission communication module communicates with the automatic following system on the trolley body to send the current coordinate position located by the hand ring to the automatic following system on the trolley body.

3. The multi-functional smart transport trolley based on hand loop positioning and air bag stabilization of claim 2, wherein, The obstacle avoidance detection system includes ultrasonic / infrared sensors, which are connected to the automatic following driving system to detect the distance and position between obstacles on any driving path of the trolley body.

4. The multi-functional smart transport trolley based on hand loop positioning and air bag stabilization of claim 3, wherein, The automatic following driving system includes a wireless receiving communication module, a second GPS positioning module, and an information processing module; the power control system includes an interconnected motor driving module and a motor. One end of the wireless receiving communication module communicates with the wireless transmission communication module of the hand ring, and the other end is connected to the information processing module to receive the current coordinate position located by the hand ring. One end of the second GPS positioning module communicates with the Beidou satellite, and the other end is connected to the information processing module to locate the current coordinate position of the trolley body. The information processing module is also connected with the motor driving module and the ultrasonic / infrared sensor, and is used for setting the current coordinate position of the bracelet positioning as a target position, combining the current coordinate position of the trolley body to plan an initial path of the trolley body moving to the target position, combining the result of the ultrasonic / infrared sensor detecting the obstacles on the initial path to re-plan a final path of the trolley body moving, and generating follow-up driving instructions, motion adjustment instructions, steering adjustment instructions and execution time of each instruction according to the final path and issuing the follow-up driving instructions, the motion adjustment instructions, the steering adjustment instructions and the execution time of each instruction to the motor driving module to instruct the motor driving module to drive the motor to make the wheels of the trolley body move and adjust the follow-up driving direction and the steering direction, so that the trolley body can follow the bracelet to drive to the target position.

5. The multi-functional smart transport trolley based on hand loop positioning and air bag stabilization of claim 4, wherein, The trolley body is also pre-installed with a balance control system.

6. The multi-functional smart transport trolley based on hand loop positioning and air bag stabilization of claim 5, wherein, The balance control system includes a height sensor, an air pressure control module and an air bag connected in sequence. The height sensor is used for sensing the height and the inclination angle of the trolley body in real time. The air pressure control module is used for judging the shaking degree of the trolley body based on the height and the inclination angle of the trolley body sensed by the height sensor in real time and combining a preset height comparison table and an inclination angle comparison table, and further controlling the air bag to inflate or deflate according to the shaking degree to adjust the air pressure of the air bag. The air bag is installed on the axle of each wheel and is used for adjusting the height of the trolley body according to the air pressure to ensure the balance of the trolley body.

7. The multi-functional smart transport trolley based on wristband positioning and airbag stabilization of claim 6, wherein, The wheels of the trolley body are universal wheels.

8. The multi-functional smart transport trolley based on wristband positioning and airbag stabilization of claim 7, wherein, The trolley body is made of steel.

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