Gesture control following trolley

Abstract

The utility model discloses a gesture control following trolley in the field of remote control equipment. The gesture control following trolley comprises a control chip; the driving module is used for providing power for movement of the trolley; the communication module is used for realizing wireless communication between the trolley and the terminal; a tracking module; data transmission is realized between the visual module and the terminal through the communication module; the gesture control module is electrically connected with the control chip through the communication module; the power module is electrically connected with the control chip, and the power module is used for providing power for the driving module, the communication module, the tracking module, the vision module and the gesture control module; the driving module, the communication module, the tracking module, the vision module and the gesture control module are electrically connected with the control module; the beneficial effects of the utility model are that the trolley can automatically advance through the arrangement of the tracking module and the vision module, can be manually controlled through the gesture control module, and can be used in most working scenes.

Description

Technical Field

[0001] This utility model relates to the field of remote control equipment technology, specifically to a gesture-controlled following vehicle. Background Technology

[0002] With the continuous development of embedded systems, research on STM32 has also flourished, leading to the rapid development of STM32-based vehicles. These intelligent vehicles can handle various tasks in complex environments. For example, in sparsely populated areas, they can deliver food and packages; in hazardous environments, they can be used to detect dangers and ensure personnel safety. Intelligent vehicles offer advantages such as compactness, light weight, flexibility, and low cost; however, most are based on wired control, which introduces inconvenience in practical applications. Although intelligent vehicles are widely used across various industries, the different application scenarios mean that most vehicles are only suitable for specific work environments.

[0003] Therefore, we propose a gesture-controlled following vehicle. Summary of the Invention

[0004] To address the aforementioned shortcomings of the existing technology, this utility model provides a gesture-controlled following vehicle.

[0005] To achieve the above-mentioned objectives, the technical solution adopted by this utility model is as follows:

[0006] A gesture-controlled following vehicle includes: a control chip; a drive module for providing power for the vehicle's movement; a communication module for enabling wireless communication between the vehicle and a terminal; a tracking module; a vision module for transmitting data with the terminal via the communication module; a gesture control module electrically connected to the control chip via the communication module; and a power module electrically connected to the control chip, which provides power to the drive module, communication module, tracking module, vision module, and gesture control module. The drive module, communication module, tracking module, vision module, and gesture control module are all electrically connected to the control chip.

[0007] By setting up a tracking module, the car can identify and analyze its surrounding environment and recognize obstacles, thus helping to determine its route. By setting up a vision module, the car can identify and analyze the environment around it through images, and people can also observe the environment around the car through a terminal. The tracking and vision modules enable the car to move automatically, and the gesture control module can also control the car with gestures, which is more convenient and flexible than remote control or terminal control and can be applied to most scenarios.

[0008] Furthermore, it also includes an obstacle avoidance module, which is electrically connected to the control chip and used to detect obstacles around the vehicle to achieve obstacle avoidance function. The power module also supplies power to the obstacle avoidance module. By setting up the obstacle avoidance module, the vehicle's surrounding environment can be further detected, thereby improving the vehicle's obstacle avoidance capability.

[0009] Further specifying, the drive module includes four drive motors and a motor control module. The motor control module and the four drive motors are electrically connected. Each of the four drive motors independently drives one of the four wheels of the vehicle. The power supply module is connected to the high-voltage terminal of the motor control module to supply power to both the motor control module and the drive motors. The control chip is connected to the low-voltage terminal of the motor control module to supply power to the control chip. By having the four drive motors independently drive the wheels of the vehicle, the vehicle's movement and steering become more precise.

[0010] Furthermore, the tracking module includes an infrared sensing module, which consists of three sets located on the left, front, and right sides of the vehicle. The infrared sensing module senses obstacle signals in the surrounding environment of the vehicle by emitting and receiving reflected infrared light. Setting up three sets of infrared sensing modules ensures that the front, left, and right sides of the vehicle are all covered by infrared sensing modules, improving the accuracy of tracking.

[0011] Further specifying, the vision module includes a camera and a vision chip, the camera and the vision chip are electrically connected, and the vision chip and the control chip are electrically connected.

[0012] Further specifying, the gesture control module includes a gyroscope, which includes a gesture end and a vehicle end. The vehicle end of the gyroscope is electrically connected to the control chip via the I2C protocol, and the gesture end and the vehicle end of the gyroscope achieve wireless communication through a communication module.

[0013] Further defining the obstacle avoidance module, it includes an ultrasonic sensor and a servo motor. Both the ultrasonic sensor and the servo motor are electrically connected to the control chip. The ultrasonic sensor determines the distance to the obstacle by emitting ultrasonic waves and measuring the time it takes to receive the reflected waves. The ultrasonic sensor is located on the output shaft of the servo motor, which is used to adjust the orientation of the ultrasonic sensor. The obstacle avoidance module determines the obstacle by emitting ultrasonic waves and measuring the time it takes to receive the reflected waves. When an obstacle is determined in one direction, the servo motor rotates to drive the ultrasonic sensor to rotate and detect obstacles in the next direction.

[0014] The beneficial effects of this utility model are: by setting a tracking module and a vision module, the car can move automatically, and the car can also be manually controlled by a gesture control module, which can be used in most work scenarios. Attached Figure Description

[0015] Figure 1 This is a diagram showing the connection relationships of the electrical components of this utility model;

[0016] Figure 2 This is a connection diagram of the drive motor;

[0017] Figure 3 This is the circuit diagram for the car;

[0018] Figure 4 This is the circuit diagram of the gesture control module.

[0019] The symbols for each component are as follows:

[0020] 1. Control chip; 2. Drive module; 21. Drive motor; 22. Motor control module; 3. Communication module; 4. Tracking module; 5. Vision module; 6. Gesture control module; 7. Obstacle avoidance module; 8. Power supply module. Detailed Implementation

[0021] The specific embodiments of this utility model are described below to enable those skilled in the art to understand this utility model. However, it should be understood that this utility model is not limited to the scope of the specific embodiments. For those skilled in the art, as long as various changes are within the spirit and scope of this utility model as defined and determined by the appended claims, these changes are obvious. All utility model creations utilizing the concept of this utility model are within the scope of protection.

[0022] Example:

[0023] like Figures 1-4As shown, a gesture-controlled following car includes a control chip 1, a drive module 2, a communication module 3, a tracking module 4, a vision module 5, a gesture control module 6, an obstacle avoidance module 7, and a power module 8. The control chip 1 is an STM32F103C8T6 microcontroller. The drive module 2 is electrically connected to the control chip 1 via a J1 serial port and is used to provide power for the movement of the car. The drive module 2 includes four drive motors 21 and a motor control module 22. The motor control module 22 uses an L298N motor drive module 2. The motor control module 22 controls the drive motors 21 by configuring pulse width modulation signals. The motor control module 22 and the four drive motors 21 are electrically connected, and the four drive motors 21 independently drive the four wheels of the car. The power module 8 is connected to the high-voltage terminal of the motor control module 22 to provide power to the motor control module 22 and the drive motors 21. 1. Connected to the low-voltage terminal of the motor control module 22 to enable the power supply module 8 to power the control chip 1; 2. Communication module 3 uses an HC-05 Bluetooth module; 3. Tracking module 4 includes an infrared sensing module, which uses a TCRT5000 optical sensor. There are three sets of infrared sensing modules, located on the left, front, and right sides of the vehicle. These three sets are electrically connected to the control chip 1 via J5, J6, and J7 serial ports. The infrared sensor modules emit and receive reflected infrared light to achieve obstacle avoidance and tracking for the vehicle; 4. Vision module 5 is electrically connected to the control chip 1 and is used to identify and analyze the environmental conditions around the vehicle. Vision module 5 transmits data with the terminal via communication module 3. The terminal's communication module 3 is electrically connected to the control chip 1 via a J2 serial port; 5. Vision module 5 includes a camera and a vision chip, which uses a K210. The AI ​​chip, camera, and vision chip are electrically connected. The vision chip is electrically connected to the control chip 1 via a J9 serial port. The gesture control module 6 is electrically connected to the control chip 1 via a communication module 3 and is used for the vehicle to recognize and understand gesture commands. The gesture control module 6 includes a gyroscope, which is an MUP6050 gyroscope. The gyroscope includes a gesture end and a vehicle end. The vehicle end of the gyroscope is electrically connected to the control chip 1 via the I2C protocol. The gesture end and the vehicle end of the gyroscope communicate wirelessly via the communication module 3. The communication module 3 on the vehicle end is electrically connected to the control chip 1 via a J8 serial port, and the communication module 3 on the gesture end is electrically connected to the control chip 1 via a J12 serial port. The gesture end is electrically connected to the control chip 1 via a J11 serial port. The obstacle avoidance module 7 is also electrically connected to the control chip 1 and is used to detect obstacles around the vehicle to achieve obstacle avoidance function. The power module 8 also supplies power to the obstacle avoidance module 7.The obstacle avoidance module 7 includes an ultrasonic sensor and a servo motor. The ultrasonic sensor uses an HC-SR04 ultrasonic ranging module, and the servo motor uses an SG90 servo motor. The ultrasonic sensor is electrically connected to control chip 1 via a J4 serial port, and the servo motor is electrically connected to control chip 1 via a J3 serial port. The ultrasonic sensor determines the distance to the obstacle by emitting ultrasonic waves and measuring the time it takes to receive the reflected waves. The ultrasonic sensor is located on the output shaft of the servo motor, which is used to adjust the orientation of the ultrasonic sensor. The power module 8 is electrically connected to control chip 1 via a J0 serial port. The power module 8 provides power to the vehicle end of the drive module 2, communication module 3, tracking module 4, vision module 5, gesture control module 6, and obstacle avoidance module 7.

[0024] By setting up the tracking module 4, the vehicle can identify and analyze its surrounding environment and identify obstacles, thus helping to determine its route. By setting up the vision module 5, the vehicle can identify and analyze the environment around it through images, and personnel can also observe the environment around the vehicle through a terminal. The tracking module 4 and vision module 5 enable the vehicle to move automatically, while the gesture control module 6 allows for gesture control of the vehicle, which is more convenient and flexible than remote control or terminal control and can be applied to most scenarios. By setting up the obstacle avoidance module 7, the vehicle's surrounding environment can be further detected, improving its obstacle avoidance ability. By using four drive motors 21 to independently drive the vehicle's wheels, the vehicle's movement and steering can be more precise. Setting up three sets of infrared sensor modules ensures that the front, left, and right sides of the vehicle are covered by infrared sensor modules, improving the accuracy of tracking. The obstacle avoidance module 7 determines obstacles by emitting ultrasonic waves and measuring the time of receiving the reflected waves. When an obstacle is determined in one direction, the servo motor rotates to drive the ultrasonic sensor to rotate and detect obstacles in the next direction.

Claims

1. A gesture-controlled following vehicle, characterized in that, include: Control chip (1); The drive module (2) is used to provide power for the movement of the vehicle; The communication module (3) is used to enable wireless communication between the vehicle and the terminal; Tracking module (4); The vision module (5) transmits data with the terminal through the communication module (3); The gesture control module (6) is electrically connected to the control chip (1) through the communication module (3); The power module (8) is electrically connected to the control chip (1) and is used to provide power to the drive module (2), communication module (3), tracking module (4), vision module (5) and gesture control module (6). The drive module (2), communication module (3), tracking module (4), vision module (5), and gesture control module (6) are all electrically connected to the control chip (1).

2. The gesture-controlled following vehicle according to claim 1, characterized in that, It also includes an obstacle avoidance module (7), which is also electrically connected to the control chip (1), and the power supply module (8) also supplies power to the obstacle avoidance module (7).

3. The gesture-controlled following vehicle according to claim 2, characterized in that, The drive module (2) includes four drive motors (21) and a motor control module (22). The motor control module (22) and the four drive motors (21) are electrically connected. The four drive motors (21) drive the four wheels of the car independently. The power module (8) is connected to the high-voltage end of the motor control module (22) to supply power to the motor control module (22) and the drive motors (21). The control chip (1) is connected to the low-voltage end of the motor control module (22) to supply power to the control chip (1) from the power module (8).

4. The gesture-controlled following vehicle according to claim 3, characterized in that, The tracking module (4) includes an infrared sensing module. The infrared sensing module is provided in three groups, which are located on the left, front and right sides of the vehicle, respectively. The infrared sensing module senses obstacle signals in the environment around the vehicle by emitting infrared light and receiving reflected infrared light.

5. The gesture-controlled following vehicle according to claim 3, characterized in that, The vision module (5) includes a camera and a vision chip, the camera and the vision chip are electrically connected, and the vision chip and the control chip (1) are electrically connected.

6. The gesture-controlled following vehicle according to claim 3, characterized in that, The gesture control module (6) includes a gyroscope, which includes a gesture end and a vehicle end. The vehicle end of the gyroscope is electrically connected to the control chip (1) via the I2C protocol. The gesture end and the vehicle end of the gyroscope communicate wirelessly through the communication module (3).

7. The gesture-controlled following vehicle according to claim 3, characterized in that, The obstacle avoidance module (7) includes an ultrasonic sensor and a servo motor. Both the ultrasonic sensor and the servo motor are electrically connected to the control chip (1). The ultrasonic sensor determines the distance to the obstacle by emitting ultrasonic waves and measuring the time it takes to receive the reflected waves. The ultrasonic sensor is located on the output shaft of the servo motor, and the servo motor is used to adjust the orientation of the ultrasonic sensor.

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