Intelligent following luggage barrow

Abstract

The utility model relates to an intelligent following luggage barrow which comprises a barrow body, a sensing system, a power chassis system and a main controller. The trolley body is of an aluminum profile structure, has high hardness and high bearing capacity and is divided into a small luggage storage area and a large luggage storage area. The sensing system is composed of a fisheye camera, a UWB base station antenna and a laser radar, and is used for capturing and tracking users, identifying obstacles and constructing a local map. The power chassis system comprises a motor, a speed reducer, a brake and an intelligent battery chassis, an L-shaped layout structure is adopted, and slippage steering is achieved through two-wheel differential control. The main controller integrates an AI module, a Bluetooth module and a 4G module, and is responsible for operation of an autonomous following function and issuing of a driving instruction. According to the utility model, intelligence, automation and safety of luggage carrying are realized, and a convenient, efficient and safe luggage carrying solution is provided for users.

Description

TECHNICAL FIELD

[0001] The utility model relates to an intelligent following luggage cart belongs to wheeled carrying appliance field, and specifically for the airport or other places needing luggage carrying. BACKGROUND

[0002] The traditional luggage cart has many deficiencies in design and function, and cannot meet the diversified needs of the modern aviation transportation industry for luggage carrying equipment. First of all, the luggage placing area of the traditional luggage cart is usually a fixed structure, which lacks flexibility and cannot adapt to luggage of different shapes and sizes. For irregular or bulky luggage, users often have difficulty finding a suitable placement method, which can cause the luggage to slip or be damaged during transportation, affecting the safety of the luggage and possibly causing safety hazards to users and surrounding personnel. Secondly, the traditional luggage cart lacks ergonomic design, and the user's hands can easily feel sore due to continuous force when using it for a long time. At the same time, the design of the baffle of the luggage cart can also cause the user's feet to be injured during pushing, affecting the user experience. In addition, the traditional luggage cart has poor shock absorption effect, and when passing through uneven airport ground, it will produce a large bump, bringing a poor comfort experience to the user and increasing the user's difficulty in use. With the rapid development of the aviation transportation industry, the user's demand for the luggage cart is also changing. For example, when carrying a large amount of luggage, the user needs a more effective method to organize and secure the luggage to prevent it from slipping; when looking for a boarding gate or airport facilities, there is a lack of convenient navigation assistance function, and the user often needs to spend a lot of time and effort to find, reducing the travel efficiency; the return management of the luggage cart is not intelligent enough, often causing the luggage cart to be randomly parked in non-designated areas of the airport, affecting the order and operation efficiency of the airport.

[0003] Therefore, the traditional luggage cart has been unable to meet the intelligent, efficient and safe requirements of the modern aviation transportation industry for luggage carrying equipment, and a new type of intelligent luggage cart is needed to overcome the above deficiencies and improve the user experience and the operation efficiency of the airport. INVENTION CONTENTS

[0004] In order to solve the problems in the background art, the utility model provides an intelligent following luggage cart, which realizes the functions of autonomous following, autonomous walking and autonomous turning of the luggage cart by integrating various sensors and intelligent control systems, improves the user experience and the operation efficiency of the airport.

[0005] The utility model adopts the technical scheme of: an intelligent following luggage cart, comprising:

[0006] A cart body has a small luggage storage area and a large luggage storage area;

[0007] A perception system, including a fisheye camera, a UWB base station antenna and a laser radar, is used to capture and track the following target, identify obstacles and construct a local map;

[0008] A power chassis system, including a motor, a reducer, a brake and an intelligent battery chassis, adopts an L-shaped layout structure, and realizes slip steering through two-wheel differential control;

[0009] A main controller, integrated with an AI module, a Bluetooth module and a 4G module, is used for operation of autonomous following function and issuing of driving instructions.

[0010] Further, in the power chassis system, the motor and the brake are arranged below the chassis frame longitudinal beam and along the longitudinal direction of the vehicle, and are connected with the wheels to output power after reversing through a worm and gear reducer.

[0011] Further, the intelligent battery chassis adopts an integrated structure, and is internally integrated with a battery and a chassis controller, and has battery management and motor control functions.

[0012] Further, the luggage cart also has an intelligent management function, and can communicate with the user's mobile device through the Bluetooth or 4G module to realize remote control and state monitoring.

[0013] Further, the luggage cart also has an autonomous parking function, and can automatically park when detecting that the user leaves or the power is insufficient.

[0014] Further, the luggage cart also has an intelligent navigation function, and can automatically plan a driving route according to an airport map and the user's destination to guide the luggage cart to reach a specified position.

[0015] When the human pushing assistance function is supported, the MCU detects that the human wants to accelerate or decelerate to push the carrier through the internal inertial sensor, so that the motor assembly increases or decreases the torque and speed output, thereby realizing synchronous forward movement of the human and the vehicle, avoiding the feeling that the human is dragged by the carrier, and improving the comfort of the human pushing the carrier. BRIEF DESCRIPTION OF DRAWINGS

[0016] Fig. 1 It is a structural schematic view of an intelligent following luggage cart;

[0017] Fig. 2 It is a structural schematic view of an intelligent power device;

[0018] Fig. 3 It is a structural schematic view of an intelligent battery chassis.

[0019] Reference signs: 1, trolley handrail; 2, small luggage storage area; 3, UWB base station antenna; 4, fisheye camera; 5, large luggage storage area; 6, laser radar; 7, solid wheel; 8, motor; 9, battery; 10, chassis controller; 11, universal wheel; 12, speed reducer; 13, brake. DETAILED DESCRIPTION

[0020] The embodiments of the present application will be described below in detail with reference to the accompanying drawings of the embodiments of the present application. The described embodiments are only a part of the embodiments of the present application in the specific use process, not all. The protection scope of the present application is not limited to the described embodiments.

[0021] Embodiment 1: Assembly and debugging of luggage cart

[0022] As shown in Figs. 1-3 , first, the aluminum profile structure is assembled into a luggage cart body according to the design drawing. The cart body is divided into upper and lower two layers, the upper layer is a small luggage storage area 2, and the lower layer is a large luggage storage area 5. Ensure that each connection part is firm and reliable to withstand the maximum load of 100KG.

[0023] Sensing system installation: install fisheye camera 4 and UWB base station antenna 3 in the middle part of the cart body, fisheye camera 4 faces the user, which is used to capture the user image. Two laser radars 6 are respectively installed above the left and right wheels of the chassis in the driving direction, which are used for environmental perception and obstacle detection.

[0024] Fisheye camera 4 selects Hikvision 12 million fisheye camera DS-2CD63C5F-IHV, which has 12 million pixels of 1 / 1.7"CMOS ICR fisheye panoramic day and night network camera, supports multiple display modes such as fisheye mode, 180° panoramic mode, 360° panoramic mode, etc., and is suitable for places with relatively dark or no light and require high-definition blind area monitoring.

[0025] UWB base station antenna 3 selects UWB-SMA11-C02: it is a rubber stick antenna, the frequency range is 3200-6500MHz, the frequency band width is 3300MHz, the input impedance is 50Ω, the voltage standing wave ratio V.S.W.R≤1.9, the gain is 3dBi, the antenna length is 11cm, the connector model is SMA, and the working temperature range is-40~60℃.

[0026] Laser radar 6 selects hybrid solid-state laser radar, speedtenggu creative RS-LiDAR-M1, adopts MEMS technology, the farthest detection can reach 200 meters, 150 meters@10% reflectivity, and is suitable for automatic driving and advanced auxiliary driving system.

[0027] Power chassis system installation: The motor 8, reducer 12 and brake 13 are fixed to the rear axle or front axle of the vehicle, connected with two rear wheels or front wheels. The motor 8 and brake 13 are located below the chassis frame longitudinal beam, arranged longitudinally along the vehicle, and connected with the rear wheel output power through the worm gear reducer. Each of the left and right wheels is equipped with a separate power device, which is independently controlled by the chassis controller 10. The power device adopts an L-shaped layout structure, as shown in Fig. 2

[0028] Intelligent battery chassis installation: The intelligent battery chassis is installed at the bottom of the vehicle body, and the battery 9 is located in the rear area of the chassis controller 10 to provide power for the whole vehicle. The chassis controller 10 integrates advanced sensors and MCUs, with battery management and motor control functions.

[0029] Main controller installation: The main controller is installed at a suitable position of the vehicle body, integrating AI module, Bluetooth module and 4G module. It is connected with the perception system and power chassis system through communication lines to realize data transmission and instruction control.

[0030] The chassis controller 10 adopts the CDC (Chassis Domain Controller) of Jingwei Hengrun: The controller has functions such as vehicle height control, continuously adjustable shock absorber damping, redundant parking brake, rear wheel steering software integration, active stabilizer bar software integration, vehicle motion control, etc., supporting the integration of vehicle braking, steering, suspension and other vehicle lateral, longitudinal and vertical related control functions.

[0031] The main controller adopts GC-1000 of Keyence: The controller has multiple communication interfaces, including USB2.0 and 100BASE-TX Ethernet, supporting EtherNet / IP TM , PROFINET, Modbus / TCP, MC protocol, UDP, etc. Network functions can realize data transmission and instruction control.

[0032] The AI module selects the module developed based on Xiaomi IoT hardware SDK, such as MHCWB7G-IB, which has ultra-low power consumption, SDIO & USB high-speed interface, supports 802.11ax, etc.

[0033] The Bluetooth module selects MHCB12G-IB, which supports IoT-MESH2.0, 26 GPIO, is developed based on Xiaomi IoT hardware SDK, and is compatible with BLE5.2. The 4G module selects a module that supports 4G LTE, such as ME909T of Huawei, which supports multiple frequency bands and provides high-speed data transmission capability. The communication line adopts RS-485 communication line, selects SP3481 or SP3485, meets the electrical specifications of RS-485 / RS-422 serial protocol, and the data transmission rate can be as high as 10Mbps.​

[0034] Trolley debugging steps:

[0035] Sensing system debugging: Start fisheye camera 4 and laser radar 6, and conduct target capture and environment perception test. Ensure that fisheye camera 4 can accurately identify user images, and laser radar 6 can construct local map and identify obstacles in real time.

[0036] Power chassis system debugging: Conduct speed test on motor 8, and ensure that differential control of left and right wheels can realize slip steering. Conduct brake test, and ensure that brake 13 can timely and effectively slow down or stop.

[0037] Main controller debugging: Conduct operation test of autonomous following function through main controller, and ensure that travel instructions can be accurately issued to power chassis system according to operation results. At the same time, test communication function of Bluetooth and 4G module, and ensure stable connection with user's mobile device.

[0038] Overall function test: Conduct overall function test of trolley in airport or other places, including autonomous following, autonomous walking, autonomous steering, autonomous parking and autonomous safe obstacle stopping functions. Simulate different use scenarios such as luggage carrying, navigation assistance and luggage trolley return management, etc., to ensure that trolley can work normally in various situations.

[0039] Example 2: Method for using trolley

[0040] Start and mode switching: User starts following mode of trolley through mobile phone APP or remote controller. After starting, trolley automatically enters autonomous following state, and user does not need to manually push and pull trolley handle 1.

[0041] User can switch to traditional mode at any time according to needs, and manually push and pull trolley handle 1. In traditional mode, intelligent functions of trolley are temporarily closed, and user can operate like using ordinary trolley.

[0042] Luggage placement and fixation: User places small luggage such as backpack in upper small luggage storage area 2, and places large luggage such as luggage case in lower large luggage storage area 5. Storage area of trolley is reasonably designed, which can effectively fix luggage and prevent sliding during transportation.

[0043] Autonomous following and navigation: In autonomous following mode, trolley realizes real-time sensing of user's direction and surrounding environment through fisheye camera 4, UWB base station antenna 3 and laser radar 6. According to moving speed and direction of user, trolley automatically adjusts travel speed and route, and maintains appropriate distance with user.

[0044] If the user needs to go to a specific area of the airport, such as the boarding gate or the baggage claim, the destination can be input through the mobile APP, and the luggage cart will automatically plan the driving route according to the airport map and intelligent navigation function, guiding the luggage cart to the designated location.

[0045] Parking and safety stop barrier: when the user needs to temporarily leave the luggage cart, the luggage cart can automatically park through the autonomous parking function to prevent the luggage cart from moving when unattended. The user can always release the parking state through the mobile APP or remote control. During driving, if the luggage cart senses an obstacle in front, it will automatically start the safety stop barrier function, slow down or stop, avoiding collision and ensuring the safety of the user and the luggage.

[0046] Although the embodiments of the utility model have been shown and described, it can be understood by those of ordinary skill in the art that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirits of the utility model, for example, the carrying appliance can be a stroller, a park logistics vehicle, etc., and the scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. An intelligent following trolley, characterized by, The luggage cart comprises: a vehicle body having a small luggage storage area (2) and a large luggage storage area (5); a sensing system comprising a fisheye camera (4), a UWB base station antenna (3), and a laser radar (6) for capturing and tracking the target, identifying obstacles, and constructing a local map; a power chassis system comprising a motor (8), a reducer (12), a brake (13), and an intelligent battery chassis, the power device adopts an L-shaped layout structure, and slip steering is realized through two-wheel differential control; a main controller integrating an AI module, a Bluetooth module, and a 4G module for operation of the autonomous following function and issuance of driving instructions.

2. The smart follow cart of claim 1, wherein, In the power chassis system, the motor (8) and the brake (13) are arranged below the chassis frame longitudinal beam and along the longitudinal direction of the vehicle, and the power is output to the wheels through a worm gear reducer after reversing.

3. The smart follow cart of claim 1, wherein, The intelligent battery chassis adopts an integrated structure, and the battery (9) and the chassis controller (10) are integrated and installed inside, having the functions of battery management and motor control.

4. The smart follow cart of claim 1, wherein, The luggage cart further comprises an intelligent management function, can communicate with the user's mobile device through the Bluetooth or 4G module, realize remote control and state monitoring.

5. The smart follow cart of claim 1, wherein, The luggage cart further has an autonomous parking function, and automatically parks when detecting that the user leaves or the power is insufficient.

6. The smart follow cart of claim 1, wherein, The luggage cart further has an intelligent navigation function, and can automatically plan a driving route according to the airport map and the user's destination, and guide the luggage cart to the specified position.

Images