CN105468003A - Omnibearing intelligent following golf cart and following method thereof - Google Patents
Omnibearing intelligent following golf cart and following method thereof Download PDFInfo
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- CN105468003A CN105468003A CN201610032963.9A CN201610032963A CN105468003A CN 105468003 A CN105468003 A CN 105468003A CN 201610032963 A CN201610032963 A CN 201610032963A CN 105468003 A CN105468003 A CN 105468003A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000005259 measurement Methods 0.000 claims abstract description 7
- 238000004891 communication Methods 0.000 claims abstract description 6
- 230000004888 barrier function Effects 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000003321 amplification Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 4
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Selective Calling Equipment (AREA)
Abstract
The invention relates to the wireless communication technical field, in particular an omnibearing intelligent following golf cart and a following method thereof. The omnibearing intelligent following golf cart comprises a cart body, a mobile device, a following device and a remote control device. The following method comprises: the following device receiving a ''starting following'' instruction transmitted by the remote control device; the wireless range finding unit on the following device starting establishing network communication with the remote control wireless range finding unit on the remote control device, and starting a multi-side distance range finding task; transmitting collected multiple measurement data in real time to the microprocessing unit on the following device, and finally transmitting a speed regulation instruction to a motor-driven unit to maintain a safe distance and following pose with an object; and the cart body automatically stopping if an obstacle avoidance sensing unit detects an obstacle in front. The invention realizes an indoor and outdoor three-dimensional space omnibearing following system, relating to object positioning, path programming and following pose controlling, and has the characteristics of high positioning precision, omnibearing following, fast response speed, safety, reliability, etc.
Description
Technical field
The present invention relates to wireless communication technology field, particularly a kind of all-around intelligent follows golf cart and follower method.
Background technology
Along with the day by day universal of golf sports and sustainable development, golf becomes popular motion from noble sports.Usual sportsman pays caddie service fee by timing, comprise lifting the ball bag, pass club, instruct play ball, the service such as psychological consultation.If sportsman does not employ caddie's service, a lot of and irrelevant muscle power of playing ball can be consumed, elegance motion cannot be absorbed in.
Existing location technology in the market, as GPS location and machine vision etc.But all there is many restrictions of technology or environment for use.Such as GPS power consumption large and in indoor signal blind area, there is sight line and block and cause Problem of Failure in machine vision.Such as at positioning precision, response speed, orientation distance, there are problems in reliability aspect.
Summary of the invention
For above-mentioned technical matters, the invention provides a kind of service robot of automatically following, an innovative will be brought to experience for golf sports.
All-around intelligent follows golf cart, comprises car body, mobile device, following device and telechiric device;
Described following device comprises wireless distance finding unit, signal transmitting and receiving unit, microprocessing unit, remote control receiver unit, display unit and power supply unit;
Wireless distance finding unit, communicates mutually with the remote-control radio range cells on telechiric device, and this wireless distance finding unit gathers measurement data;
Signal transmitting and receiving unit, send to remote signal Transmit-Receive Unit on telechiric device by signal madulation with after amplifying by antenna, or receive the information from remote signal Transmit-Receive Unit on telechiric device, Content of communciation comprises locating information and steering order;
Microprocessing unit, is responsible for calculating three-dimensional space coordinate, process keeps away barrier or response user telecommand, and to the electric-motor drive unit real-time Transmission speed governing turn around parameters of mobile device;
Remote control receiver unit, radio signal is utilized to carry out the command operating of completing user as telecommand, this remote control receiver unit is made up of receiving circuit, amplifying circuit, demodulator circuit and instruction decoding circuit, receive the instruction encoding that telechiric device sends, after instruction decoding circuit conversion, give microprocessing unit pending;
Power supply unit, is responsible for carrying out power supply and electric quantity of power supply management to following device unit module;
Display unit, shows the running status of car body self and follows the information of target;
Mobile device comprises electric-motor drive unit and keeps away barrier sensing unit;
Electric-motor drive unit, by the motor-drive circuit of speed-regulating signal, realizes the direction of travel and the speed that control car body;
Keeping away barrier sensing unit, whether have barrier, have, car body stops dodging automatically if detecting working direction;
Telechiric device, comprises remote-control radio range cells, remote signal Transmit-Receive Unit, remote control microprocessing unit, remote pilot button, remote control transmitting element and remote control power supply unit;
Remote-control radio range cells, is responsible for carrying out range finding with the wireless distance finding unit on car body and communicates;
Remote signal Transmit-Receive Unit, the signal transmitting and receiving unit that remote signal Transmit-Receive Unit will be sent to by antenna after signal madulation and amplification on car body, or receive the information from signal transmitting and receiving unit, Content of communciation comprises locating information and steering order;
Remote control transmitting element, utilizes radio signal to carry out the command operating of completing user as telecommand; Remote control transmitting element is made up of instruction key, instruction encoding circuit, modulation circuit, driving circuit, radiating circuit;
Remote control power supply unit, is responsible for carrying out power supply and electric quantity of power supply management to telechiric device unit module.
All-around intelligent follows the follower method of golf cart, comprises the following steps:
First, following device receives " starting to follow " instruction that telechiric device sends; Wireless distance finding unit on following device starts set up network communication with remote-control radio range cells on telechiric device and start the range finding task of polygon distance;
Then, by multiple measurement data real-time Transmission of collecting to microprocessing unit on following device, carry out calculating the three dimensional space coordinate of target, speed and air line distance; Merge and initial follow position angle and these two parameters of safe distance, carry out computing by following algorithm model;
It is the speed-regulating instruction of a sequence that the most backward electric-motor drive unit exports, by controlling two wheel speeds of car body and then keeping and targeted security Distance geometry follows pose; If current distance is less than or equal to safe distance, then car body stops automatically; If keep away barrier sensing unit detection front have barrier, then car body stops automatically, until obstacle-avoidance warning is removed, car body continues to perform follows automatically.
All-around intelligent provided by the invention follows golf cart and follower method thereof, realize indoor and outdoor solid space comprehensive system for tracking at any angle, relate to target localization, path planning and control and follow pose, wherein follow pose and can remove initial setting according to the wish of user; Have that positioning precision highly, comprehensive is followed, fast response time, safe and reliable feature; Can be applicable to the scene much needing to follow, comprise that unmanned plane is followed in the air, automatically the following of golf cart, perambulator and shopping cart intelligence follows.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is telechiric device structural representation of the present invention;
Fig. 3 is follower method process flow diagram of the present invention.
Embodiment
Accompanying drawings the specific embodiment of the present invention.
As depicted in figs. 1 and 2, all-around intelligent follows golf cart, comprises car body, mobile device 2, following device 1 and telechiric device 3;
Described following device 1 comprises wireless distance finding unit 11, signal transmitting and receiving unit 14, microprocessing unit 13, remote control receiver unit 12, display unit 15 and power supply unit 16;
Wireless distance finding unit 11, communicate mutually with the remote-control radio range cells 32 on telechiric device 3, this wireless distance finding unit 11 gathers measurement data;
Signal transmitting and receiving unit 14, send to remote signal Transmit-Receive Unit 31 on telechiric device 3 by signal madulation with after amplifying by antenna, or receive the information from remote signal Transmit-Receive Unit 31 on telechiric device 3, Content of communciation comprises locating information and steering order;
Microprocessing unit 13, is responsible for calculating three-dimensional space coordinate, process keeps away barrier or response user telecommand, and to the electric-motor drive unit 21 real-time Transmission speed governing turn around parameters of mobile device 2;
Remote control receiver unit 12, radio signal is utilized to carry out the command operating of completing user as telecommand, this remote control receiver unit 12 is made up of receiving circuit, amplifying circuit, demodulator circuit and instruction decoding circuit, receive the instruction encoding that telechiric device 3 sends, after instruction decoding circuit conversion, give microprocessing unit 13 pending;
Power supply unit 16, is responsible for carrying out power supply and electric quantity of power supply management to following device 1 unit module;
Display unit 15, shows the running status of car body self and follows the information of target;
Mobile device 2 comprises electric-motor drive unit 21 and keeps away barrier sensing unit 22;
Electric-motor drive unit 21, by the motor-drive circuit of speed-regulating signal, realizes the direction of travel and the speed that control car body;
Keeping away barrier sensing unit 22, whether have barrier, have, car body stops dodging automatically if detecting working direction;
Telechiric device 3, comprises remote-control radio range cells 32, remote signal Transmit-Receive Unit 31, remote control microprocessing unit 35, remote pilot button 34, remote control transmitting element 36 and remote control power supply unit 33;
Remote-control radio range cells 32, is responsible for carrying out range finding with the wireless distance finding unit 11 on car body and communicates;
Remote signal Transmit-Receive Unit 31, the signal transmitting and receiving unit 14 that remote signal Transmit-Receive Unit 31 will be sent to by antenna after signal madulation and amplification on car body, or receive the information from signal transmitting and receiving unit 14, Content of communciation comprises locating information and steering order;
Remote control transmitting element 36, utilizes radio signal to carry out the command operating of completing user as telecommand; Remote control transmitting element 36 is made up of instruction key, instruction encoding circuit, modulation circuit, driving circuit, radiating circuit;
Remote control power supply unit 33, is responsible for carrying out power supply and electric quantity of power supply management to telechiric device 3 unit module.
As shown in Figure 3, all-around intelligent follows the follower method of golf cart, comprises the following steps:
First, following device 1 receives " starting to follow " instruction that telechiric device 3 sends; Wireless distance finding unit 11 on following device 1 starts set up network communication with remote-control radio range cells 32 on telechiric device 3 and start the range finding task of polygon distance;
Then, by multiple measurement data real-time Transmission of collecting to microprocessing unit 13 on following device 1, carry out calculating the three dimensional space coordinate of target, speed and air line distance; What merge initial setting follows pose and these two parameters of safe distance, carries out computing by following algorithm model;
It is the speed-regulating instruction of a sequence that the most backward electric-motor drive unit 21 exports, by controlling two wheel speeds of car body and then keeping and targeted security Distance geometry follows pose; If current distance is less than or equal to safe distance, then car body stops automatically; If keep away barrier sensing unit 22 to detect front and have barrier, then car body stops automatically, until obstacle-avoidance warning is removed, car body continues to perform follows automatically.
Claims (2)
1. all-around intelligent follows golf cart, comprises car body, it is characterized in that, also comprises mobile device (2), following device (1) and telechiric device (3);
Described following device (1) comprises wireless distance finding unit (11), signal transmitting and receiving unit (14), microprocessing unit (13), remote control receiver unit (12), display unit (15) and power supply unit (16);
Wireless distance finding unit (11), communicates mutually with the remote-control radio range cells (32) on telechiric device (3), and this wireless distance finding unit (11) gathers measurement data;
Signal transmitting and receiving unit (14), the upper remote signal Transmit-Receive Unit (31) of telechiric device (3) is sent to by antenna by signal madulation with after amplifying, or the information received from the upper remote signal Transmit-Receive Unit (31) of telechiric device (3), Content of communciation comprises locating information and steering order;
Microprocessing unit (13), is responsible for calculating three-dimensional space coordinate, process keeps away barrier or response user telecommand, and to electric-motor drive unit (21) the real-time Transmission speed governing turn around parameters of mobile device (2);
Remote control receiver unit (12), radio signal is utilized to carry out the command operating of completing user as telecommand, this remote control receiver unit (12) is made up of receiving circuit, amplifying circuit, demodulator circuit and instruction decoding circuit, receive the instruction encoding that telechiric device (3) sends, after instruction decoding circuit conversion, give microprocessing unit (13) pending;
Power supply unit (16), is responsible for carrying out power supply and electric quantity of power supply management to following device (1) unit module;
Display unit (15), shows the running status of car body self and follows the information of target;
Mobile device (2) comprises electric-motor drive unit (21) and keeps away barrier sensing unit (22);
Electric-motor drive unit (21), by the motor-drive circuit of speed-regulating signal, realizes the direction of travel and the speed that control car body;
Keeping away barrier sensing unit (22), whether have barrier, have, car body stops dodging automatically if detecting working direction;
Telechiric device (3), comprises remote-control radio range cells (32), remote signal Transmit-Receive Unit (31), remote control microprocessing unit (35), remote pilot button (34), remote control transmitting element (36) and remote control power supply unit (33);
Remote-control radio range cells (32), is responsible for carrying out range finding with the wireless distance finding unit (11) on car body and communicates;
Remote signal Transmit-Receive Unit (31), the signal transmitting and receiving unit (14) that remote signal Transmit-Receive Unit (31) will be sent to by antenna after signal madulation and amplification on car body, or the information received from signal transmitting and receiving unit (14), Content of communciation comprises locating information and steering order;
Remote control transmitting element (36), utilizes radio signal to carry out the command operating of completing user as telecommand; Remote control transmitting element (36) is made up of instruction key, instruction encoding circuit, modulation circuit, driving circuit, radiating circuit;
Remote control power supply unit (33), is responsible for carrying out power supply and electric quantity of power supply management to telechiric device (3) unit module.
2. all-around intelligent according to claim 1 follows the follower method of golf cart, it is characterized in that, comprises the following steps:
First, following device (1) receives " starting to follow " instruction that telechiric device (3) sends; Wireless distance finding unit (11) on following device (1) starts the upper remote-control radio range cells (32) with telechiric device (3) and sets up network communication and start the range finding task of polygon distance;
Then, by multiple measurement data real-time Transmission of collecting to the upper microprocessing unit (13) of following device (1), carry out calculating the three dimensional space coordinate of target, speed and air line distance; What merge initial setting follows pose and these two parameters of safe distance, carries out computing by following algorithm model;
It is the speed-regulating instruction of a sequence that the most backward electric-motor drive unit (21) exports, by controlling two wheel speeds of car body and then keeping and targeted security Distance geometry follows pose; If current distance is less than or equal to safe distance, then car body stops automatically; If keep away barrier sensing unit (22) detection front have barrier, then car body stops automatically, until obstacle-avoidance warning is removed, car body continues to perform follows automatically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610032963.9A CN105468003A (en) | 2016-01-18 | 2016-01-18 | Omnibearing intelligent following golf cart and following method thereof |
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| CN201610032963.9A CN105468003A (en) | 2016-01-18 | 2016-01-18 | Omnibearing intelligent following golf cart and following method thereof |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105955261A (en) * | 2016-05-06 | 2016-09-21 | 河源职业技术学院 | Robot group following system based on ZigBee communication |
| CN106056633A (en) * | 2016-06-07 | 2016-10-26 | 速感科技（北京）有限公司 | Motion control method, device and system |
| CN106347550A (en) * | 2016-09-05 | 2017-01-25 | 北京小米移动软件有限公司 | Method and device for controlling balance car |
| CN106681359A (en) * | 2016-07-18 | 2017-05-17 | 歌尔股份有限公司 | Method for controlling intelligent baby pram, intelligent baby pram and control system |
| CN106853641A (en) * | 2017-03-22 | 2017-06-16 | 北京京东尚科信息技术有限公司 | Robot control method and device, robot and control system |
| CN106956266A (en) * | 2017-05-16 | 2017-07-18 | 北京京东尚科信息技术有限公司 | robot control method, device and robot |
| CN106970627A (en) * | 2017-05-17 | 2017-07-21 | 深圳市元时科技有限公司 | A kind of intelligent system for tracking |
| WO2017219751A1 (en) * | 2016-06-21 | 2017-12-28 | 安徽酷哇机器人有限公司 | Mobile suitcase having automatic following and obstacle avoidance functions, and using method therefor |
| CN107976995A (en) * | 2016-10-24 | 2018-05-01 | 苏州宝时得电动工具有限公司 | Intelligent mobile system, intelligent mobile device and its moving method |
| WO2018228462A1 (en) * | 2017-06-15 | 2018-12-20 | Zhejiang Geely Holding Group Co., Ltd. | Mobile power for outdoor power supply |
| CN109144045A (en) * | 2017-06-28 | 2019-01-04 | 天津市松正电动汽车技术股份有限公司 | It is a kind of with the electric machine controller for following function |
| CN109481917A (en) * | 2017-09-09 | 2019-03-19 | 深圳市赛亿科技开发有限公司 | A kind of intelligence follows golf club vehicle |
| CN110989606A (en) * | 2019-12-14 | 2020-04-10 | 武汉木神机器人有限责任公司 | Outdoor all-terrain unmanned vehicle |
| CN111435259A (en) * | 2019-01-14 | 2020-07-21 | 北京京东尚科信息技术有限公司 | Intelligent following vehicle movement control device and intelligent following vehicle |
| WO2020168447A1 (en) * | 2019-02-18 | 2020-08-27 | 孟菁 | Following control system |
| CN113009919A (en) * | 2021-03-09 | 2021-06-22 | 重庆航天职业技术学院 | Remotely-controllable intelligent following truck control system and truck |
| CN115351706A (en) * | 2022-08-24 | 2022-11-18 | 南京鑫科玛数控机床有限公司 | Can be according to horizontal digit control machine tool that processing position guard gate intelligence was followed |
| CN115384670A (en) * | 2022-10-09 | 2022-11-25 | 海南师范大学 | Intelligent integrated following vehicle for golf course |
| CN117130374A (en) * | 2023-10-26 | 2023-11-28 | 锐驰激光(深圳)有限公司 | Control method of golf cart, golf cart and storage medium |
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Cited By (25)
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|---|---|---|---|---|
| CN105955261B (en) * | 2016-05-06 | 2019-02-19 | 河源职业技术学院 | A kind of multiple robots system for tracking based on ZigBee communication |
| CN105955261A (en) * | 2016-05-06 | 2016-09-21 | 河源职业技术学院 | Robot group following system based on ZigBee communication |
| CN106056633A (en) * | 2016-06-07 | 2016-10-26 | 速感科技（北京）有限公司 | Motion control method, device and system |
| WO2017219751A1 (en) * | 2016-06-21 | 2017-12-28 | 安徽酷哇机器人有限公司 | Mobile suitcase having automatic following and obstacle avoidance functions, and using method therefor |
| CN106681359A (en) * | 2016-07-18 | 2017-05-17 | 歌尔股份有限公司 | Method for controlling intelligent baby pram, intelligent baby pram and control system |
| CN106347550A (en) * | 2016-09-05 | 2017-01-25 | 北京小米移动软件有限公司 | Method and device for controlling balance car |
| CN106347550B (en) * | 2016-09-05 | 2019-08-06 | 北京小米移动软件有限公司 | Balance car control method and device |
| CN107976995A (en) * | 2016-10-24 | 2018-05-01 | 苏州宝时得电动工具有限公司 | Intelligent mobile system, intelligent mobile device and its moving method |
| CN106853641A (en) * | 2017-03-22 | 2017-06-16 | 北京京东尚科信息技术有限公司 | Robot control method and device, robot and control system |
| CN106853641B (en) * | 2017-03-22 | 2019-07-30 | 北京京东尚科信息技术有限公司 | Robot control method and device, robot and control system |
| CN106956266A (en) * | 2017-05-16 | 2017-07-18 | 北京京东尚科信息技术有限公司 | robot control method, device and robot |
| CN106970627A (en) * | 2017-05-17 | 2017-07-21 | 深圳市元时科技有限公司 | A kind of intelligent system for tracking |
| WO2018228462A1 (en) * | 2017-06-15 | 2018-12-20 | Zhejiang Geely Holding Group Co., Ltd. | Mobile power for outdoor power supply |
| CN109144045A (en) * | 2017-06-28 | 2019-01-04 | 天津市松正电动汽车技术股份有限公司 | It is a kind of with the electric machine controller for following function |
| CN109481917A (en) * | 2017-09-09 | 2019-03-19 | 深圳市赛亿科技开发有限公司 | A kind of intelligence follows golf club vehicle |
| CN111435259A (en) * | 2019-01-14 | 2020-07-21 | 北京京东尚科信息技术有限公司 | Intelligent following vehicle movement control device and intelligent following vehicle |
| WO2020168447A1 (en) * | 2019-02-18 | 2020-08-27 | 孟菁 | Following control system |
| CN110989606A (en) * | 2019-12-14 | 2020-04-10 | 武汉木神机器人有限责任公司 | Outdoor all-terrain unmanned vehicle |
| CN113009919A (en) * | 2021-03-09 | 2021-06-22 | 重庆航天职业技术学院 | Remotely-controllable intelligent following truck control system and truck |
| CN115351706A (en) * | 2022-08-24 | 2022-11-18 | 南京鑫科玛数控机床有限公司 | Can be according to horizontal digit control machine tool that processing position guard gate intelligence was followed |
| CN115351706B (en) * | 2022-08-24 | 2024-02-06 | 南京鑫科玛数控机床有限公司 | Horizontal numerically-controlled machine tool capable of intelligently following protective door according to machining position |
| CN115384670A (en) * | 2022-10-09 | 2022-11-25 | 海南师范大学 | Intelligent integrated following vehicle for golf course |
| CN115384670B (en) * | 2022-10-09 | 2024-01-30 | 海南师范大学 | An intelligent integrated following vehicle for golf courses |
| CN117130374A (en) * | 2023-10-26 | 2023-11-28 | 锐驰激光(深圳)有限公司 | Control method of golf cart, golf cart and storage medium |
| CN117130374B (en) * | 2023-10-26 | 2024-03-15 | 锐驰激光(深圳)有限公司 | Control method of golf cart, golf cart and storage medium |
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Application publication date: 20160406 |