阅读说明：本技术 一种具有主动跟随功能的推车 (Cart with active following function ) 是由 黄生智 于 2020-04-24 设计创作，主要内容包括：本发明公开了一种具有主动跟随功能的推车,包括车架、车轮、驱动机构、设置在车架上的主控板和摄像组件,摄像组件包括用于将检测推车前方第一图像的第一摄像头和/或用于将检测推车后方第二图像的第二摄像头；主控板包括信息处理模块,基于预建立的权限人脸图像信息库,信息处理模块用于将第一图像和/或第二图像与信息库中的权限人脸图像作检索比对,若第一图像或第二图像与权限人脸图像匹配,且进一步分析第一图像或第二图像中人体减小时,则主控板控制驱动机构驱动车轮转动以进行自主跟随。本发明的推车具有人脸识别功能,管控推车推行权限,同时可触发推车自主跟随,兼具避障功能。(The invention discloses a trolley with an active following function, which comprises a frame, wheels, a driving mechanism, a main control board and a camera assembly, wherein the main control board and the camera assembly are arranged on the frame; the main control board comprises an information processing module based on a pre-established authority face image information base, the information processing module is used for retrieving and comparing the first image and/or the second image with the authority face image in the information base, and if the first image or the second image is matched with the authority face image and the reduction of a human body in the first image or the second image is further analyzed, the main control board controls the driving mechanism to drive the wheels to rotate so as to carry out autonomous following. The cart has a face recognition function, controls the pushing authority of the cart, can trigger the cart to automatically follow, and has an obstacle avoidance function.)

1. A trolley with an active following function comprises a frame (1), wheels (2), a power-assisted driving mechanism (3) for driving the wheels (2) to rotate, and a main control board (4) arranged on the frame (1), wherein the driving mechanism (3) is electrically connected with the output end of the main control board (4), and the trolley is characterized by further comprising a camera assembly arranged on the frame (1), wherein the camera assembly comprises at least one of a first camera (51) with a shooting direction consistent with the advancing direction of the trolley and a second camera (52) with a shooting direction opposite to the advancing direction of the trolley;

the main control board (4) comprises an information processing module, the first camera (51) is used for sending detected first image information in front of the trolley to the information processing module, and the second camera (52) is used for sending detected second image information in back of the trolley to the information processing module;

based on a pre-established information base in which one or more authority face images are stored, the information processing module is used for retrieving and comparing the first image information and/or the second image information with the authority face images in the information base, and if the first image information is matched with the authority face images and the side turning of the face in the first image and/or the reduction of the human body in the first image are analyzed, the main control board (4) controls the driving mechanism (3) to drive the wheels (2) to rotate towards the advancing direction; and if the second image information is matched with the authority face image and the face in the second image is analyzed to generate side rotation and/or the human body in the second image is reduced, the main control board (4) controls the driving mechanism (3) to drive the wheels (2) to rotate in the backward direction.

2. The cart with active following function according to claim 1, further comprising one or more distance detection devices for detecting distance, wherein the distance detection devices are used for sending detected distance information between the cart and a person in front of and/or behind the cart to the information processing module, and the main control board (4) controls the output torque of the driving mechanism (3) according to the distance information, and comprises: if the distance is maximum, the output torque of the driving mechanism (3) is controlled to be larger.

3. The cart with active following function according to claim 1, wherein the camera assembly further comprises one or more obstacle avoidance cameras, the obstacle avoidance cameras are configured to send detected road image information to the information processing module, and if the information processing module analyzes that an obstacle exists, the main control board (4) controls the driving mechanism (3) to perform deceleration driving, shutdown or reverse driving.

4. The cart with the active following function according to claim 3, further comprising a steering driving mechanism for driving the wheels to rotate, wherein the steering driving mechanism is electrically connected to the output end of the main control board (4), and if the information processing module analyzes that an obstacle exists, the main control board (4) controls the steering driving mechanism to act, so that the cart bypasses the obstacle.

5. The cart with active following function according to claim 1, wherein if the retrieval and comparison result of the information processing module is that the first image information and the second image information are not matched with the authority face image, then:

the main control board (4) controls to forbid the driving mechanism (3) to start or

When the wheel rotation is detected, the driving mechanism (3) is controlled to perform reverse driving, or

The cart further comprises a wheel locking mechanism for locking the wheels, the wheel locking mechanism is electrically connected with the output end of the main control board (4), and the main control board (4) controls the wheel locking mechanism to act so as to lock the wheels.

6. The cart with the active following function according to claim 1, further comprising a sensing device for detecting a rotation state of the wheel (2), wherein the sensing device is electrically connected to an input end of the main control board (4), and if the retrieval and comparison result of the information processing module is that the second image information matches with the authority face image and the sensing device detects that the wheel (2) is in a rotation state, the main control board (4) controls the driving mechanism (3) to drive the wheel (2) to rotate in a current rotation direction.

7. Cart with active following functionality according to claim 6, characterized in that the sensor means are speed sensors and/or angle sensors.

8. A trolley according to claim 2, characterised in that the distance detection means comprise at least two first distance detection means (61) arranged at the front side of the frame (1) and/or at least two second distance detection means (62) arranged at the rear side of the frame (1).

9. The cart of claim 8, wherein the distance detection device is an ultrasonic distance sensor and/or an infrared distance sensor.

10. The cart of claim 1, further comprising a power source for supplying power to the main control board (4) and supplying power to the driving mechanism (3), the camera assembly and the distance detection device through the main control board (4).

Technical Field

The invention relates to the field of power-assisted carts, in particular to a cart with an active following function.

Background

The cart is a very convenient tool for riding instead of walk, and with the progress of science and technology, the power-assisted cart is increasingly favored by consumers, namely, the power-assisted cart adopts a driving mechanism to drive wheels of the cart so as to reduce the burden of manpower pushing; on the basis of the power-assisted cart, a cart capable of automatically following a user appears in the market at present, and the user does not need to directly apply force to push or pull the cart. For example, the utility model with the patent publication number of CN205273577U discloses an automatically following stroller, which adopts a following power auxiliary system to make the stroller automatically follow the position of a launcher; for another example, the utility model patent with patent publication number CN207182094U discloses an automatic following intelligent cart, which can not only realize advancing following, but also realize retreating following.

However, it is clear that prior art carts with follow-up functionality all need to be used with one transmitter beacon: the user holds the beacon, and the cart targets the beacon for following, which makes at least the following disadvantages:

1) the beacon has to be carried about, and if the beacon is forgotten to be carried or is omitted or damaged, the automatic following function cannot be realized;

2) anyone can take the beacon to generate a guiding effect on the cart, so that potential safety hazards are generated;

3) the following function needs to be turned on or off through the beacon, and the operation is complex.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides a cart with an active following function, which has a face recognition function, controls the pushing authority of the cart, and can trigger the cart to follow autonomously, and the technical scheme is as follows:

the invention provides a trolley with an active following function, which comprises a frame, wheels, a driving mechanism for driving the wheels to rotate, a main control board arranged on the frame, and a camera shooting assembly arranged on the frame, wherein the driving mechanism is electrically connected with the output end of the main control board;

the main control board comprises an information processing module, the first camera is used for sending detected first image information in front of the trolley to the information processing module, and the second camera is used for sending detected second image information behind the trolley to the information processing module;

based on a pre-established information base in which one or more authority face images are stored, the information processing module is used for retrieving and comparing the first image information and/or the second image information with the authority face images in the information base, and if the first image information is matched with the authority face images and the side turning of the face in the first image and/or the reduction of the human body in the first image are analyzed, the main control board controls the driving mechanism to drive the wheels to rotate towards the forward direction; and if the second image information is matched with the authority face image and the face in the second image is analyzed to generate lateral rotation and/or the human body in the second image is reduced, the main control board controls the driving mechanism to drive the wheels to rotate in the backward direction.

Further, the cart with active following function further includes one or more distance detection devices for detecting distance, the distance detection devices are used for sending detected distance information between the cart and a person in front of and/or behind the cart to the information processing module, the main control board controls the output torque of the driving mechanism according to the distance information, and the distance detection device includes: and if the distance is maximum, controlling the output torque of the driving mechanism to be larger.

Furthermore, the camera assembly further comprises one or more obstacle avoidance cameras, the obstacle avoidance cameras are used for sending detected road image information to the information processing module, and if the information processing module analyzes that an obstacle exists, the main control board controls the driving mechanism to be driven in a speed reduction mode, a shutdown mode or a reverse driving mode.

Further, the cart further comprises a steering driving mechanism used for driving wheels to rotate, the steering driving mechanism is electrically connected with the output end of the main control board, if the information processing module analyzes that an obstacle exists, the main control board controls the steering driving mechanism to act, and therefore the cart is enabled to bypass the obstacle.

Further, if the retrieval comparison result of the information processing module is that the first image information and the second image information are not matched with the authority face image, then:

the main control board controls to forbid the driving mechanism from starting or

Upon detection of wheel rotation, the drive mechanism is controlled to drive in reverse, or

The cart further comprises a wheel locking mechanism for locking the wheels, the wheel locking mechanism is electrically connected with the output end of the main control board, and the main control board controls the wheel locking mechanism to act so as to lock the wheels.

Further, the cart further comprises a sensing device for detecting the rotation state of the wheel, the sensing device is electrically connected with the input end of the main control board, if the retrieval and comparison result of the information processing module is that the second image information is matched with the authority face image, and the sensing device detects that the wheel is in the rotation state, the main control board controls the driving mechanism to drive the wheel to rotate towards the current rotation direction.

Further, the sensing device is a speed sensor and/or an angle sensor.

Further, the distance detection device comprises at least two first distance detection devices arranged on the front side of the frame and/or at least two second distance detection devices arranged on the rear side of the frame.

Further, the distance detection device is an ultrasonic distance sensor and/or an infrared distance sensor.

Further, the cart further comprises a power supply, wherein the power supply is used for supplying power to the main control board and supplying power to the driving mechanism, the camera shooting assembly and the distance detection device through the main control board.

The technical scheme provided by the invention has the following beneficial effects:

1) the safety car has a face recognition function, strangers are prevented from pushing away the car, and the safety performance is improved;

2) the cart can realize forward following according to the front of the cart at the user body or backward following according to the back of the cart at the user body;

3) the following function of the cart can be triggered through face recognition and image judgment, and a hardware beacon is not needed to be matched for use;

4) the trolley has the advantages that the obstacle avoidance camera and the steering driving mechanism are arranged, the obstacle avoidance function can be realized, and the stability of the trolley is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a side view of a frame of a cart having an active following function provided by an embodiment of the present invention;

FIG. 2 is a perspective view of a frame of a stroller having an active following function according to an embodiment of the present invention;

FIG. 3 is a partial rear view of a frame of a stroller having an active following function according to an embodiment of the present invention;

fig. 4 is a block diagram of a control system module of a cart with an active following function according to an embodiment of the present invention.

Wherein the reference numerals include: 1-vehicle frame, 2-vehicle wheel, 3-driving mechanism, 4-main control board, 51-first camera, 52-second camera, 61-first distance detection device and 62-second distance detection device.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.

In an embodiment of the present invention, there is provided a cart with an active following function, referring to fig. 1 to 3, the cart with the active following function comprises a frame 1, wheels 2, a driving mechanism 3 for driving the wheels 2 to rotate, and a main control board 4 disposed on the frame 1, the driving mechanism 3 is electrically connected to an output end of the main control board 4, the cart further comprises a camera assembly disposed on the frame 1, the camera assembly comprises at least one of a first camera 51 with a shooting direction consistent with a cart advancing direction and a second camera 52 with a shooting direction opposite to the cart advancing direction, in an embodiment of the present invention, the camera assembly comprises both the first camera 51 and the second camera 52, as shown in fig. 1 and 2, the first camera 51 is optionally disposed on a front side of a push handle of the frame 1, the second camera 52 is optionally arranged at the rear side of the push handle of the frame 1, however, the arrangement of the camera assembly on the push handle is only one specific embodiment of the present invention, and the present invention does not limit the specific installation positions of the first camera 51 and the second camera 52 on the frame 1, as long as it is ensured that the first camera and the second camera can respectively capture the human face images of the people positioned in front of and behind the cart, so that the specific installation positions and the installation angles thereof can be debugged through practical tests. In addition, the case where only the first camera 51 for forward photographing is mounted on the vehicle frame 1 to realize forward following, or only the second camera 52 for backward photographing is mounted on the vehicle frame 1 to realize backward following, belongs to the case where the camera assembly includes one of the first camera having a photographing direction identical to the advancing direction of the cart and the second camera having a photographing direction opposite to the advancing direction of the cart, and falls within the protection scope claimed in the present invention.

The main control board 4 includes an information processing module, which is mainly responsible for analyzing and processing information and sending control instructions to an executing mechanism (such as the driving mechanism 3, and a steering driving mechanism, a wheel locking mechanism, etc. below), as shown in fig. 4, the first camera 51 is used for sending the detected first image information in front of the cart to the information processing module, and the second camera 52 is used for sending the detected second image information in back of the cart to the information processing module.

Pre-establishing an information base storing one or more authority face images, wherein the establishment mode can be mainly divided into an online establishment mode and an offline establishment mode, the online establishment mode adopts an online client to complete authority face image input function, and then the images can be sent to a server in a wired or wireless communication mode to be stored (inquiry retrieval is requested to the server during subsequent retrieval comparison) or sent to a local storage on a cart; the offline establishment mode adopts the first camera 51 and/or the second camera 52 which are/is directly arranged on the cart to carry out the input of the authority face image, so that the cart is required to be provided with an interactive device for inputting information, and the input image is directly stored in a local memory. The number of the first camera 51 and the second camera 52 may be one or more.

Obviously, the cart further includes a power supply, and the power supply is used for supplying power to the main control board 4 and supplying power to the driving mechanism 3, the camera assembly, the distance detection device and other external execution mechanisms through the main control board 4.

Specifically, the situations that the information processing module is used for retrieving and comparing the first image information and/or the second image information with the authority face image in the information base include the following:

firstly, if the first image information is matched with the authority face image and the face in the first image is subjected to sideslip and/or the human body in the first image is reduced, the main control board 4 controls the driving mechanism 3 to drive the wheels 2 to rotate towards the advancing direction according to the detection result of the distance detection device so as to automatically follow forwards.

Secondly, if the second image information is matched with the authority face image and the face in the second image is analyzed to generate lateral rotation and/or the human body in the second image is reduced, the main control board 4 controls the driving mechanism 3 to drive the wheels 2 to rotate in the backward direction according to the detection result of the distance detection device so as to automatically follow the wheels backward.

In order to realize following, for the above two cases, the cart further includes one or more distance detection devices for detecting distance, the distance detection devices are configured to send detected distance information between the cart and a person in front of and/or behind the cart to the information processing module, and the main control board controls the output torque of the driving mechanism according to the distance information, including: and if the distance is maximum, controlling the output torque of the driving mechanism to be larger. Preferably, if the camera assembly only comprises the first camera 51, the distance detection device comprises at least two first distance detection devices 61 arranged on the front side of the frame 1, as shown in fig. 2; if the camera assembly only comprises the second camera 52, the distance detection device comprises at least two second distance detection devices 62 arranged at the rear side of the frame 1, as shown in fig. 3; if the camera assembly comprises a first camera 51 and a second camera 52, the distance detection means comprises at least two first distance detection means 61 arranged at the front side of the frame 1 and at least two second distance detection means 62 arranged at the rear side of the frame 1, as shown in fig. 2 and 3. When the cart follows forward, the main control board 4 adjusts the output torque of the driving mechanism 3 according to the detection result of the first distance detection device 61 arranged on the front side of the frame 1; when the cart follows backward, the main control board 4 adjusts the output torque of the driving mechanism 3 according to the detection result of the second distance detecting device 62 provided at the rear side of the frame 1. Optionally, the distance detecting device is an ultrasonic distance sensor and/or an infrared distance sensor, in an embodiment of the present invention, the output torque of the driving mechanism 3 is adjusted according to a criterion that the output torque of the driving mechanism 3 is decreased when the detected distance is smaller than a preset first distance threshold, and the output torque of the driving mechanism 3 is increased when the detected distance is larger than a preset second distance threshold.

In a preferred embodiment of the present invention, the cart further has an automatic obstacle avoidance function in the following process, and the implementation scheme is as follows: the camera assembly further comprises one or more obstacle avoidance cameras (preferably provided with wide-angle lenses), as shown in fig. 4, the obstacle avoidance cameras are used for sending detected road image information to the information processing module, if the information processing module analyzes that an obstacle exists, the main control board 4 controls the driving mechanism 3 to be driven in a speed reduction mode, a stop mode or a reverse driving mode, preferably sends out a prompt signal, and reminds a user to guide the cart to avoid the obstacle (reminds the user to change the current straight movement track). In a preferred embodiment of the present invention, the cart further includes a steering driving mechanism for driving the wheels to rotate, the steering driving mechanism is electrically connected to the output end of the main control board 4, and if the information processing module analyzes that an obstacle exists, the main control board 4 controls the steering driving mechanism to operate, so that the cart automatically bypasses the obstacle without guidance of a user, and the traveling smoothness of the cart is improved.

Thirdly, if the retrieval and comparison result of the information processing module is that the first image information and the second image information are not matched with the authority face image, the main control board 4 controls to prohibit the driving mechanism 3 from starting, or controls the driving mechanism 3 to reversely drive when detecting that the wheel 2 rotates; in a more preferred embodiment, the cart further includes a wheel locking mechanism for locking the wheel, as shown in fig. 4, the wheel locking mechanism is electrically connected to the output end of the main control board 4, and if the retrieval and comparison result of the information processing module indicates that the first image information and the second image information are not matched with the authority face image, the main control board 4 controls the wheel locking mechanism to act, so as to lock the wheel, which can effectively prevent unauthorized people from pushing the cart, and prevent the cart from being stolen.

And fourthly, the cart further comprises a sensing device (such as a speed sensor and/or an angle sensor) for detecting the rotation state of the wheel, as shown in fig. 4, the sensing device is electrically connected with the input end of the main control board 4, if the retrieval and comparison result of the information processing module is that the second image information is matched with the authority face image, and the sensing device detects that the cart is in a pushed state (that is, the speed sensor detects the driving speed and direction, or the angle sensor detects the rotation direction of the wheel), the main control board 4 controls the driving mechanism 3 to drive the wheel 2 to rotate towards the current rotation direction. This is different from the first case in that, when the matching is verified by the authority, when the user walks into the cart instead of getting away from the cart, the assist function can be automatically started when pushing the cart.

In a preferred embodiment of the present invention, the second camera 52 collects images in real time or periodically, and transmits the collected images to the information processing module of the main control board 4, so that the second camera 52 can collect facial image information even in a state that the user pushes the cart. Preferably, the information processing module identifies the acquired image at regular time, for example, an identification result is obtained every 10s, and if the current identification result is not matched with the authority face image, the information processing module may start the alarm device and perform a control operation of prohibiting the power-assisted drive or the reverse drive.

The trolley with the active following function has a face recognition function, controls the pushing authority of the trolley, can trigger the trolley to follow autonomously, and has an obstacle avoidance function.

Furthermore, the above description is only exemplary of the present invention and should not be taken as limiting the invention, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.