Carrying device and method of controlling the same
First Claim
1. A carrying device, comprising:
- a body;
a movement mechanism arranged at a bottom of the body and capable of moving in a plurality of directions;
an object information detector arranged on the body and configured to collect object information about an object in front of the body;
a driving mechanism connected to the movement mechanism and configured to drive the movement mechanism to move; and
a control mechanism configured to determine a position of a target object based on the object information, and output a control instruction to the driving mechanism to enable the movement mechanism to drive the body by adjusting the speed and/or a rotation direction to follow the target object;
wherein the object information detector comprises a distance sensor configured to acquire a distance signal of the object in front of the body, and the control mechanism comprises a first controller configured to determine the position of the target object based on the distance signal;
wherein the distance sensor comprises a plurality of ultrasonic sensors;
wherein the plurality of ultrasonic sensors is provided at different positions and is enabled to transmit a plurality of ultrasonic signals in different directions to different positions in front of the body, the plurality of ultrasonic sensors are combined to simulate a profile feature of the object in front of the body, so that the simulated profile feature of the object in front of the body can be matched with a pre-stored model of the target object to determine a current position of the target object based on a matching result.
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Accused Products
Abstract
A carrying device and a method for controlling the carrying device are provided. The carrying device includes a body and a movement mechanism arranged at a bottom of the body and capable of moving in various directions. The carrying device further includes: an object information detector arranged on the body and configured to collect object information about an object in front of the body; a driving mechanism connected to the movement mechanism and configured to drive the movement mechanism to move; and a control mechanism configured to determine a position of a target object based on the object information, and output a control instruction to the driving mechanism to enable the movement mechanism to drive the body to follow the target object.
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Citations
18 Claims
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1. A carrying device, comprising:
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a body; a movement mechanism arranged at a bottom of the body and capable of moving in a plurality of directions; an object information detector arranged on the body and configured to collect object information about an object in front of the body; a driving mechanism connected to the movement mechanism and configured to drive the movement mechanism to move; and a control mechanism configured to determine a position of a target object based on the object information, and output a control instruction to the driving mechanism to enable the movement mechanism to drive the body by adjusting the speed and/or a rotation direction to follow the target object; wherein the object information detector comprises a distance sensor configured to acquire a distance signal of the object in front of the body, and the control mechanism comprises a first controller configured to determine the position of the target object based on the distance signal; wherein the distance sensor comprises a plurality of ultrasonic sensors; wherein the plurality of ultrasonic sensors is provided at different positions and is enabled to transmit a plurality of ultrasonic signals in different directions to different positions in front of the body, the plurality of ultrasonic sensors are combined to simulate a profile feature of the object in front of the body, so that the simulated profile feature of the object in front of the body can be matched with a pre-stored model of the target object to determine a current position of the target object based on a matching result. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of controlling a carrying device, the carrying device comprising:
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a body; a movement mechanism arranged at a bottom of the body and capable of moving in a plurality of directions; an object information detector arranged on the body and configured to collect object information about an object in front of the body; a driving mechanism connected to the movement mechanism and configured to drive the movement mechanism to move; and a control mechanism configured to determine a position of a target object based on the object information, and output a control instruction to the driving mechanism to enable the movement mechanism to drive the body by adjusting the speed and/or a rotation direction to follow the target object; wherein the object information detector comprises a distance sensor configured to acquire a distance signal of the object in front of the body, and the control mechanism comprises a first controller configured to determine the position of the target object based on the distance signal; wherein the distance sensor comprises a plurality of ultrasonic sensors; wherein the plurality of ultrasonic sensors is provided at different positions and is enabled to transmit a plurality of ultrasonic signals in different directions to different positions in front of the body to simulate a profile feature of the object in front of the body; the method comprising; scanning the profile of a specific target object using the plurality of ultrasonic sensors, acquiring and storing a pre-stored model; acquiring object information from an object information detector; determining a position of a target object based on the object information, and outputting a control instruction to a driving mechanism to enable a movement mechanism to drive a body of the carrying device to follow the target object; simulating the profile feature of the object in front of the body based on a distance signal of the object in front of the body acquired by the distance sensor, matching the simulated profile feature of the object in front of the body with the pre-stored model of the target object, and determining a current position of the target object based on a matching result; and determining whether the current position is located within a predetermined following range, and if not, outputting a movement state adjustment instruction to the driving mechanism to enable the movement mechanism to drive the body to follow the target object; combining the plurality of ultrasonic sensors, and counting the distance signals from the plurality of ultrasonic sensors to perform the object profile feature simulation. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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Specification