CN105539553A - Pram with accompanying function and accompanying control method of pram - Google Patents
Pram with accompanying function and accompanying control method of pram Download PDFInfo
- Publication number
- CN105539553A CN105539553A CN201511000995.2A CN201511000995A CN105539553A CN 105539553 A CN105539553 A CN 105539553A CN 201511000995 A CN201511000995 A CN 201511000995A CN 105539553 A CN105539553 A CN 105539553A
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- main body
- vehicle main
- remote control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B7/00—Carriages for children; Perambulators, e.g. dolls' perambulators
- B62B7/04—Carriages for children; Perambulators, e.g. dolls' perambulators having more than one wheel axis; Steering devices therefor
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a pram with an accompanying function and an accompanying control method of the pram. The pram comprises a pram main body and a remote-control guide part. The pram main body is provided with a power unit, a first mode switch unit and a ranging locating unit. The power unit comprises motors, a motor driving module, a control module and a power source. The control module is connected with the motor driving module. The motors are connected with driving wheels of the pram main body through electromagnetic clutches correspondingly. The first mode switch unit communicates with the electromagnetic clutches to achieve disconnection or connection of a motor shaft and a driving wheel axle. According to the pram provided by the invention, on the basis of the functions a common pram shall have, the intelligent motion functions comprising autonomous following and remote manual control of the pram relative to a pram owner are achieved; particularly, when the pram is in the non-using state and inconvenient to put away, the user experience is greatly improved.
Description
Technical field
The present invention relates to a kind of Intelligent baby carriage, be specifically related to a kind of perambulator and the retinue control method thereof with accompanying function.
Background technology
Perambulator for infant's outdoor activities provide rolling cart easily, has become one of necessary article of infant family as one, and perambulator in the market could be walked by Manual-pushing mostly; Or be equipped with corresponding power unit and substitute manpower, namely achieve driven traveling, have people or nobody not folding state of packing up in perambulator under, the walking manner of car is single often.
But perambulator pack up often do not use and get back on car or family state under just to carry out, and when owner go shopping with baby, go out take a walk or tourism time, a lot of situation two kinds of conditions can not meet, so perambulator is in can not fold the state that still function is idle, now go-cart, to hold a baby in one's arms and the action such as bag cannot take into account simultaneously, under above-mentioned idle non-perambulator state of packing up, how to omit the treatment (go-cart) to perambulator, greatly can improve the Consumer's Experience of car owner when going out.
Summary of the invention
In view of this, the invention provides a kind of there is accompanying function perambulator and retinue control method, be intended to realize following car owner under the non-working condition that perambulator packs up in inconvenience.
The technical solution used in the present invention is specially:
There is a perambulator for accompanying function, comprise vehicle main body and remote control guiding part, wherein:
Described vehicle main body is provided with power unit, first mode switch unit and ranging localization unit, described power unit comprises motor, motor drive module and control module and power supply, described control module is connected with described motor drive module, and described motor is connected by the drive wheel of magnetic clutch with described vehicle main body; Wherein:
Described first mode switch unit and described magnetic clutch communication, for realizing the disengagement of motor shaft and drive wheel wheel shaft, not provided power by motor, independently being realized the motion of vehicle main body by external force;
Or realize the joint of motor shaft and drive wheel wheel shaft, provide power by motor, realized the motion of vehicle main body by remote control guiding part; Particularly:
The signal that described ranging localization unit is launched for receiving described remote control guiding part, and by Signal transmissions to control module, described control module draws the relative position of described remote control guiding part and described vehicle main body according to signal, and generating corresponding control command to motor drive module, described motor drive module regulates according to the operational factor of control command to described motor.
Have in the perambulator of accompanying function above-mentioned, described ranging localization unit comprises the first ranging localization unit and the second ranging localization unit that symmetrical expression is located at described vehicle main body both sides, and the installation front of two groups of ranging localization unit is unobstructed.
Have in the perambulator of accompanying function above-mentioned, when described control module does not receive the signal in described ranging localization unit, warning instruction will be lost by the mode of transmission over radio and be sent to guiding remote control portion.
Have in the perambulator of accompanying function above-mentioned, described remote control guiding part comprises and the autonomous follow the mode guiding module of described control module communication and remote manual control pattern guiding module, and for switching the second mode switch element that above-mentioned two kinds of follow the mode guiding modules run; Wherein:
When described autonomous follow the mode guiding module runs, described control module is by the relative position of remote control guiding part and described vehicle main body described in comparison and the distance threshold preset, generate corresponding control command to motor drive module, described motor drive module regulates according to the operational factor of control command to described motor;
When described remote manual control pattern guiding module runs, after described control module receives the parameter signal of described remote control guiding part generation, generate corresponding control command to motor drive module, described motor drive module regulates according to the operational factor of control command to described motor.
A retinue control method for perambulator, comprises the following steps:
S10, first mode switch step:
By whether controlling the joint of motor shaft and drive wheel wheel shaft, control the walking manner of vehicle main body; Particularly:
If not, vehicle main body not with the communication of remote control guiding part, vehicle main body is walked under the effect of external force;
If so, vehicle main body and remote control guiding part carry out communication, and remote control guiding part end makes vehicle main body servo-actuated relative to remote control guide portion according to the distance between vehicle main body with remote control guiding part; Random movement method is selected further according to following second mode handoff procedures;
S20, the second mode handoff procedures:
By changing the adjustment mode of vehicle main body guiding parameter, realize servo-actuated relative to remote control guiding part of vehicle main body; Wherein:
Under autonomous follow the mode, control module, by the relative position of remote control guiding part and described vehicle main body described in comparison and the distance threshold preset, generates corresponding control command, regulates the operational factor of vehicle main body
Under remote manual control pattern, described control module generates corresponding control command, regulates the operational factor of vehicle main body after receiving the parameter signal that described remote control guiding part independently generates.
In the retinue control method of above-mentioned perambulator, described " remote control guiding part end makes vehicle main body servo-actuated relative to remote control guiding part according to the distance between vehicle main body with remote control guiding part " is specially:
Described vehicle main body is provided with ranging localization unit, for receiving the signal that described remote control guiding part is launched, and by Signal transmissions to control module, described control module draws the relative position of described remote control guiding part and described vehicle main body according to signal, and generates the operational factor of corresponding control command to described vehicle main body and regulate.
In the retinue control method of above-mentioned perambulator, also comprise and lose alarming step, described ranging localization unit comprises symmetry, installs the first ranging localization unit and the second ranging localization unit that the unobstructed formula in front is located at described vehicle main body both sides, when control module does not receive the signal in described first ranging localization mechanism and described second ranging localization mechanism, send and lose warning instruction to described guiding remote control portion.
The beneficial effect that the present invention produces is:
Perambulator of the present invention, except possessing conventional pushchair basic function, also possesses the remotely controlling exercise under autonomous retinue, and carries out relative to the range signal of owner warnings such as losing according to perambulator.Meeting on the basis that the modern times " fashion precious mothers " require perambulator safety and basic function, by the motion of enclosing of monitor-type during non-working condition, make perambulator more intelligent, automation, hommization.
Accompanying drawing explanation
When considered in conjunction with the accompanying drawings, more completely the present invention can be understood better.Accompanying drawing described herein is used to provide a further understanding of the present invention, and embodiment and explanation thereof, for explaining the present invention, do not form inappropriate limitation of the present invention.
Fig. 1 is a kind of structural representation with the perambulator of accompanying function of the present invention;
Fig. 2 is a kind of button arrangement schematic diagram with the remote control introducer of the perambulator of accompanying function of the present invention;
Fig. 3 is a kind of structural representation with the rear-wheel motor drive system of the perambulator of accompanying function of the present invention.
In figure:
10, range finding and positioning signal reception end 11, mode selector switch 12, motor drive module 13, control module 14, motor 15, magnetic clutch 16 drive wheel
21, button is followed
211, range finding and positioning signal transmitting terminal 212, warning LED
22, remote keying
221, advance key 222, back spacer 223, left lateral key 224, right lateral key.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme of the present invention is described in further detail.
A kind of perambulator with accompanying function as shown in Figure 1, mainly comprise vehicle main body and the remote control introducer with the supporting communication of vehicle main body, the basic function unit of vehicle main body mainly comprise vehicle frame, wheel that the bicycle basket be placed on vehicle frame, support frame make it walk and be located at vehicle frame for car owner in the process of walking the handrail etc. held up; Wherein:
Vehicle main body is provided with mode selector switch 11, two range findings and positioning signal reception end 10, two motor drive modules 12, control module 13 and power supplys etc., the mode of motion of vehicle main body, for by motor 14 and drive wheel 16 are thrown off or combined, is switched to hand push pattern or bootmode by mode selector switch 11; Two range findings and positioning signal reception end 10 are for realizing retinue under bootmode and warning function, and control module 13 and power supply are then respectively used to provide control and dynamic Information to vehicle main body, particularly:
Mode selector switch 11 is located on handrail, when the left side (in Fig. 1) of mode selector switch 11 is pressed, namely perambulator is in hand push pattern, magnetic clutch 15 power-off now in Fig. 3, motor 14 is thrown off with the drive wheel 16 (trailing wheel) of perambulator, and now people promotes perambulator freely by the handrail manpower of perambulator; That is:
When perambulator is switched to hand push pattern by mode selector switch 11, motor 14 departs from the drive wheel 16 of perambulator, and car owner can promote perambulator freely, realizes its basic function (being mainly used in the state of child in perambulator);
When the right side of mode selector switch 11 (in Fig. 1) is pressed, namely perambulator is in bootmode, and the magnetic clutch 15 now in Fig. 3 is energized, and motor 14 connects with the drive wheel 16 of perambulator, drives perambulator to move by motor 14; Particularly, switch chip according to the built-in pattern of remote control introducer further, may be selected to be and independently follow or remote manual control (show as following button 21 or remote keying 22 on the remote control introducer pressed as shown in Figure 2), wherein:
The control module 13 of independently following in i.e. vehicle main body adjusts vehicle main body and the direct relative position of car owner in real time according to ranging parameters, makes its distance according to setting automatically closely follow car owner;
Remote manual control is then that car owner adjusts speed and the direction of drive wheel 16 by operating and remote controlling button (221,222,223,224), carries out Non-follow control to perambulator.The left and right sides of vehicle main body is separately installed with range finding and positioning signal reception end 10, in the present embodiment, range finding and the positioning signal reception end 10 of two specifications identical, symmetrical (highly consistent) are installed on the vehicle frame at bicycle basket two ends, and the front of range finding and positioning signal reception end 10 is unobstructed;
Control module 13 and power supply are positioned on the underframe of vehicle main body, for providing for motor drive module 12.Control module 13 according to remote control introducer and communication, control left and right two motor drive modules 12 realize moving ahead, turn or falling back of perambulator; That is:
When perambulator is switched to automatic mode by mode selector switch 11, by making its autonomous following vehicle main motion (being mainly used in the state of child not in perambulator) to perambulator remote control, car owner ensures that perambulator follows car owner safely and reliably in complex environment; Particularly:
Press and remote control introducer follows button, sensor signal transmitting terminal on remote control introducer will send signal, when sensor signal receiving end on the car body of perambulator receives signal, motor driven systems realizes according to the distance of car body and remote control introducer the motion that owner independently followed by perambulator;
Press the remote keying 21 on remote control introducer, the front, rear, left and right on remote control introducer can be utilized by the direction of key control perambulator and speed;
Two distance measuring sensor signal receiving ends 10, except carrying out communication with remote control guide, outside the autonomous retinue of range finding realization, also possess and lose warning function; Particularly:
When any one the distance measuring sensor signal receiving end 10 on perambulator obtains the signal sent less than remote control introducer (as distance measuring sensor be blocked or distance be greater than can the scope of Received signal strength), remote control introducer end can be undertaken losing warning by the mode of buzzer phone or LED flicker, reminds car owner to determine that whether perambulator is with losing.
And, only have when perambulator is switched to bootmode, the respective keys on remote control introducer just can generate corresponding function signal, otherwise perambulator can not automatic moving, and for the ease of the reliable delivery of distance measuring signal, require that the key face of remote control introducer must facing to the vehicle main body of perambulator.With further reference to Fig. 2, the button on remote control introducer mainly comprises:
Follow button 21 and press and follow button 21 and start range finding corresponding after automatic mode and positioning signal transmitting terminal 211 and warning LED 212; Press when following button 21, namely perambulator realizes the movement of following owner, when blocking obstacle between remote control introducer and perambulator (two distance measuring sensor signal receiving ends 10 all do not receive signal), perambulator stop motion, warning LED 212 (also can be reported to the police as buzzer phone replaces by sound class) flicker is reported to the police, and now after pressing remote keying 22, manually guides realization to detour;
Remote keying 22 and press remote keying 22 start remote control mode after corresponding speed and direction adjustment button group (comprise advance key 221, back spacer 222, left lateral key 223, right lateral key 224 etc.), and only after pressing remote keying 22, perambulator just can according to advance, retreat, left lateral, the direction motion that right lateral button is corresponding, and perambulator changes along with the length of key press time at the kinematic velocity of respective direction, according to actual conditions, in accompanying process, the speed of in time perambulator while its direction of adjustment, optimize the retinue path of perambulator relative to car owner.
In fact, first power supply and control module 13 set a distance threshold, and control module 13 realizes vehicle main body automatically following car owner according to the signal of receive two distance measuring sensor signal receiving ends 10; If hypotelorism, then motor 14 drives vehicle main body to slow down or stops; When the distance that two distance measuring sensor signal receiving ends 10 measure is inconsistent, control module 13 judges the orientation of the relative baby carriage body of owner according to the size of two distances, and control the differential motion of two motors 14, adjust the angle of perambulator, make it to be tending towards straight line and follow car owner.
Perambulator of the present invention is except the basic function possessing conventional pushchair, the autonomous retinue of vehicle main body relative to car owner is achieved under complete vehicle curb condition, especially, under perambulator is in the non-working condition that inconvenience packs up, significantly improve Consumer's Experience, have dissemination.
Below explain embodiments of the invention by reference to the accompanying drawings, accompanying drawing is herein used to provide a further understanding of the present invention.Obviously; the foregoing is only the present invention's preferably detailed description of the invention; but protection scope of the present invention is not limited thereto; any be to one skilled in the art can expect easily, do not depart from change of the present invention or replacement in fact, be also all included within protection scope of the present invention.
Claims (7)
1. there is a perambulator for accompanying function, it is characterized in that, comprise vehicle main body and remote control guiding part, wherein:
Described vehicle main body is provided with power unit, first mode switch unit and ranging localization unit, described power unit comprises motor, motor drive module and control module and power supply, described control module is connected with described motor drive module, and described motor is connected by the drive wheel of magnetic clutch with described vehicle main body; Wherein:
Described first mode switch unit and described magnetic clutch communication, for realizing the disengagement of motor shaft and drive wheel wheel shaft, not provided power by motor, being realized the motion of vehicle main body by external force;
Or realize the joint of motor shaft and drive wheel wheel shaft, provide power by motor, realized the motion of vehicle main body by remote control guiding part; Particularly:
The signal that described ranging localization unit is launched for receiving described remote control guiding part, and by Signal transmissions to control module, described control module draws the relative position of described remote control guiding part and described vehicle main body according to signal, and generating corresponding control command to motor drive module, described motor drive module regulates according to the operational factor of control command to described motor.
2. the perambulator with accompanying function according to claim 1, it is characterized in that, described ranging localization unit comprises the first ranging localization unit and the second ranging localization unit that symmetrical expression is located at described vehicle main body both sides, and the installation front of two groups of ranging localization unit is unobstructed.
3. the perambulator with accompanying function according to claim 1, is characterized in that, when described control module does not receive the signal in described ranging localization unit, will lose warning instruction be sent to guiding remote control portion by the mode of transmission over radio.
4. the perambulator with accompanying function according to claim 1, it is characterized in that, described remote control guiding part comprises and the autonomous follow the mode guiding module of described control module communication and remote manual control pattern guiding module, and for switching the second mode switch element that above-mentioned two kinds of follow the mode guiding modules run; Wherein:
When described autonomous follow the mode guiding module runs, described control module is by the relative position of remote control guiding part and described vehicle main body described in comparison and the distance threshold preset, generate corresponding control command to motor drive module, described motor drive module regulates according to the operational factor of control command to described motor;
When described remote manual control pattern guiding module runs, after described control module receives the parameter signal that described remote control guiding part independently generates, generate corresponding control command to motor drive module, described motor drive module regulates according to the operational factor of control command to described motor.
5. a retinue control method for perambulator, is characterized in that, comprise the following steps:
S10, first mode switch step:
By whether controlling the joint of motor shaft and drive wheel wheel shaft, control the walking manner of vehicle main body; Particularly:
If not, vehicle main body not with the communication of remote control guiding part, vehicle main body is walked under the effect of external force;
If so, vehicle main body and remote control guiding part carry out communication, and remote control guiding part end makes vehicle main body servo-actuated relative to remote control guide portion according to the distance between vehicle main body with remote control guiding part; Random movement method is selected further according to following second mode handoff procedures;
S20, the second mode handoff procedures:
By changing the adjustment mode of vehicle main body guiding parameter, realize servo-actuated relative to remote control guiding part of vehicle main body; Wherein:
Under autonomous follow the mode, control module, by the relative position of remote control guiding part and described vehicle main body described in comparison and the distance threshold preset, generates corresponding control command, regulates the operational factor of vehicle main body
Under remote manual control pattern, described control module generates corresponding control command, regulates the operational factor of vehicle main body after receiving the parameter signal that described remote control guiding part independently generates.
6. the retinue control method of perambulator according to claim 5, is characterized in that, described, and " remote control guiding part end makes vehicle main body servo-actuated relative to remote control guiding part according to the distance between vehicle main body with remote control guiding part " is specially:
Described vehicle main body is provided with ranging localization unit, for receiving the signal that described remote control guiding part is launched, and by Signal transmissions to control module, described control module draws the relative position of described remote control guiding part and described vehicle main body according to signal, and generates the operational factor of corresponding control command to described vehicle main body and regulate.
7. the retinue control method of perambulator according to claim 6, it is characterized in that, also comprise and lose alarming step, described ranging localization unit comprises symmetry, installs the first ranging localization unit and the second ranging localization unit that the unobstructed formula in front is located at described vehicle main body both sides, when control module does not receive the signal in described first ranging localization mechanism and described second ranging localization mechanism, send and lose warning instruction to described guiding remote control portion.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511000995.2A CN105539553A (en) | 2015-12-28 | 2015-12-28 | Pram with accompanying function and accompanying control method of pram |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511000995.2A CN105539553A (en) | 2015-12-28 | 2015-12-28 | Pram with accompanying function and accompanying control method of pram |
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| CN105539553A true CN105539553A (en) | 2016-05-04 |
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Cited By (16)
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| CN105812580A (en) * | 2016-05-13 | 2016-07-27 | 齐鲁工业大学 | Intelligent baby stroller based Internet of Things |
| CN106054894A (en) * | 2016-07-05 | 2016-10-26 | 北京九星智元科技有限公司 | Robot accompanying system, robot accompanying method and robot trolley |
| CN106217348A (en) * | 2016-08-30 | 2016-12-14 | 北京九星智元科技有限公司 | A kind of mobile robot based on ultra-high frequency wireless electricity location |
| CN106347554A (en) * | 2016-08-30 | 2017-01-25 | 北京九星智元科技有限公司 | Hub-motor control based tricycle |
| CN106483957A (en) * | 2016-10-09 | 2017-03-08 | 乐视控股（北京）有限公司 | The method and apparatus that control perambulator follows target object |
| CN106647730A (en) * | 2016-08-30 | 2017-05-10 | 北京九星智元科技有限公司 | Front following system, front following method and intelligent mobile platform |
| 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 |
| CN106956698A (en) * | 2017-05-05 | 2017-07-18 | 浙江机电职业技术学院 | A kind of remote control perambulator |
| CN107097834A (en) * | 2017-04-22 | 2017-08-29 | 芜湖酷哇机器人产业技术研究院有限公司 | Manual-automatic integral Intelligent baby carriage |
| CN107161198A (en) * | 2017-07-06 | 2017-09-15 | 浙江圆锥科技有限公司 | Perambulator and stroller |
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| CN105812580A (en) * | 2016-05-13 | 2016-07-27 | 齐鲁工业大学 | Intelligent baby stroller based Internet of Things |
| CN106054894A (en) * | 2016-07-05 | 2016-10-26 | 北京九星智元科技有限公司 | Robot accompanying system, robot accompanying method and robot trolley |
| CN106054894B (en) * | 2016-07-05 | 2019-04-09 | 北京九星智元科技有限公司 | A kind of robot adjoint system, adjoint method and robot car |
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| CN106347554A (en) * | 2016-08-30 | 2017-01-25 | 北京九星智元科技有限公司 | Hub-motor control based tricycle |
| CN106647730A (en) * | 2016-08-30 | 2017-05-10 | 北京九星智元科技有限公司 | Front following system, front following method and intelligent mobile platform |
| CN106647730B (en) * | 2016-08-30 | 2019-10-29 | 北京九星智元科技有限公司 | A kind of front retinue system and accompany method and intelligent family moving platform |
| CN106347554B (en) * | 2016-08-30 | 2019-04-09 | 北京九星智元科技有限公司 | A kind of tricycle based on hub motor control |
| CN106217348A (en) * | 2016-08-30 | 2016-12-14 | 北京九星智元科技有限公司 | A kind of mobile robot based on ultra-high frequency wireless electricity location |
| CN106483957A (en) * | 2016-10-09 | 2017-03-08 | 乐视控股（北京）有限公司 | The method and apparatus that control perambulator follows target object |
| CN107097834A (en) * | 2017-04-22 | 2017-08-29 | 芜湖酷哇机器人产业技术研究院有限公司 | Manual-automatic integral Intelligent baby carriage |
| CN106956698A (en) * | 2017-05-05 | 2017-07-18 | 浙江机电职业技术学院 | A kind of remote control perambulator |
| CN107161198A (en) * | 2017-07-06 | 2017-09-15 | 浙江圆锥科技有限公司 | Perambulator and stroller |
| CN108363390A (en) * | 2018-01-23 | 2018-08-03 | 安徽酷哇机器人有限公司 | Auto-manual luggage case system for tracking, method and handle and luggage case |
| CN108931991A (en) * | 2018-08-30 | 2018-12-04 | 王瑾琨 | The automatic follower method of mobile vehicle and has and follow barrier avoiding function mobile vehicle automatically |
| CN111634321A (en) * | 2020-04-24 | 2020-09-08 | 好孩子儿童用品有限公司 | A cart with active follow function |
| CN113044095A (en) * | 2021-03-31 | 2021-06-29 | 福州大学 | Automatic following baby carriage based on UWB positioning and working method |
| CN116215722A (en) * | 2021-12-06 | 2023-06-06 | 深圳市斗索科技有限公司 | Electric vehicle and control method thereof |
| CN116215722B (en) * | 2021-12-06 | 2025-05-13 | 深圳市斗索科技有限公司 | Electric vehicle and control method thereof |
| CN115649268A (en) * | 2022-10-19 | 2023-01-31 | 湖北洋田塑料制品有限公司 | An intelligent baby carriage with a control system and its control method |
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