CN109189059A - Wisdom formula follows perambulator and tele-control system and business model automatically - Google Patents

Wisdom formula follows perambulator and tele-control system and business model automatically Download PDF

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Publication number
CN109189059A
CN109189059A CN201810830056.8A CN201810830056A CN109189059A CN 109189059 A CN109189059 A CN 109189059A CN 201810830056 A CN201810830056 A CN 201810830056A CN 109189059 A CN109189059 A CN 109189059A
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China
Prior art keywords
module
stroller
baby
driving
cradle
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CN201810830056.8A
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Chinese (zh)
Inventor
江正云
孙启红
柏天鹏
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Yunnan Zhong Shang Zheng Xiao Agricultural Technology Co Ltd
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Yunnan Zhong Shang Zheng Xiao Agricultural Technology Co Ltd
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Priority to CN201810830056.8A priority Critical patent/CN109189059A/en
Publication of CN109189059A publication Critical patent/CN109189059A/en
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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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • 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
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/222—Remote-control arrangements operated by humans
    • G05D1/223—Command input arrangements on the remote controller, e.g. joysticks or touch screens
    • G05D1/2232—Touch screens
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • 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
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G05D1/622—Obstacle avoidance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/20—Specific applications of the controlled vehicles for transportation
    • G05D2105/22—Specific applications of the controlled vehicles for transportation of humans
    • G05D2105/24—Specific applications of the controlled vehicles for transportation of humans personal mobility devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)

Abstract

本发明具体的公开的智慧式自动跟随婴儿车包括婴儿车本体，婴儿车本体至少包括有车底盘、车摇篮、传感器模块、电池电量管理模块和中央处理器，充电车底盘设置无人驾驶的自动行走系统；车摇篮用于婴儿躺或坐；传感器模块用于对车摇篮内的温湿度、图像、声音、空气质量、重量信息等进行采集和上传至所述中央处理器，并接受中央控制器控制；电池电量管理模块包括电池组、充电模块、充放电芯片和电量监测芯片，用于给婴儿车本体的用电结构供电；中央控制器作为控制中枢进行各电气元件进行信息交互和指令控制。本发明提供的智慧式自动跟随婴儿车能全方位保证婴儿安全和舒适性、娱乐性，同时又能一定程度上解放父母,使父母有良好的休息时间的。

The specific disclosed intelligent automatic follow baby carriage of the present invention includes a baby carriage body, and the baby carriage body at least includes a car chassis, a car cradle, a sensor module, a battery power management module and a central processing unit, and the charging car chassis is provided with an unmanned automatic Walking system; the cradle is used for the baby to lie or sit; the sensor module is used to collect and upload the temperature and humidity, image, sound, air quality, weight information, etc. in the cradle to the central processor, and accept the central controller Control; the battery power management module includes a battery pack, a charging module, a charging and discharging chip and a power monitoring chip, which are used to supply power to the power consumption structure of the stroller body; the central controller acts as a control center to perform information exchange and command control of various electrical components. The intelligent self-following stroller provided by the invention can fully guarantee the safety, comfort and entertainment of the baby, and at the same time, it can liberate the parents to a certain extent, so that the parents can have a good rest time.

Description

Wisdom formula follows perambulator and tele-control system and business model automatically
Technical field
The invention belongs to perambulator technical field, refers in particular to a kind of wisdom formula based on unmanned chassis and follow baby automatically Vehicle and matched tele-control system and business model.
Background technique
With the development of the social economy, and people's lives level promoted, it is all uncommon that many possesses the families of ewborn infant Hope and provide a comfortable growth environment to child, Internet of Things plus epoch, perambulator not only needs comfortably also to need artificial It is intelligent.
Go out and need to pay close attention at any time the every act and every move of child with baby for real-life parent, in order to avoid by Injury；Looking after children to go out simultaneously needs the article that carries more, also becomes parent and looks after children the trouble gone out；Tradition Perambulator is encountering road not under the biggish situation of level grade, and it is not only painstaking to carry out, and baby can also experience the discomfort jolted Sense.
In urban air environment, the emission behaviour of pollutant and the diffusivity of atmosphere.It is metastable in pollution sources In the case of, diffusion, migration, flowing and the conversion of pollutant in an atmosphere, air quality is low, and pm2.5 index increases, wherein Being mingled with a large amount of harmful substances has certain damage effect to functions such as respiratory tract, the cardiopulmonary of baby.
Further more, baby, in the case where crying and screaming more than, parent would generally prepare the mood that toy carrys out baby soothing, but logical Normal child can whip one to lose；In addition indoor and outdoor, morning, noon, evening or seasonal variation, temperature difference, with child Son is gone out, and does not pay attention to the situation for being easy for causing flu etc. uncomfortable slightly.
Summary of the invention
The object of the present invention is to provide it is a kind of can comprehensive guarantee baby safe and comfort, entertainment, while again can one Determine the both hands that parent is liberated in degree, the wisdom formula for making parent have the good time of having a rest follows perambulator automatically.
The object of the present invention is achieved like this: wisdom formula follows perambulator automatically, and wisdom formula follows perambulator packet automatically Include perambulator ontology, perambulator ontology include at least have chassis, vehicle cradle, sensor module, battery capacity management module and Unpiloted automatically walk system is arranged in central processing unit, charging chassis；Vehicle cradle is lain or is sat for baby；Sensor Module is used to that temperature and humidity, image, sound, air quality, the weight information etc. in vehicle cradle to be acquired and be uploaded to described Central processing unit, and receive central controller controls；Battery capacity management module includes battery pack, charging module, charge and discharge battery core Piece and electric quantity monitoring chip, for the power structure power supply to perambulator ontology；Central controller carries out each as control axis Electrical component carries out information exchange and instruction control.
Further, sensor module includes the Temperature Humidity Sensor for measuring temperature and humidity in vehicle cradle, for supervising Control, at least one electronic camera monitored, shoot infantile state in perambulator ontology integrality and vehicle cradle, for supervising The weight sensor for controlling infant weight in vehicle cradle, for carrying out the voice system of distance communicating with the baby in vehicle cradle.
Further, perambulator ontology further includes the air cleaning gas system connecting with central controller, music system System, constant temperature system and automatic alarm device, air cleaning gas system are used to carry out the air environment in vehicle cradle cleaned Filter；Music playing system carrys out baby soothing mood for playing vehicle-mounted music or telling a story；Constant temperature system is used to combine temperature and humidity The monitoring result of sensor adjusts the temperature and humidity in vehicle cradle；Automatic alarm device includes the alarm being placed on perambulator ontology Device and indicator light, the control circuit being connect with central controller and the velocity sensor being set on perambulator ontology and inclination Sensor, velocity sensor and inclination sensor acquire the signal that perambulator ontology is driven over the speed limit or tilted, topples and are uploaded to Control circuit connection is stated in central controller, central controller touching, and alarm sounds the alarm, indicator light flashing, while alarm signal Breath is sent to baby parent's cell phone application by communication module, arranging thing storehouse on chassis, and electric components are placed in glove storehouse And/or with vehicle article.
Further, battery capacity management module includes battery pack, charging module, charge and discharge electrical chip and electric quantity monitoring Chip；Charging module includes the wired charging module that the sum for charging to battery pack is realized by generator, electric quantity monitoring Chip includes CPU, voltage monitoring unit, current monitoring unit, battery status monitoring unit and bus communication unit；Vehicle shakes It is additionally provided with camera and locating module on basket, Identification of Images module is provided in camera.
Further, the chassis be arranged unpiloted automatically walk system include drive module, obstacle avoidance module and Communication module and data processing module；The drive module is used to control travel speed and the direction of perambulator；Obstacle avoidance module is used Avoiding barrier and road on the path planned according to road the case where；The communication module is used for and cloud computing system System, user terminal and consumption terminal are communicated news and feedback data；The data processing module is for calculating the path navigation Data that module, obstacle avoidance module and communication module pass back simultaneously draw a conclusion and control perambulator traveling by drive module.
Further, obstacle avoidance module includes road Identification module, and road Identification module includes that video identification device is used It in shooting perambulator road ahead picture, differentiates whether front is normal travel, and image information is sent at data Manage module；Data processing module determines whether to adjust drive module according to the critical value of setting space length and then adjusts baby Travel speed and the direction of vehicle and carry out obstacle evacuation；Video identification device includes video acquiring module and video identification module, Video acquiring module is used to shoot the road ahead picture of perambulator, and video identification module is for dividing the picture of acquisition Analysis calculates；
Obstacle avoidance module includes obstacle recognition module, and obstacle recognition module includes for detecting obstacle distance Detection device, for the obstacle information storage device of storage detection barrier azran property, for storing avoidance operation The avoidance operation coding storage device of coding, for storage detection obstacle information storage device and avoidance operation will to be stored in It is compared in code storage device, the comparator of substitution control signal input apparatus instruction perambulator avoidance movement；Detection dress It is set at least one transmitting unit and receiving unit that baby carriage body Zhou Yan is set；Transmitting unit includes ultrasonic wave hair Element and trigger circuit are penetrated, connecing member includes ultrasonic wave receiving element and frontend amplifying circuit.
Further, data processing module is also connected with drive module, and drive module includes ECU, if data processing module Judge perambulator will strikes obstacles, then perambulator is controlled by ECU；Data processing module is also connected with cloud meter Calculation system, data processing module can by perambulator whether can the judging results of strikes obstacles be sent to cloud computing system, cloud meter Calculation system can be instructed to data processing module feedback command, connected ECU by data processing module and controlled perambulator.
Further, path navigation module includes memory, input/output port and processor；Processor includes: navigation Data obtaining module, for obtaining navigation pattern-information and cooking up the driving path of non-motorized lane；Self-navigation controls mould Block, for controlling perambulator driving parameters according to navigation pattern-information acquired in navigation information acquisition module；Also wrap Tracking module is included, tracking module is used to carry out information communication with the cell phone application or bracelet of baby parent, and passes through center control Device control drive module traveling follows.
The driving wheel and quantity and driving wheel quantity that at least two are respectively arranged on chassis two sides are provided in drive module Driving motor that is identical and being sequentially connected respectively with each driving wheel；Driving motor side is also connected with control signal receiving device With control signal input apparatus；Be additionally provided with battery pack on chassis, the upper end of vehicle cradle be additionally provided with optical energy power module or Wind power generation module, optical energy power module or wind power generation module are connected with battery pack for charging for it.
Further, it may be reversed on the perambulator ontology and be provided with shield；The sensor module includes audio Identification module, the Identification of Images module and/or the audio identification module connect the shield to when by image and Voice recognition is that stranger embraces child's then shield quick closedown.
A kind of tele-control system, including communication module, several wisdom formulas follow perambulator automatically and are distributed in use The terminal device of person；Terminal device remotely controls the wisdom formula by communication module and follows function part on perambulator automatically The movement of part, central controller follow perambulator automatically and will feed back respectively for information about for managing the wisdom formula as a whole Perambulator and terminal device are followed automatically to wisdom formula；Terminal device includes at least cell phone application.
A kind of business model: it in the mankind zone of action such as the biggish market of the stream of people, office building, is supplied to and has baby in arms The adult of child uses for shared, and platform is collected the charges by number, by using time either member system to user, obtains It must get a profit；Can also long-term lease give nursery either mechanisms and the individual and family etc. such as infant activity centre, welfare home It uses, obtains long-term lease expense income；It can be distributed directly to the product demand person of each side as commodity, obtain product pin Sell income.
The present invention is prominent and beneficial compared with prior art to be had the technical effect that
1, wisdom formula of the invention follows perambulator and control system that baby is not only allowed to have a comfortable sleep week automatically Phase, while more convenient nurse can be also provided to guardian, guardian can also feel at ease to sleep at night, and child can also obtain more Treatment in every possible way realizes that twenty four hours Non-intermittent looks after the function of baby, thoroughly parent is allowed to feel at ease.
2, the every act and every move for going out and need to pay close attention at any time child with baby for real-life parent, against It to the problem of injury, while looking after children to go out and needing the article that carries more, also become parent and look after children the trouble gone out The problem of thing；Conventional pushchair is encountering road not under the biggish situation of level grade, and it is not only painstaking to carry out, and baby can also feel The problem of sense of discomfort jolted.
3, the present invention is by the sensor of each section on vehicle body, reasonably adjust speed and direction, and detection front is on both sides of the road Distance, keeps position traveling in road, and control vehicle not go out road surface；On turning road surface, angle of turn and vehicle speed are calculated The equilibrium relation of degree, automatic uniform speed is equilibrated curved, realizes Anti-inclining and rollover, realizes the driving safety followed in journey automatically, prevents Only vehicle rollover ensures the safety of baby.
4, the present invention has technically carried out further raising to safety, has installed electrical fire additional on the perambulator Calamity detection device and fire detecting arrangement, once discovery circuit, there are failure, temperature, smog, flame etc. exist in surrounding enviroment Hidden danger can be alarmed immediately and adult is prompted to handle.
5, the present invention technically may be implemented to carry out each components and systemic function self detection, pass through to Each function constituting parts sends sense command, and receives testing result data, is compared, determines the function of perambulator Whether normally realize, if there are failures, and failure is then alarmed to platform and maintenance personnel is notified to repair if it exists.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is logical construction schematic block diagram of the invention；
In figure: 1- chassis；2- vehicle cradle；3- glove storehouse.
Specific embodiment
The present invention is described further with specific embodiment below.
As shown in Figs. 1-2, it includes perambulator ontology that wisdom formula follows perambulator automatically, and perambulator ontology, which includes at least, to be had Chassis 1, vehicle cradle 2, sensor module, battery capacity management module and central processing unit, charging chassis are arranged nobody and drive The automatically walk system sailed；Vehicle cradle 2 is lain or is sat for baby；Sensor module is used for the temperature and humidity in vehicle cradle, figure Picture, sound, air quality, weight information etc. are acquired and are uploaded to the central processing unit, and receive central controller control System；Battery capacity management module include battery pack,
Sensor module includes the Temperature Humidity Sensor for measuring temperature and humidity in vehicle cradle, for monitoring, monitoring, clap At least one electronic camera for taking the photograph infantile state in perambulator ontology integrality and vehicle cradle 2, for monitoring in vehicle cradle The weight sensor of infant weight, the weight and health sign index recording, parent for being able to achieve baby can link APP Data are checked at any time；It further include the voice system for carrying out distance communicating with the baby in vehicle cradle, parent can pass through hand Machine APP and realization and the real-time exchanges and dialogues of child.The position of perambulator can be found by APP, can also give baby by backstage The position of youngster vehicle sender, in perambulator automatically walk to commitment positions.Video can also be can star by cell phone application to look into Seeing the situation in perambulator, APP counts the information such as interior temperature and humidity and air quality,
Perambulator ontology further includes the air cleaning gas system connecting with central controller, music playing system, constant temperature system System and automatic alarm device, air cleaning gas system is used to carry out purification filtering to the air environment in vehicle cradle, when air is net Four weekly assembly of the rear car cradle sealing for changing the unlatching of gas system, allows baby is outgoing can also breathe fresh air in the car.Music System carrys out baby soothing mood for playing vehicle-mounted music or telling a story, and alleviates burden to parent, specific practice is when monitoring Parent is directly pushed information to when noisy to baby；Parent can select some light musics to broadcast in perambulator by cell phone application It puts.Constant temperature system be used in conjunction with Temperature Humidity Sensor monitoring result adjust vehicle cradle in temperature and humidity, due to it is indoor and outdoor, Morning, noon, evening or seasonal variation, temperature difference, take the kids with go out do not pay attention to slightly being easy for causing flu not Suitable, constant temperature system is arranged in wisdom formula perambulator car, and temperature sensor device can be according to temperature, infant temperature, automatic adjustment temperature Degree, reaches a comfortable growth environment；Arranging thing storehouse 3 on chassis 1, glove storehouse 3 are divided for upper layer and lower layer, place in lower layer It places in electric components upper layer with vehicle article, prevents electric components water drenching from facilitating article to carry again simultaneously.
Automatic alarm device includes the alarm being placed on perambulator ontology and indicator light, connect with central controller Control circuit and the velocity sensor and inclination sensor being set on perambulator ontology, velocity sensor and inclination sensor It acquires the signal that perambulator ontology is driven over the speed limit or tilted, topples and is uploaded to central controller, control is stated in central controller touching Circuit communication, alarm sound the alarm, indicator light flashing, while warning message is sent to baby parent by communication module Cell phone application, parent can monitor baby's dynamic in the car at any time not at one's side.
The present embodiment further includes battery capacity management module, and battery capacity management module includes battery pack, charging mould Block, charge and discharge electrical chip and electric quantity monitoring chip；Charging module include for it is charging to battery pack and by generator realize Wired charging module, electric quantity monitoring chip include CPU, voltage monitoring unit, current monitoring unit, battery status monitoring Unit and bus communication unit；Charging module includes that setting is arranged in the survey of vehicle cradle week and upper surface for filling to battery pack Electricity solar recharging module and/or wind energy charging module or and by generator realize wired charging module, solar energy, Wind energy and electrical power generators are powered together using super capacitor management of charging and discharging and battery by steady by energy converter Volt circuit supplies electricity to CPU and each functional module；The charging module includes setting in survey in the vehicle cradle 2 weeks and upper surface Solar recharging module for charging to the battery pack and the wired charging module by generator realization.On vehicle cradle It is additionally provided with camera and locating module, Identification of Images module is provided in camera.
A kind of structure type of electric quantity monitoring chip is specifically illustrated in the technical program.Preferably this battery detection core Piece can use model are as follows: the chip of BQ27510.Bus communication unit described in the technical program can refer to [middle promulgated by the State Council It is bright] disclosed lithium battery management system for electric vehicle described in CN201220020977.6.Electricity described in the technical program Pond Condition Monitoring Unit can be with reference to a kind of battery intelligent management system disclosed in [Chinese invention] CN201020199399.8 System.
Preferably, it is additionally provided with camera and locating module on the vehicle cradle 2, is provided with portrait in the camera Identification module.It may be reversed on the perambulator ontology and be provided with shield；The sensor module includes audio identification mould Block, the Identification of Images module and/or the audio identification module connect the shield to know when by image and sound It is not that stranger embraces child's then shield quick closedown.
The technical solutions such as shield described in the technical program can refer to Chinese invention patent, application number: A kind of intelligent stroller equipment and its working method based on unmanned plane disclosed in 201710849370.6.
Preferably, the chassis is arranged unpiloted automatically walk system and includes drive module, obstacle avoidance module and lead to Interrogate module and data processing module；The drive module is used to control travel speed and the direction of perambulator；Obstacle avoidance module is used for Avoiding barrier and road on the path planned according to road the case where；The communication module be used for cloud computing system, User terminal and consumption terminal are communicated news and feedback data；The data processing module is for calculating the path navigation mould Data that block, obstacle avoidance module and communication module pass back simultaneously draw a conclusion and control perambulator traveling by drive module.
Obstacle avoidance module includes video identification device, and video identification device includes video acquiring module and video identification module, Video acquiring module is used to shoot the road ahead picture of perambulator, and video identification module is for dividing the picture of acquisition Analysis calculates；Obstacle avoidance module further includes having obstacle recognition module, and obstacle recognition module includes for detecting obstacle distance Detection device, for the obstacle information storage device of storage detection barrier azran property, for storing avoidance operation The avoidance operation coding storage device of coding, for storage detection obstacle information storage device and avoidance operation will to be stored in It is compared in code storage device, the comparator of substitution control signal input apparatus instruction perambulator avoidance movement；Detection dress It is set at least one transmitting unit and receiving unit that baby carriage body Zhou Yan is set；Transmitting unit includes ultrasonic wave hair Element and trigger circuit are penetrated, connecing member includes ultrasonic wave receiving element and frontend amplifying circuit.
It should be strongly noted that navigation pattern-information can also be obtained by two kinds of different modes, such as pass through camera lens With charge coupled cell (CCD, Charge-coupled Device), it can optionally pass through camera lens and complementary oxidation for another example Metal semiconductor (CMOS, Complementary Metal-Oxide Semiconductor).Pass through these sensors, baby Vehicle navigation equipment can shoot navigation pattern-information.
Preferably, the data processing module is also connected with ECU, is controlled by ECU perambulator；At the data Reason module is also connected with cloud computing system, and the data processing module can send the judging result whether perambulator can make a dash across the red light To cloud computing system, the cloud computing system can be instructed to data processing module feedback command, be connected by data processing module ECU controls perambulator.
The technical program specifically discloses a kind of effect of ECU during avoidance.ECU described in the technical program Refer to, ECU (Electronic Control Unit) electronic control unit, also known as " car running computer ", " vehicle-mounted computer " etc..From It is said in purposes, is automobile specified microcomputerized controller.It is as common computer, by microprocessor (CPU), memory The large scale integrated circuits group such as (ROM, RAM), input/output interface (I/O), analog-digital converter (A/D) and shaping, driving At.Exactly " brain that ECU is exactly automobile " is described with a simple simon says.
The technical program specifically discloses a kind of technical solution of obstacle recognition module, is running over for identification Pedestrian or other perambulators or other barriers in journey.The information fed back by detection device is deposited with obstacle information The crawl of information between storage device, then by comparator, the mode of avoidance is determined according to the parameter value being previously set and is kept away The route advanced after barrier.Comparator described in the technical program is the size of the current or voltage of two input terminals by comparing, In the electronic component of output end output different voltages result.Comparator described in the technical program can refer to [Chinese invention] CN201521020832.6, disclosed perambulator dynamic speed limiting system and perambulator.As for ultrasound described in the technical program Wave radiated element, trigger circuit, ultrasonic wave receiving element and frontend amplifying circuit belong to the prior art, seldom do here superfluous It states.
The mode of avoidance is in actual use: it is surveyed in the week of perambulator and several ultrasonic wave radiated elements is set, wherein Three ultrasonic wave radiated elements are set at least on front side of perambulator, are respectively used to distance, the front side obstacle of monitoring left side barrier The distance of object and the distance of right side barrier, and calculated according to the data that feedback obtains by comparator, about this technology Comparator described in scheme preferably can use arduin single-chip microcontroller array and send steering or retreat instruction, that is, It advances towards selection towards apart from remote side.
In actual use, due to the numerical value sensed be it is multiple, can be by the way that each inductor be felt every A data all putting in order from small to large respectively, then therefrom select minimum value, then again by the minimum of multiple directions again Numerical value compares, and selects expression apart from the biggish direction of depth to be turned to.Be about avoidance concrete principle, first by CAN bus, which is transmitted to CAN bus, to be expanded plate and is transmitted to arduin single-chip microcontroller array again and is transmitted to AQMD6030BLS_P motor again Driver analyzes data, and converts the data into the speed of the angle of hub motor rotation.
Preferably, the transmitting unit is arranged in car body surrounding and further includes having infrared sensor and millimetre-wave radar.It is red The mature use in running car and reversing of outer sensor and millimetre-wave radar, does not repeat here.
Preferably, the path navigation module includes memory, input/output port and processor；The processor packet Include: navigation information obtains module, navigates pattern-information for obtaining and cooks up the driving path of non-motorized lane；Automatically it leads Boat control module, for controlling perambulator according to the navigation pattern-information acquired in navigation information acquisition module Driving parameters.
The technical program specifically discloses a kind of implementation of path navigation module, and the realization of the technical program is seen Problem with specific reference to [Chinese invention] CN201210235759.9, lead by a kind of specifically disclosed perambulator automatic navigation method of institute Chart case information preparation method and its perambulator navigation equipment.
Preferably, on the chassis be arranged there are four be respectively arranged on the chassis two sides driving wheel and quantity with The driving wheel quantity is identical and the driving motor with each driving wheel transmission connection respectively；The driving motor side is also It is connected to control signal receiving device and control signal input apparatus repeatedly.
A kind of structure for driving chassis is specifically illustrated in the technical program.Driving motor is that the traveling of perambulator mentions For power, control signal receiving device is used to receive the avoidance that obstacle avoidance module transmits and instructs and pass through control signal input apparatus Parameter by controlling driving motor realizes avoidance and normally travel.
A kind of energy resource supply mode of perambulator is specifically illustrated in the technical program.Also disclose a kind of perambulator The mode of battery energy management realized in the way of a variety of points of battery, solar energy, wind-force, automatic charging etc. and filled to battery pack Electricity, it is ensured that perambulator has sufficient electricity to realize transportation function in the process of moving.
The tele-control system of the present embodiment, including communication module, several wisdom formulas follow perambulator and distribution automatically In the terminal device of user；Terminal device remotely controls the wisdom formula by communication module and follows on perambulator automatically The movement of functional component, central controller follow perambulator automatically and will divide for information about for managing the wisdom formula as a whole Wisdom formula is not fed back to follows perambulator and terminal device automatically；Terminal device includes at least cell phone application, connects perambulator APP can pass through the physical condition of daily data monitoring to baby by sensing intelligent connection；It is recordable that perambulator connects APP The raising body mass index in baby's each stage；Perambulator connects in APP control perambulator, and the replacement of constant temperature system, music is broadcast It puts, the data monitoring of in-vehicle air system；Perambulator connects APP, realizes unmanned cart, automatic identification guidance；Perambulator Connection APP may be implemented camera function and return to cell phone application, record each stage of baby；Perambulator connects APP can be Real time inspection infants condition on mobile phone；Perambulator connects APP and can converse in real time with baby.
A kind of business model is supplied in the mankind zone of action such as the biggish market of the stream of people, office building and has baby in arms The adult of child uses for shared, and platform is collected the charges by number, by using time either member system to user, obtains It must get a profit；Can also long-term lease give nursery either mechanisms and the individual and family etc. such as infant activity centre, welfare home It uses, obtains long-term lease expense income；It can be distributed directly to the product demand person of each side as commodity, obtain product pin Sell income.
Embodiment two, the present embodiment and embodiment one are almost the same, and difference is: further, passage path is led Model plane block, the perambulator may be implemented the whole-process automatic of indoor and outdoors and follow, and control the perambulator according at the uniform velocity with It walks with adult, and maximum travelling speed does not exceed 5km/h, to guarantee the safety of interior baby.Position can also be provided simultaneously Information, user directly can search baby truck position by mobile phone and check interior real-time video.
Preferably, the perambulator realizes that the calling of user uses by APP, and summoner reaches in the perambulator Afterwards, summoner using APP open perambulator use, after use the perambulator by automatic returning to specify parking stall It sets.During waiting for parking client's use, automatic transportation and driving system are in suspend mode or close shape the perambulator State；It is additionally provided with camera and locating module on vehicle body, Identification of Images module is provided in camera, vehicle body periphery is equipped with Warning device if unnormal unlocking will trigger warning device, and triggers Identification of Images module automatic video recording and retains evidence；
Preferably, by the sensor of each section on vehicle body, according to self weight, distance, road gradient and the height of vehicle at this time Degree, vehicle body size, travel speed etc., detection front distance on both sides of the road, keep position traveling in road, reasonably adjust speed and Direction, control vehicle does not go out road surface, equilibrated curved, realizes Anti-inclining and rollover.
Above-described embodiment is only presently preferred embodiments of the present invention, is not limited the scope of the invention according to this, therefore: it is all The equivalence changes that structure under this invention, shape, principle are done, should all be covered by within protection scope of the present invention.

Claims (10)

1.智慧式自动跟随婴儿车，其特征在于：所述智慧式自动跟随婴儿车包括婴儿车本体，所述婴儿车本体至少包括有车底盘、车摇篮、传感器模块、电池电量管理模块和中央处理器，充电所述车底盘设置无人驾驶的自动行走系统；所述车摇篮用于婴儿躺或坐；所述传感器模块用于对车摇篮内的温湿度、图像、声音、空气质量、重量信息等进行采集和上传至所述中央处理器，并接受所述中央控制器控制；所述电池电量管理模块包括电池组、充电模块、充放电芯片和电量监测芯片，用于给所述婴儿车本体的用电结构供电；所述中央控制器作为控制中枢进行各电气元件进行信息交互和指令控制。1. The intelligent automatic following stroller is characterized in that: the intelligent automatic following stroller includes a stroller body, and the stroller body at least includes a chassis, a cradle, a sensor module, a battery power management module and a central processing unit. The car chassis is charged with an unmanned automatic walking system; the car cradle is used for the baby to lie down or sit; the sensor module is used to monitor the temperature and humidity, image, sound, air quality, and weight information in the car cradle. The battery power management module includes a battery pack, a charging module, a charging and discharging chip and a power monitoring chip, which are used to provide the baby carriage body The central controller acts as a control center to carry out information exchange and command control of each electrical component. 2.根据权利要求1所述的智慧式自动跟随婴儿车，其特征在于：所述传感器模块包括用于测定所述车摇篮内温湿度的温湿度传感器，用于监控、监听、拍摄所述婴儿车本体整体状态及所述车摇篮内婴儿状态的至少一个电子摄像头，用于监控所述车摇篮内婴儿体重的重量传感器，用于与所述车摇篮内的婴儿进行远程通话的语音系统。2 . The intelligent automatic follower stroller according to claim 1 , wherein the sensor module comprises a temperature and humidity sensor for measuring the temperature and humidity in the cradle, and is used for monitoring, monitoring and photographing the baby. 3 . At least one electronic camera for the overall state of the car body and the state of the baby in the car cradle, a weight sensor for monitoring the weight of the baby in the car cradle, and a voice system for remote communication with the baby in the car cradle. 3.根据权利要求1所述的智慧式自动跟随婴儿车，其特征在于：所述婴儿车本体还包括与所述中央控制器连接的空气净化气系统、音乐播放系统、恒温系统和自动报警装置，所述空气净化气系统用于对所述车摇篮内的空气环境进行净化过滤；所述音乐播放系统用于播放车载音乐或讲故事来安抚婴儿情绪；所述恒温系统用于结合所述温湿度传感器的监测结果调节所述车摇篮内的温湿度；所述自动报警装置包括置于所述婴儿车本体上的报警器和指示灯、与所述中央控制器连接的控制电路和设置于所述婴儿车本体上的速度传感器和倾斜传感器，所述速度传感器和倾斜传感器采集所述婴儿车本体超速行驶或倾斜、倾覆的信号并上传至所述中央控制器，所述中央控制器触发所述控制电路连通，所述报警器发出警报声，所述指示灯闪烁，同时报警信息通过通讯模块发送至婴儿父母手机APP；所述车底盘上设置物仓，所述置物仓内放置电气元器件和/或随车物品。3 . The intelligent automatic follower stroller according to claim 1 , wherein the stroller body further comprises an air purification system, a music playback system, a constant temperature system and an automatic alarm device connected to the central controller. 4 . , the air purification system is used to purify and filter the air environment in the car cradle; the music playback system is used to play car music or tell stories to soothe the baby's emotions; the constant temperature system is used to combine the temperature The monitoring result of the humidity sensor adjusts the temperature and humidity in the cradle; the automatic alarm device includes an alarm and an indicator light placed on the stroller body, a control circuit connected with the central controller, and a The speed sensor and the tilt sensor on the stroller body, the speed sensor and the tilt sensor collect the signals of the stroller body overspeeding or tilting and overturning and upload it to the central controller, and the central controller triggers the The control circuit is connected, the alarm device emits an alarm sound, the indicator light flashes, and the alarm information is sent to the mobile phone APP of the baby's parents through the communication module; a storage compartment is arranged on the chassis of the vehicle, and electrical components and electrical components are placed in the storage compartment. / or vehicle items. 4.根据权利要求1所述的智慧式自动跟随婴儿车，其特征在于：所述电池电量管理模块包括有电池组、充电模块、充放电芯片和电量监测芯片；所述充电模块包括有用于给所述电池组充电的和通过发电机实现的有线充电模块，所述电量监测芯片包括有CPU、电压监测单元、电流监测单元、电池状态监测单元和总线通讯单元；所述车摇篮上还设置有摄像头和定位模块，所述摄像头内设置有人像识别模块。4. The intelligent automatic follower stroller according to claim 1, wherein the battery power management module comprises a battery pack, a charging module, a charging and discharging chip and a power monitoring chip; The wired charging module charged by the battery pack and realized by the generator, the power monitoring chip includes a CPU, a voltage monitoring unit, a current monitoring unit, a battery state monitoring unit and a bus communication unit; the vehicle cradle is also provided with A camera and a positioning module, wherein a portrait recognition module is arranged in the camera. 5.根据权利要求1所述的智慧式自动跟随婴儿车，其特征在于：所述车底盘设置无人驾驶的自动行走系统包括驱动模块、避障模块和通讯模块和数据处理模块；所述驱动模块用于控制婴儿车的行驶速度和方向；避障模块用于在规划好的路径上根据道路的情况规避障碍物和道路；所述通讯模块用于与云计算系统、用户终端和消费终端互通消息并反馈数据；所述数据处理模块用于计算所述路径导航模块、避障模块和通讯模块传递回来的数据并作出结论并通过驱动模块控制婴儿车行驶。5. The intelligent self-following stroller according to claim 1, characterized in that: the vehicle chassis is provided with an unmanned automatic walking system comprising a driving module, an obstacle avoidance module, a communication module and a data processing module; the driving The module is used to control the driving speed and direction of the stroller; the obstacle avoidance module is used to avoid obstacles and roads on the planned path according to the road conditions; the communication module is used to communicate with cloud computing systems, user terminals and consumer terminals information and feedback data; the data processing module is used to calculate the data transmitted back from the route navigation module, obstacle avoidance module and communication module, make a conclusion and control the stroller to travel through the drive module. 6.根据权利要求5所述的智慧式自动跟随婴儿车，其特征在于：所述避障模块包括有道路识别模块，所述道路识别模块包括有视频识别装置用于拍摄婴儿车前方道路画面，分辨前方是否为正常行驶道路，并把画面信息发送至所述数据处理模块；所述数据处理模块根据设定空间距离的临界值判定是否调整所述驱动模块进而调整婴儿车的行驶速度和方向而进行障碍避让；所述视频识别装置包括视频获取模块和视频识别模块，所述视频获取模块用于拍摄婴儿车的前方道路画面，所述视频识别模块用于对获取的画面进行分析计算；6 . The intelligent automatic following stroller according to claim 5 , wherein the obstacle avoidance module includes a road identification module, and the road identification module includes a video identification device for taking pictures of the road ahead of the stroller, 7 . Distinguish whether the road ahead is a normal driving road, and send the picture information to the data processing module; the data processing module determines whether to adjust the driving module and then adjust the driving speed and direction of the stroller according to the threshold value of the set spatial distance. performing obstacle avoidance; the video recognition device includes a video acquisition module and a video recognition module, the video acquisition module is used for photographing the picture of the road ahead of the stroller, and the video recognition module is used for analyzing and calculating the acquired picture; 所述避障模块包括有障碍物识别模块，障碍物识别模块包括用于探测障碍物距离的探测装置，用于存储探测障碍物方位距离性质的障碍物信息存储装置，用于存储避障运算编码的避障运算编码存储装置，用于将存储探测障碍物信息存储装置与存储在避障运算编码存储装置中进行比较，替代控制信号输入装置指令婴儿车避障运动的比较器；所述探测装置为设置在该婴儿车车体周延的至少一个发射单元和接收单元；所述发射单元包括超声波发射元件和触发电路，所述接元包括超声波接收元件和前端放大电路。The obstacle avoidance module includes an obstacle identification module, and the obstacle identification module includes a detection device for detecting the distance of the obstacle, and an obstacle information storage device for storing the azimuth and distance properties of the detected obstacle, and for storing the obstacle avoidance operation code. The obstacle avoidance arithmetic coding storage device is used to compare the stored detection obstacle information storage device with the obstacle avoidance arithmetic coding storage device, and replace the comparator for the control signal input device to instruct the stroller to avoid obstacles; the detection device It is at least one transmitting unit and receiving unit arranged around the body of the stroller; the transmitting unit includes an ultrasonic transmitting element and a trigger circuit, and the connecting element includes an ultrasonic receiving element and a front-end amplifying circuit. 7.根据权利要求6所述的智慧式自动跟随婴儿车，其特征在于：所述数据处理模块还连接所述驱动模块，驱动模块包括有ECU，所述数据处理模块若判断出婴儿车将会撞击障碍物，则通过ECU对婴儿车进行控制；所述数据处理模块还连接云计算系统，所述数据处理模块可将婴儿车是否会撞击障碍物的判断结果发送至云计算系统，所述云计算系统可向数据处理模块反馈命令指令，通过数据处理模块连接ECU对婴儿车进行控制。7 . The intelligent automatic follow-up stroller according to claim 6 , wherein the data processing module is further connected to the driving module, and the driving module includes an ECU, and if the data processing module determines that the stroller will If it hits an obstacle, the stroller is controlled by the ECU; the data processing module is also connected to the cloud computing system, and the data processing module can send the judgment result of whether the stroller will hit the obstacle to the cloud computing system, and the cloud The computing system can feed back command instructions to the data processing module, and connect the ECU through the data processing module to control the stroller. 8.根据权利要求5所述的智慧式自动跟随婴儿车，其特征在于：所述路径导航模块包括有存储器、输入输出口和处理器；所述处理器包括：导航信息获取模块，用于获取导航图案信息并规划出非机动车道的行驶路径；自动导航控制模块，用于根据所述导航信息获取模块所获取的所述导航图案信息来控制婴儿车行驶参数；还包括跟踪模块，所述跟踪模块用于与婴儿父母的手机APP或手环进行信息通讯，并通过所述中央控制器控制所述驱动模块行驶跟随，所述驱动模块上设置有至少两个分别设于所述车底盘两侧的驱动轮和数量与所述驱动轮数量相同且分别与各所述驱动轮传动连接的驱动电机；所述驱动电机一侧还连接有控制信号接受装置和控制信号输入装置；所述车底盘上还设置有电池组，所述车摇篮的上端还设置有光能发电模块或风能发电模块，所述光能发电模块或风能发电模块连接有所述电池组用于为其充电；所述婴儿车本体上可翻转设置有防护罩；所述传感器模块包括有音频识别模块，所述人像识别模块和/或所述音频识别模块连接所述防护罩从而当通过图像和声音识别是陌生人抱小孩则所述防护罩快速关闭。8 . The intelligent automatic following stroller according to claim 5 , wherein the path navigation module comprises a memory, an input and output port and a processor; the processor comprises: a navigation information acquisition module for acquiring Navigate pattern information and plan the driving path of the non-motorized vehicle lane; an automatic navigation control module is used to control the driving parameters of the stroller according to the navigation pattern information acquired by the navigation information acquisition module; it also includes a tracking module, the tracking The module is used for information communication with the mobile phone APP or bracelet of the baby's parents, and controls the driving module to drive and follow through the central controller. The driving module is provided with at least two on both sides of the chassis The number of driving wheels is the same as the number of the driving wheels and the driving motors are respectively connected to the driving wheels; the side of the driving motor is also connected with a control signal receiving device and a control signal input device; A battery pack is also provided, and the upper end of the cradle is also provided with a photovoltaic power generation module or a wind power generation module, and the photovoltaic power generation module or the wind power generation module is connected with the battery pack for charging it; the baby carriage The body is reversibly provided with a protective cover; the sensor module includes an audio recognition module, and the portrait recognition module and/or the audio recognition module is connected to the protective cover, so that when it is recognized through the image and sound that it is a stranger holding a child, the The shield closes quickly. 9.一种远程控制系统，其特征在于：包括通讯模块、权利要求1至8任一项所述的若干个智慧式自动跟随婴儿车和分布于使用者的终端设备；所述终端设备通过所述通讯模块远程控制所述智慧式自动跟随婴儿车上的功能部件的动作，所述中央控制器用于统筹管理所述智慧式自动跟随婴儿车并将有关信息分别反馈至所述智慧式自动跟随婴儿车和终端设备；所述终端设备至少包括手机APP。9. A remote control system, characterized in that it comprises a communication module, a plurality of intelligent automatic follow-up strollers according to any one of claims 1 to 8, and terminal equipment distributed to users; The communication module remotely controls the actions of the functional components on the intelligent automatic follow-up stroller, and the central controller is used to coordinate the management of the intelligent automatic-following stroller and feed back relevant information to the intelligent automatic-following stroller. Vehicle and terminal equipment; the terminal equipment includes at least a mobile phone APP. 10.一种商业模式，包括权利要求9所述的远程控制系统，其特征在于：在人流较大的商场、写字楼等人类活动区域内，提供给抱着婴儿小孩的大人用于共享使用，平台按次数、按使用时间或者是会员制向使用者收取费用，获得盈利；也可长期租赁给托儿所或者是婴幼儿活动中心、福利院等机构以及个人和家庭等使用，获得长期租赁费用收益；作为商品可以直接销售给各方的产品需求者，获得产品销售收益。10. A business model, comprising the remote control system according to claim 9, characterized in that: in human activity areas such as shopping malls and office buildings with a large flow of people, the platform is provided to adults holding babies and children for shared use, and the platform Users are charged fees according to the number of times, according to the time of use or membership system to obtain profits; they can also be rented to nurseries, infant and child activity centers, welfare homes and other institutions, as well as individuals and families for long-term use to obtain long-term rental fees; Commodities can be directly sold to various product demanders to obtain product sales revenue.
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CN105068533A (en) * 2015-07-17 2015-11-18 济南大学 Safety intelligent baby stroller capable of regulating and controlling environment
CN105137952A (en) * 2015-09-28 2015-12-09 上海海事大学 Intelligent baby carriage system based on Internet of things
CN106672051A (en) * 2015-11-09 2017-05-17 广东三泰隆科技有限公司 Novel foldable baby carriage
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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
CN107194859A (en) * 2017-06-28 2017-09-22 吴旭萍 A kind of shared perambulator management system and its management method and device
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CN109969247A (en) * 2019-03-14 2019-07-05 江苏理工学院 Control system and control method of induction-driven automatic walking folding stroller
CN111775941A (en) * 2019-03-18 2020-10-16 云南中商正晓农业科技有限公司 Automatic unmanned vehicle and control system
CN109885067A (en) * 2019-03-28 2019-06-14 京东方科技集团股份有限公司 Care car and control method applied to the care car
CN111506092A (en) * 2019-06-03 2020-08-07 合肥工业大学 Baby carriage control method and system
US11449065B2 (en) 2019-09-03 2022-09-20 Honda Motor Co., Ltd. System and method for controlling an autonomous carriage based on user intentions
CN111332354A (en) * 2020-04-06 2020-06-26 孙弢 A smart baby carriage
CN112347410A (en) * 2020-10-29 2021-02-09 同济大学 An environmental assessment method for stroller street implementation based on smartphone sensors
CN112347410B (en) * 2020-10-29 2022-11-15 同济大学 Baby carriage street pushing environment evaluation method based on smart phone sensor
CN113044095A (en) * 2021-03-31 2021-06-29 福州大学 Automatic following baby carriage based on UWB positioning and working method
CN114655090A (en) * 2022-03-21 2022-06-24 湖南湖大艾盛汽车技术开发有限公司 Modular multifunctional child's bike with intelligent base
CN116020133A (en) * 2023-02-28 2023-04-28 深圳盛思科教文化有限公司 Mobile body control method, device, mobile body, and storage medium

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Application publication date: 20190111