CN109969247B - Control system and control method of induction-driven automatic walking folding stroller - Google Patents
Control system and control method of induction-driven automatic walking folding stroller Download PDFInfo
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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
- B62B7/06—Carriages for children; Perambulators, e.g. dolls' perambulators having more than one wheel axis; Steering devices therefor collapsible or foldable
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Abstract
本发明提供了一种感应驱动式自动行走折叠婴儿车的控制系统和控制方法，所述控制系统包括：人体感应器，人体感应器设置于婴儿车的后部，用于检测婴儿车后方的人体和人体位置信息；避障传感器，避障传感器设置于婴儿车的前部，用于检测婴儿车前方的障碍物信息；驱动轮电机，驱动轮电机与婴儿车的驱动轮进行动力连接；车身折叠电动推杆；推手折叠电动推杆；控制器，控制器分别与人体感应器、避障传感器、驱动轮电机、车身折叠电动推杆和推手折叠电动推杆相连，控制器用于根据人体和人体位置信息、障碍物信息对驱动轮电机进行控制，以控制婴儿车自动行走和避障，并对车身折叠电动推杆和推手折叠电动推杆进行控制以控制婴儿车自动折叠。
The invention provides a control system and a control method for an induction-driven automatic walking and folding stroller. The control system includes: a human body sensor. The human body sensor is arranged at the rear of the stroller and is used to detect the human body behind the stroller. and human position information; obstacle avoidance sensor, the obstacle avoidance sensor is set on the front of the stroller to detect the obstacle information in front of the stroller; the driving wheel motor, the driving wheel motor is powered with the driving wheel of the stroller; the body is folded Electric push rod; push hand folding electric push rod; controller, the controller is respectively connected with human body sensor, obstacle avoidance sensor, driving wheel motor, body folding electric push rod and push hand folding electric push rod, the controller is used for according to the position of the human body and the human body Information and obstacle information control the driving wheel motor to control the stroller to automatically walk and avoid obstacles, and to control the body folding electric push rod and the pusher folding electric push rod to control the automatic folding of the stroller.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to a control system of an induction-driven automatic walking folding baby carriage and a control method of the induction-driven automatic walking folding baby carriage.
Background
In recent years, with the improvement of living standard of people, a newborn baby can obtain a plurality of matched products once being born in most families, and a baby carriage is one of the necessary products. With the increase of young and high-cultural-quality parents-oriented consumption groups, the requirements on the baby carriage are higher and higher by virtue of the former consumption concept, strong health consciousness and strong consumption strength. Meanwhile, the new generation of pregnant baby culture is promoted, so that the traditional nursing concept can be comprehensively updated, and the multifunctional, diversified and intelligent baby carriage has great market demand. The current commercially available strollers can be roughly divided into three categories: suitable for baby carriages (full lying and half lying) used according to the time of operators, portable baby carriages suitable for frequent outing and multi-person baby carriages (twins, triplets, multiple births and the like). Although the existing design of the baby carriage can be said to be various, with the change of life style, the demand of consumers for the baby carriage also shows a trend of diversification, and the prior single use style can not meet the diversified demand of the life style of people.
Present traditional perambulator mainly relies on self mechanical structure, controls through the manpower and accomplishes the drive walking, mainly has following shortcoming: 1. in the traditional baby carriage, an operator always controls the handle of the baby carriage by using both hands and pushes the baby carriage forcefully to enable the baby carriage to move to turn, so that the use experience is not high, the time is too long, and the operator is easy to fatigue; 2. the conventional baby carriage is generally folded manually, which brings inconvenience to an operator in the process of folding the baby carriage; 3. when the traditional baby carriage is pushed, if the sight of an operator does not notice short obstacles on the roadside, the collision is easy to happen, and the baby is frightened.
Disclosure of Invention
The invention provides a control system and a control method of an induction driving type automatic walking folding baby carriage, which aims to solve the technical problems that the existing baby carriage needs to be pushed and folded by manpower and is easy to collide due to a short colliding object.
The technical scheme adopted by the invention is as follows:
a control system for an induction-driven self-walking folding stroller, comprising: the human body sensor is arranged at the rear part of the baby carriage and used for detecting the human body and the position information of the human body behind the baby carriage; the obstacle avoidance sensor is arranged at the front part of the baby carriage and used for detecting obstacle information in front of the baby carriage; a drive wheel motor in powered connection with a drive wheel of the stroller; the electric push rod is folded on the vehicle body; the push handle folds the electric push rod; the controller is respectively connected with the human body sensor, the obstacle avoidance sensor, the driving wheel motor, the foldable electric push rod of the baby carriage body and the foldable electric push rod of the push handle, and the controller is used for controlling the driving wheel motor according to the position information of the human body and the obstacle information so as to control the automatic walking and obstacle avoidance of the baby carriage and controlling the foldable electric push rod of the baby carriage body and the foldable electric push rod of the push handle so as to control the automatic folding of the baby carriage.
The control system of the induction drive type automatic walking folding baby carriage further comprises: the remote controller is wirelessly connected with the controller and sends control information to the controller, so that the controller can control the baby carriage to automatically walk, avoid obstacles and fold according to the control information.
The human body sensor is arranged on the backrest support frame at the rear part of the baby carriage.
The obstacle avoidance sensor is arranged on the front supporting leg of the front part of the baby carriage.
The two driving wheel motors are respectively arranged corresponding to the left driving wheel and the right driving wheel of the baby carriage.
The two groups of electric push rods are arranged on two sides of the baby carriage respectively.
The two push handle folding electric push rods are respectively arranged on two sides of the push handle part of the push rod of the baby carriage.
The remote controller is in communication connection with the controller through Bluetooth.
A control method of an induction-driven automatic walking folding baby carriage comprises the following steps: detecting a human body and human body position information behind the baby carriage, and detecting barrier information in front of the baby carriage; and controlling a driving wheel motor according to the human body and the human body position information and the obstacle information so as to control the automatic walking and obstacle avoidance of the baby carriage, and controlling a body folding electric push rod and a push handle folding electric push rod so as to control the automatic folding of the baby carriage.
The control method of the induction driving type automatic walking folding baby carriage further comprises the following steps: and receiving control information sent by a remote controller, and controlling the baby carriage to automatically walk, avoid obstacles and fold according to the control information.
The invention has the beneficial effects that:
the baby carriage can realize the induction driving of the baby carriage and the automatic folding of the baby carriage, thereby greatly improving the use convenience of the baby carriage, reducing the labor intensity of an operator, relieving the fatigue of the operator, promoting the emotional communication between the operator and the baby, realizing the automatic obstacle avoidance of the baby carriage and improving the safety of the baby carriage.
Drawings
FIG. 1 is a schematic structural view of an induction driven type automatic walking foldable stroller according to an embodiment of the present invention;
FIG. 2 is a block diagram of a control system of the induction driven automatic walking folding stroller in accordance with the embodiment of the present invention;
FIG. 3 is a block diagram of a control system for an induction powered self-walking foldable stroller in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of a human body sensor according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an arrangement position of an obstacle avoidance sensor according to an embodiment of the present invention;
FIG. 6 is a schematic view of an application scenario of the induction driven automatic walking foldable stroller according to an embodiment of the present invention;
FIG. 7 is a schematic view of the induction driven self-walking foldable stroller in a folded state according to an embodiment of the present invention;
FIG. 8 is a flowchart of a control method of the induction driven automatic walking foldable stroller according to the embodiment of the present invention;
FIG. 9 is a flow chart of a control method for the induction driven automatic walking folding stroller in accordance with an embodiment of the present invention;
FIG. 10 is a schematic view of a drive wheel drive system according to one embodiment of the present invention.
Reference numerals:
the electric chair comprises a hand push rod 1, a backrest support frame 2, an electric cabinet 3, a backrest upright post 4, a front support leg 5, a rear support leg 6, a driving wheel 7, a universal wheel 8, a table board 9, a seat support frame 10, a handrail board 11, a triangular connecting piece 12, a front support leg connecting piece 13, a rear support leg connecting piece 14, an electric cabinet connecting piece 15 and a battery 16;
the human body sensor 100, the obstacle avoidance sensor 200, the driving wheel motor 300, the vehicle body folding electric push rod 400, the push handle folding electric push rod 500, the controller 600, the remote controller 700, the backrest folding electric push rod 410 and the supporting leg folding electric push rod 420;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the induction-driven automatic walking folding stroller according to the embodiment of the present invention includes a push rod 1, a backrest support frame 2, an electric cabinet 3, two backrest posts 4, two front legs 5, two rear legs 6, two driving wheels 7, i.e., front wheels, and two universal wheels 8, i.e., rear wheels, which are respectively disposed on two sides of the stroller. The induction-driven automatic walking folding baby carriage further comprises a table plate 9, a seat plate supporting frame 10 and two handrail plates 11 which are respectively arranged on two sides of the baby carriage. Wherein, the left side and the right side of the hand push rod 1 are respectively hinged with two backrest upright posts 4; on each side of the baby carriage, the backrest upright posts 4 and the hand push rods 1 are respectively hinged with two connecting ends of the triangular connecting piece 12 through pin shafts, the backrest support frame 2 is installed on the inner sides of the two backrest upright posts 4, and the table plate 9 is installed at the front ends of the two handrail plates 11. On each side of the baby carriage, the bottom of the backrest upright post 4 is hinged with a supporting point at the middle upper part of the rear supporting leg 6 through a pin shaft, the top end of the rear supporting leg 6 is hinged with a supporting point at the middle part of the armrest plate 11 through a pin shaft, the other supporting point at the middle part of the armrest plate 11 is hinged with the top end of the front supporting leg 5 through a pin shaft, the middle supporting point of the front supporting leg 5 is hinged with the front end of the seat supporting frame 10 through a pin shaft, and the rear end of the seat supporting frame 10 is hinged with the bottom end of the backrest supporting frame 2 through a pin shaft.
Further, as shown in fig. 1, each front leg 5 is mounted to a corresponding drive wheel 7 via a front leg connector 13, and each rear leg 6 is mounted to a corresponding caster wheel 8 via a rear leg connector 14. Specifically, the upper end of the front leg connecting piece 13 can be fixedly connected with the front leg 5 through a bolt, the lower end can be provided with the driving wheel 7 through a bolt, the upper end of the rear leg connecting piece 14 can be fixedly connected with the rear leg 6 through a bolt, and the lower end can be provided with the universal wheel 8 through a bolt.
As shown in fig. 2, the control system of the induction driven type automatic walking folding baby carriage of the embodiment of the present invention includes: the human body sensor 100, the obstacle avoidance sensor 200, the driving wheel motor 300, the vehicle body folding electric push rod 400, the push handle folding electric push rod 500 and the controller 600. The human body sensor 100 is arranged at the rear part of the baby carriage, and the human body sensor 100 is used for detecting the human body and the position information of the human body behind the baby carriage; the obstacle avoidance sensor 200 is arranged at the front part of the baby carriage, and the obstacle avoidance sensor 200 is used for detecting obstacle information in front of the baby carriage; the driving wheel motor 300 is in power connection with the driving wheel of the baby carriage; the controller 600 is respectively connected with the human body sensor 100, the obstacle avoidance sensor 200, the driving wheel motor 300, the vehicle body folding electric push rod 400 and the push handle folding electric push rod 500, and the controller 600 is used for controlling the driving wheel motor 300 according to the position information of the human body and the obstacle information so as to control the automatic walking and obstacle avoidance of the baby carriage, and controlling the vehicle body folding electric push rod 400 and the push handle folding electric push rod 500 so as to control the automatic folding of the baby carriage.
Further, as shown in fig. 3, the control system of the induction-driven automatic walking foldable stroller according to the embodiment of the present invention may further include a remote controller 700, the remote controller 700 is wirelessly connected to the controller 600, and the remote controller 700 sends control information to the controller 600, so that the controller 600 controls the stroller to automatically walk, avoid obstacles, and fold according to the control information. In one embodiment of the present invention, the remote controller 700 and the controller 600 may be communicatively connected via bluetooth. The control information sent by the remote controller 700 can be used in cooperation with the sensing information of the human body sensor 100 and the obstacle avoidance sensor 200, for example, the speed gear and the turning gear of the automatic walking of the stroller can be configured by the remote controller 700. The control information sent by the remote controller 700 can also be used to control the stroller independently, for example, the remote controller 700 can send a walking command to the stroller, including straight, backward, turning and stop commands to control the stroller to walk and avoid obstacles, and send a folding command to control the stroller to fold.
In one embodiment of the present invention, as shown in fig. 4, the motion sensor 100 may be provided on the back support frame 2 at the rear of the stroller. The number of the human body sensors 100 may be plural, for example, five human body sensors 100 may be uniformly and linearly arranged on the backrest support frame 2, so that a human body located at different positions of the left, middle and right of the stroller can be sensed. In one embodiment of the present invention, the human body sensor may be, but is not limited to, a human body infrared sensor.
In one embodiment of the present invention, as shown in fig. 5, the obstacle avoidance sensor 200 may be provided on the front leg 5 of the front portion of the stroller. The obstacle avoidance sensor 200 may be plural, and for example, two obstacle avoidance sensors 200 may be provided on each front leg 5. In one embodiment of the present invention, the obstacle avoidance sensor may be, but is not limited to, an ultrasonic sensor or an infrared sensor, and the ultrasonic sensor or the infrared sensor can sense an obstacle in front of the stroller.
In one embodiment of the present invention, as shown in fig. 1, there are two driving wheel motors 300, which are respectively provided to correspond to left and right driving wheels of the stroller.
In one embodiment of the present invention, two sets of the body folding electric push rods 400 are respectively disposed on both sides of the stroller. As shown in fig. 1, the body folding electric push rod 400 includes a back folding electric push rod 410 and a leg folding electric push rod 420. The other end of the triangular connecting piece 12 is hinged to one end of the backrest folding electric push rod 410 through a pin shaft, the other end of the backrest folding electric push rod 410 is hinged to a supporting point of the backrest upright post 4 through a pin shaft, a middle supporting point of the front supporting leg 5 is hinged to one end of the supporting leg folding electric push rod 420 through a pin shaft, and the other end of the supporting leg folding electric push rod 420 is hinged to a middle supporting point of the rear supporting leg 6 through a pin shaft.
In one embodiment of the present invention, two push-folding electric push rods 500 are provided, respectively, at both sides of the push portion of the push bar 1 of the stroller, and together with the push portion, form the entire push bar 1.
In one embodiment of the present invention, the controller 600 may be provided in the electric cabinet 3 shown in fig. 1. As shown in fig. 1, two sides of the electric cabinet 3 are respectively provided with an electric cabinet connecting piece 15, and the electric cabinet connecting pieces 15 on the two sides are correspondingly connected with the two rear support legs 6, so that the electric cabinet 3 is fixedly arranged on the rear support legs 6. The electric cabinet 3 may further include a battery 16, such as a lithium battery, and the battery 16 may supply power to electrical devices, such as the controller 600, the human body sensor 100, the obstacle avoidance sensor 200, the driving wheel motor 300, the vehicle body folding electric push rod 400, the push handle folding electric push rod 500, and the like.
The automatic walking and obstacle avoidance scene of the induction-driven automatic walking folding baby carriage of the embodiment of the invention is shown in fig. 6, when an operator 001 is positioned behind the baby carriage 002, the human body and the position of the human body are induced by the human body inductor 100, and the controller 600 can control the advancing and steering of the baby carriage 002 by controlling the driving wheel motor 300. For example, when a person is sensed right behind the stroller 002, the driving wheel motor 300 may be controlled to operate to drive the stroller 002 to move forward; when it is sensed that the human body is located behind the stroller 002 and is deviated to the left or right, the two driving wheel motors 300 can be controlled to operate at different rotating speeds so as to drive the stroller 002 to rotate. When an obstacle 003 is located in front of the stroller 002, the obstacle 003 is sensed by the obstacle avoidance sensor 200, and the controller 600 controls the driving wheel motor 300 to stop the stroller 002.
The folding state of the induction drive type automatic walking folding baby carriage of the embodiment of the invention is shown in figure 7.
According to the control system of the induction-driven type automatic walking folding baby carriage, the human body inductor, the obstacle avoidance sensor, the driving wheel motor, the baby carriage body folding electric push rod and the push hand folding electric push rod are arranged, the controller is used for controlling the baby carriage body folding electric push rod and the push hand folding electric push rod, the driving wheel motor is controlled according to induction results of the human body inductor and the obstacle avoidance sensor, induction driving of the baby carriage can be achieved, automatic folding of the baby carriage can be achieved, using convenience of the baby carriage can be greatly improved, labor intensity of an operator is reduced, fatigue of the operator is relieved, emotional communication between the operator and a baby is promoted, automatic obstacle avoidance of the baby carriage can be achieved, and safety of the baby carriage is improved.
Corresponding to the control system of the induction-driven automatic walking folding baby carriage in the above embodiment, the invention also provides a control method of the induction-driven automatic walking folding baby carriage.
As shown in fig. 8, the control method of the induction driven type automatic walking folding baby carriage of the embodiment of the present invention includes the following steps:
s1, detecting the human body and the position information of the human body behind the stroller, and detecting the obstacle information in front of the stroller.
Specifically, the human body sensor and the obstacle avoidance sensor in the control system respectively correspondingly detect the human body, the position information of the human body and the information of the obstacle.
And S2, controlling a driving wheel motor according to the position information of the human body and the information of the obstacle so as to control the automatic walking and obstacle avoidance of the baby carriage, and controlling a body folding electric push rod and a push handle folding electric push rod so as to control the automatic folding of the baby carriage.
Further, the control method of the induction driven type automatic walking folding baby carriage of the embodiment of the invention can also comprise the following steps: and receiving control information sent by the remote controller, and controlling the baby carriage to automatically walk, avoid obstacles and fold according to the control information.
In an embodiment of the present invention, as shown in fig. 9, a control method of the induction driven type automatic walking folding baby carriage includes:
and S101, initializing. Initializing a control system of the baby carriage, checking whether the system works normally or not, if not, not executing downwards, giving an alarm, and if normal, continuing executing downwards.
And S102, setting parameters. In one embodiment of the invention, the relevant parameters can be set by a remote controller. For example, setting forward and reverse vehicle speeds, 3-5 gears may be set, each gear corresponding to a different vehicle speed value; and 3-5 gears can be set by setting the turning time, and each gear corresponds to a different turning time value.
And S103, data acquisition. The controller such as a single chip microcomputer can collect operation signals of an operator through the human body sensors, the human body sensors can be uniformly distributed for 3-5, different turning angles are reflected according to different station positions of the operator, and the turning angles correspond to 0-75 degrees; the controller detects the front obstacle information of the baby carriage through the obstacle avoidance sensor.
And S104, judging whether an obstacle exists or not. The controller detects whether an obstacle exists in front of the baby carriage through the obstacle avoidance sensor, if so, the step S117 is executed, namely the controller sends stop signals to the left driving wheel motor and the right driving wheel motor to stop the baby carriage; if there is no obstacle, step S105 is executed.
S105, judging whether the remote control mode is set. If yes, go to step S106; if not, step S107 is performed.
And S106, executing a remote control mode. In one embodiment of the present invention, the remote mode may implement four functions, including a forward mode, a reverse mode, a turn-off mode, and a fold-out mode.
For the forward mode, when the forward button on the remote controller is pressed, the remote controller sends a forward signal to the controller, and the vehicle speed is the set vehicle speed in step S102. Referring to fig. 10, after a target vehicle speed is obtained, the vehicle speed-wheel rotation speed conversion module may calculate a target wheel rotation speed n at the current target vehicle speed according to a formula n = v/2 pi R, where v is the target vehicle speed and R is a radius of a driving wheel, the target wheel rotation speeds of the two driving wheels should be the same value, and meanwhile, a wheel rotation speed signal actually detected by a wheel speed sensor is used as a feedback value, and after the difference between the two values is adjusted by PID, a PWM control signal is output to a driving wheel motor, so as to drive the driving wheel to implement vehicle speed forward control. The back mode is based on the same principle as the forward mode, except that the button on the remote control is a "back" button. For the turning mode, after a left turning button or a right turning button on a remote controller is pressed, the turning angle is reflected according to the strength of the pressed force channel and changes between 0 degrees and 90 degrees, referring to fig. 10, if a certain force channel is used for pressing the left turning button, a target turning angle theta can be obtained, differential steering is implemented for turning, the right driving wheel is not moved, the left driving wheel is driven, then the target wheel rotating speed of the left driving wheel is calculated according to a formula n = (pi/4-theta/2) d/pi tR, wherein d is the distance between the two driving wheels, t is the turning time, an actually detected left driving wheel rotating speed signal is used as a feedback value, and after the difference between the two values is regulated by PID, a PWM control signal is output to a left driving wheel motor, so that the left driving wheel is driven, and the left turning function is realized; the right turn principle is the same as the left turn. For the folding and unfolding mode, after a folding button on the remote controller is pressed, the remote controller sends a folding signal to the controller, the controller sends retraction signals to the two pushing handle folding electric push rods firstly, so that the pushing handles are folded, after the pushing handles are folded, retraction signals are sent to the two groups of vehicle body folding electric push rods, so that the vehicle body is folded, after the folding is finished, the operation is stopped, and the principle of the folding and unfolding modes is the same and the sequence is opposite.
S107, the automatic driving mode is executed.
And S108, detecting a forward signal and a turning signal. The controller judges whether the baby carriage is going forward or turning according to the number of the human body sensors distributed at the rear part of the baby carriage, if the operator stands at the center, the baby carriage is in a 'going forward' mode, and the step S109 is carried out; if the operator is moving to the left or right, the mode is considered to be the "turning" mode, and the process proceeds to step S113.
S109, the forward mode is started.
S110, forward feedback control.
And S111, synchronously driving the driving wheels.
S112, judging whether the forward signal can be detected. If yes, returning to the step S109; if not, step S117 is performed.
The automatic forward mode is started, the vehicle speed is still the set vehicle speed in step S102, the principle is the same as the "forward" mode in step S106, except that the "forward signal" needs to be detected in real time, and if the operator is not detected, the vehicle stops and the vehicle continues to move forward if the operator is detected.
And S113, starting a turning mode.
And S114, turning feedback control.
And S115, driving wheels are driven in a differential mode.
S116, judging whether the turning signal can be detected or not. If yes, return to step S113; if not, step S117 is performed.
And starting an automatic turning mode, judging whether the turning is left turning or right turning and the turning angle through signals of a plurality of human body sensors, and after a target turning angle is obtained, carrying out real-time detection on a turning signal according to the working principle of the automatic turning mode which is the same as that of the turning mode in the step S106, wherein the difference is that the automatic turning mode is required to be detected, and once an operator is not detected, the automatic turning mode is stopped, and the operator continues to move forwards when the operator is detected.
And S117, stopping.
The remote controller can be used for switching between a remote control mode and an automatic driving mode at any time.
According to the control method of the induction-driven type automatic walking folding baby carriage, the driving wheel motor is controlled according to the position information of the human body and the obstacle information, the electric push rod for folding the baby carriage body and the electric push rod for folding the push handle are controlled, induction driving of the baby carriage can be achieved, automatic folding of the baby carriage can be achieved, using convenience of the baby carriage can be greatly improved, labor intensity of an operator is reduced, fatigue of the operator is relieved, emotional communication between the operator and a baby is promoted, automatic obstacle avoidance of the baby carriage can be achieved, and safety of the baby carriage is improved.
In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A control system of an induction-driven automatic walking folding baby carriage is characterized by comprising:
the human body sensors are arranged at the rear part of the baby carriage and used for detecting the human body and the position information of the human body at the rear part of the baby carriage, and the human body sensors are uniformly and linearly arranged on a backrest support frame at the rear part of the baby carriage and used for sensing the human body at different positions of the left, middle and right of the baby carriage;
the obstacle avoidance sensor is arranged at the front part of the baby carriage and used for detecting obstacle information in front of the baby carriage;
the two driving wheel motors are respectively arranged corresponding to the left driving wheel and the right driving wheel of the baby carriage;
the electric push rod is folded on the vehicle body;
the push handle folds the electric push rod;
a controller, which is respectively connected with the human body sensor, the obstacle avoidance sensor, the driving wheel motor, the body folding electric push rod and the push handle folding electric push rod, and is used for controlling the driving wheel motor according to the human body and human body position information and the obstacle information to control the automatic walking and obstacle avoidance of the baby carriage, and controlling the body folding electric push rod and the push handle folding electric push rod to control the automatic folding of the baby carriage, wherein when a person is in the rear of the baby carriage, the driving wheel motor is controlled to operate to drive the baby carriage to move forward, and when the human body is positioned to the left or right behind the baby carriage, the two driving wheel motors are controlled to operate at different rotating speeds to drive the baby carriage to turn,
when the controller controls the baby carriage to move forward, the controller calculates a target wheel rotating speed n under a set vehicle speed according to a formula n = v/2 pi R, wherein v is the set vehicle speed, R is the radius of a driving wheel, the target wheel rotating speeds of the two driving wheels are the same value, meanwhile, a wheel rotating speed signal actually detected by a wheel speed sensor is used as a feedback value, the difference between the two values is regulated by PID, a PWM control signal is output to a driving wheel motor, and thus the driving wheel is driven to realize the forward control of the vehicle speed,
when the controller controls the steering of the baby carriage, a target turning angle theta is obtained when the baby carriage turns left, differential steering is carried out to turn, the right driving wheel is not moved to drive the left driving wheel, then the target wheel rotating speed of the left driving wheel is calculated according to a formula n = (pi/4-theta/2) d/pi tR, wherein d is the distance between the two driving wheels, t is the turning time, the actually detected left driving wheel rotating speed signal is used as a feedback value, and after the difference between the two signals is adjusted by PID, a PWM control signal is output to a left driving wheel motor to drive the left driving wheel, so that the left turning function is realized, and the right turning principle is the same as the left turning.
2. The control system of an induction driven automatic walking folding stroller according to claim 1, further comprising:
the remote controller is wirelessly connected with the controller and sends control information to the controller, so that the controller can control the baby carriage to automatically walk, avoid obstacles and fold according to the control information.
3. The control system of the induction driven automatic walking folding baby carriage as claimed in claim 1, wherein the obstacle avoidance sensor is disposed on the front leg of the front part of the baby carriage.
4. The control system of claim 1, wherein the two groups of electric pushers are respectively disposed on two sides of the stroller.
5. The control system of claim 1, wherein the two foldable push rods are respectively disposed at two sides of the push portion of the push rod of the stroller.
6. The control system of claim 2, wherein the remote controller is connected to the controller via bluetooth communication.
7. A control method of an induction-driven automatic walking folding baby carriage is characterized by comprising the following steps:
detecting a human body and human body position information behind the baby carriage, and detecting barrier information in front of the baby carriage, wherein the human body position comprises a left position, a middle position and a right position;
controlling a driving wheel motor according to the human body and the position information of the human body and the obstacle information to control the automatic walking and obstacle avoidance of the baby carriage, and controlling a body folding electric push rod and a push handle folding electric push rod to control the automatic folding of the baby carriage, wherein when a person is in the front of the baby carriage, the baby carriage is controlled to advance, and when the person is in the rear of the baby carriage and is inclined to the left or the right, the baby carriage is controlled to turn,
wherein, if the baby carriage is controlled to advance, the target wheel rotating speed n under the set vehicle speed is calculated according to a formula n = v/2 pi R, wherein v is the set vehicle speed, R is the radius of the driving wheel, the target wheel rotating speeds of the two driving wheels should be the same value, meanwhile, the wheel rotating speed signal actually detected by the wheel speed sensor is used as a feedback value, the difference between the two values is regulated by PID, a PWM control signal is output to the driving wheel motor, thereby driving the driving wheel to realize the advancing control of the vehicle speed,
if the baby carriage is controlled to steer, a target turning angle theta is obtained when the baby carriage turns left, differential steering is implemented to turn, the right driving wheel is not moved, the left driving wheel is driven, then the target wheel rotating speed of the left driving wheel is calculated according to a formula n = (pi/4-theta/2) d/pi tR, wherein d is the distance between the two driving wheels, t is turning time, the actually detected left driving wheel rotating speed signal is used as a feedback value, the difference between the two values is adjusted through PID, and then a PWM control signal is output to a left driving wheel motor, so that the left driving wheel is driven, the left turning function is realized, and the right turning principle is the same as the left turning.
8. The method of controlling an induction-driven self-walking foldable stroller according to claim 7, further comprising:
and receiving control information sent by a remote controller, and controlling the baby carriage to automatically walk, avoid obstacles and fold according to the control information.
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| CN111184383A (en) * | 2020-01-09 | 2020-05-22 | 河北科技大学 | Baby bed |
| CN111514556B (en) * | 2020-05-15 | 2021-08-20 | 厦门兴联智控科技有限公司 | Motor vehicle control system |
| CN112401568A (en) * | 2020-11-18 | 2021-02-26 | 安徽理工大学 | Baby walking learning device and using method |
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| CN205273563U (en) * | 2015-11-09 | 2016-06-01 | 吴宇平 | Novel folded cascade perambulator |
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