CN115649268A - An intelligent baby carriage with a control system and its control method - Google Patents

Abstract

The invention discloses an intelligent baby carriage with a control system and a control method thereof, wherein a carriage frame, a basket, a wheel set, a handlebar and a control mechanism are arranged in the middle of the carriage frame; the wheels comprise a front wheel and a rear wheel, the front wheel is provided with a steering mechanism, the steering mechanism on the front wheel is driven by a motor to realize steering, the rear wheel is driven by the motor, and the steering is realized by controlling the rotating speed difference of the left rear wheel and the right rear wheel; the left rear wheel and the right rear wheel are sequentially connected with a detachable hub, a detachable clutch mechanism, a detachable motor and a detachable brake mechanism; the control mechanism comprises an input signal module, an execution module, a microcontroller, a power supply module and a direct current voltage reduction module. The invention can realize the switching of various control instructions of calling the baby carriage, remotely controlling the baby carriage and automatically following the baby carriage.

Description

An intelligent baby carriage with a control system and its control method

technical field

The invention relates to the technical field of baby carriers, more specifically, it relates to an intelligent baby carriage with a control system and a control method thereof.

Background technique

As an outdoor activity product for babies, baby carriages are widely used. At present, the motors used in baby carriages need to use motors with reduction ratios. The motors cannot run idling, and the resistance will be too large. The baby stroller lacks a clutch design. When the motor is not working, the stroller is heavy to push because the driving wheels are not separated from the motor. As a result, the user is prone to fatigue when pushing for a long time or going uphill, and the user experience is not good. Therefore, it is necessary to improve existing baby carriages to solve the above-mentioned technical problems.

With the development of science and technology and the improvement of people's living standards, people hope to have a comfortable and more intelligent stroller that frees their hands. They can connect the Bluetooth remote control stroller through a mobile phone or computer, and hope that the stroller can go straight, turn left, and turn right. turn, stop, reverse, and recognize and avoid obstacles.

Contents of the invention

The purpose of the present invention is to solve the above technical problems, and propose a smart baby carriage with a control system and a control method thereof with Bluetooth remote control, UWB positioning tracking identification and obstacle avoidance, and a brake and clutch.

In order to achieve the above object, the present invention adopts the following technical solutions: a smart baby carriage with a control system includes a vehicle frame, a vehicle basket, a wheel set, a handlebar and a control mechanism, the middle part of the vehicle frame is provided with a vehicle basket, A handlebar is arranged on the top of the frame, and the wheel set is arranged at the bottom of the frame, and the wheel set includes a brake mechanism, a clutch mechanism, wheels, a motor and a hub;

The wheels include front wheels and rear wheels, both of which are mounted on the vehicle frame, and the front wheels are provided with a steering mechanism, and the steering mechanism on the front wheels is driven by a motor to realize steering. The wheels include the left rear wheel and the right rear wheel, and the rear wheels are driven by the motor, and the speed difference between the left rear wheel and the right rear wheel is controlled at the same time to realize steering;

The left rear wheel and the right rear wheel are sequentially connected with a detachable hub, a detachable clutch mechanism, a detachable motor and a detachable braking mechanism;

The control mechanism includes an input signal module, an execution module, a microcontroller, a power supply module and a DC step-down module; the input signal module is connected to the input end of the microcontroller, and the output end of the microcontroller is connected to the execution module. The output end of the power supply module is connected to the input end of the DC step-down module, and the output end of the DC step-down module is connected to the input end of the microcontroller;

The execution module includes a motor drive module, a left motor and a right motor.

Preferably, the brake mechanism includes a pedal, a motor sleeve, a boss and a brake pin, the motor sleeve is provided with a boss, and the pedal drives the motor sleeve to rotate at a certain angle. Next, the brake pin is ejected and inserted into the wheel hub to brake.

Preferably, the clutch mechanism includes a clutch boss, a clutch pin and a runner. Under the brake state, the runner is rotated, and the clutch boss is arranged inside the runner, and the clutch pin is driven by the clutch boss. Eject out to realize the fixing of the clutch mechanism and the hub.

Preferably, the motor is sleeved on the rear wheel base and arranged inside the motor sleeve, and the motor sleeve and the rear wheel base are engaged with each other.

Preferably, the motor is a hub motor, and the hub motor is installed on the front wheel or the rear wheel of the stroller to realize the forward or backward movement of the stroller, and the front wheel is a universal wheel.

Preferably, the motor is a DC motor with a reduction ratio, the DC motor is installed at the shaft core of the rear wheel, and a clutch mechanism is provided between the rear wheel and the DC motor.

Preferably, the input signal module includes one or a combination of two or more of a Bluetooth signal sending module, a UWB positioning and ranging module, or an ultrasonic ranging module.

Preferably, a calling module, a remote control module, a follower module, and a booster module are set inside the control mechanism, and the caller module, remote control module, follower module, and booster module are installed independently or in combination.

Preferably, the steps of the control method of the intelligent stroller with a control system are:

S1: The stroller is powered on, and the stroller is paired through the Bluetooth connection of the input signal module;

S2: Select a mode, select one of the long-distance one-key call mode, wireless remote control mode or short-distance automatic follow-up mode, or two or more modes, and enter step S21, S22, S23 or S24;

S21: Mode selection, select the close-range automatic follow mode, the positioning module judges the owner's position, the upper computer sends instructions, and the lower computer receives instructions;

S22: Mode selection, select the wireless remote control mode, the mobile phone/computer sends commands, and the lower computer receives commands;

S23: Mode selection, select the long-distance one-key call mode, the positioning module finds the owner's location, the upper mechanism formulates the action route, sends instructions, and the lower computer receives the instructions;

S24: Mode selection, select the long-distance one-button call mode, the positioning module finds the owner's location, the upper mechanism formulates the action route, sends instructions, intelligently avoids after encountering obstacles, the positioning module searches for the owner's location again, the upper computer formulates the action route, and sends command, the lower computer receives the command;

S3: After the lower computer receives the instruction, the lower computer controls the wheel set to turn, go straight and slow down;

S31: The lower computer controls the speed of the left and right wheels of the wheel set, and differential steering;

S32: The lower computer controls the wheel set to accelerate slowly until the set speed;

S33: The lower computer controls the wheel set to decelerate slowly until it stops.

Compared with the prior art, the present invention provides an intelligent stroller with a control system and its control method, which has the following beneficial effects:

1. The present invention is equipped with a clutch mechanism. The clutch mechanism is a manual clutch mechanism. In the braking state, the runner is rotated, and the clutch pin is pushed out under the action of the clutch boss, thereby realizing the fixing of the clutch mechanism and the wheel hub. At this time The rotation of the motor can drive the wheels to move. When the motor is not working, because the driving wheels of the car are not separated from the motor, and a clutch mechanism is installed, the baby stroller is easier to push, which saves effort for the user and provides a better experience.

2. The motor of the present invention adopts a DC motor with a reduction ratio. According to the actual needs of the user, the DC motor is installed at the shaft core of the rear wheel, and a clutch system is provided between the rear wheel and the DC motor. When the motor is used, the rear wheel can be separated from the motor, and the stroller is no different from an ordinary stroller at this time.

3. The present invention is equipped with a detachable wheel hub, a detachable clutch mechanism, a detachable motor and a detachable brake mechanism. This design can be configured according to the actual needs of users, which is simpler and more convenient to meet the needs of different users.

4. The invention can effectively protect the service life of the motor and protect the motor from various damages and pollutions by providing the motor sleeve. The motor sleeve and the rear wheel seat are clamped to each other, which is convenient for installation and use.

5. Send straight forward, left turn, right turn, stop and back commands to the microcontroller through the Bluetooth signal sending module; measure the distance and angle between the person and the car through the UWB positioning and ranging module, and send it to the microcontroller; through the motor The driving module drives the ultrasonic ranging module to detect the distance and angle of obstacles in the surrounding environment, and transmits the detection result to the microcontroller; realizes the signal transmission of the input signal module.

6. When the summoning module, remote control module, follower module and power assist module are installed in combination, a smart stroller with call, remote control, follow and assist can be realized. Each module can also be installed independently, with high flexibility, and users can install it according to their needs .

Description of drawings

Fig. 1 is the flow chart of the control method of the intelligent stroller of the present invention;

Fig. 2 is the flow chart of the control mechanism of the smart stroller of the present invention;

Fig. 3 is a schematic diagram 1 of the overall structure of the intelligent stroller of the present invention;

Fig. 4 is a schematic diagram 2 of the overall structure of the intelligent stroller of the present invention;

Fig. 5 is an exploded view of the wheel set structure of the smart stroller of the present invention;

Fig. 6 is a schematic diagram of the wheel set structure of the intelligent stroller of the present invention;

Fig. 7 is a second structural schematic diagram of the wheel set of the smart stroller of the present invention;

Fig. 8 is a structural schematic diagram of the brake mechanism of the smart stroller of the present invention;

Fig. 9 is a structural schematic diagram of the clutch mechanism of the intelligent stroller of the present invention;

Fig. 10 is a functional block diagram of the analog PID control system of the present invention.

In the figure: 1. Vehicle frame; 2. Car basket; 3. Wheel group; 4. Handlebar; 5. Brake mechanism; 51. Foot pedal; 52. Motor sleeve; 53. Boss; 54. Brake pin; 6, clutch mechanism; 61, clutch boss; 62, clutch pin; 63, runner; 7, wheel; 71, front wheel; 72, rear wheel; 721, left rear wheel; 722, right rear wheel; 8, motor ; 9, wheel hub; 10, control mechanism; 11, rear wheel seat.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention.

In describing the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", " The orientation or positional relationship indicated by "outside", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, so as to Specific orientation configurations and operations, therefore, are not to be construed as limitations on the invention.

See also shown in Fig. 1-9, a kind of intelligent stroller with control system of the present invention, comprises vehicle frame 1, vehicle basket 2, wheel set 3, handlebar 4 and control mechanism 10, the vehicle frame 1 The middle part is provided with a vehicle basket 2, the top of the vehicle frame 1 is provided with a handlebar 4, and the wheel set 3 is arranged at the bottom of the vehicle frame 1, and the wheel set 3 includes a brake mechanism 5, a clutch mechanism 6, wheels 7, a motor 8 and hub 9;

Described wheel 7 comprises front wheel 71 and rear wheel 72, and described front wheel 71 and rear wheel 72 are all installed on the vehicle frame 1, and described front wheel 71 is provided with steering mechanism, and the steering on the front wheel is driven by motor 8 mechanism to realize steering, and the rear wheel 72 includes a left rear wheel 721 and a right rear wheel 722, and the motor 8 drives the rear wheel 72, and simultaneously controls the speed difference between the left rear wheel 721 and the right rear wheel 722 to realize steering;

The left rear wheel 721 and the right rear wheel 722 are sequentially connected with a detachable hub 9, a detachable clutch mechanism 6, a detachable motor 8 and a detachable braking mechanism 5;

The control mechanism 10 includes an input signal module, an execution module, a microcontroller, a power supply module and a DC step-down module; the input signal module is connected to the input end of the microcontroller, and the output end of the microcontroller is connected to the execution module, The output end of the power module is connected to the input end of the DC step-down module, and the output end of the DC step-down module is connected to the input end of the microcontroller;

The execution module includes a motor drive module, a left motor and a right motor.

Wherein, the present invention provides a baby stroller with a brake mechanism 5, a clutch mechanism 6, a motor 8, and a wheel hub 9, the braking function can be realized by setting the brake mechanism 5; by setting the clutch mechanism 6, when the motor is not working, the baby The car is lighter when pushed, the user is not easy to get tired, and the experience is better. The wheel hub 9 is set to cooperate with the brake mechanism 5, the clutch mechanism 6 and the motor 8 to work. This stroller is provided with a control mechanism 10, the control mechanism 10 is installed on the handlebar 4, the control mechanism 10 supplies power to the microcontroller and the execution module through the power supply module and the DC step-down module, the microprocessor is the main control STM32 single chip microcomputer, The input signal module is connected to the input terminal of the microcontroller, and the output terminal of the microcontroller is connected to the executive module, so as to control the stroller to go straight, turn left, turn right, stop, reverse, and can identify and avoid obstacles without manual push. Free your hands, easy to use.

An optional embodiment, as shown in Figures 7-8, the brake mechanism 5 includes a pedal 51, a motor sleeve 52, a boss 53 and a brake pin 54, and the inside of the motor sleeve 52 is provided with a convex Platform 53, pedal 51 drives motor sleeve 52 to rotate a certain angle, and under the effect of boss 53, brake pin 54 is ejected and inserted into the wheel hub 9 for braking.

Wherein, the present invention is provided with brake mechanism 5, drives motor sleeve 52 to rotate certain angle by foot pedal 51, and under the effect of boss 53, brake pin 54 is pushed out and inserted in the wheel hub 9, thereby realizes the brake. function, in addition the braking mechanism 5 is detachable and can be assembled according to user needs.

An optional embodiment, as shown in FIG. 9, the clutch mechanism 6 includes a clutch boss 61, a clutch pin 62 and a runner 63. In a braking state, the runner 63 is rotated, and the runner 63 A clutch boss 61 is provided inside, and the clutch pin 62 is ejected under the action of the clutch boss 61 to realize the fixing of the clutch mechanism 6 and the wheel hub 9 .

Wherein, the clutch mechanism 6 of the present invention is a manual clutch mechanism. In the braking state, the rotating wheel 63 is rotated, and the clutch pin 62 is pushed out under the action of the clutch boss 61, thereby realizing the fixing of the clutch mechanism 6 and the wheel hub 9. Now the rotation of motor just can drive wheel 7 motions.

An optional embodiment, as shown in Figures 5-6, the motor 8 is set on the rear wheel base 11, and is arranged inside the motor sleeve 52, and the motor sleeve 52 and the rear wheel base 11 are connected to each other. Card access.

Among them, the present invention can effectively protect the service life of the motor by setting the motor sleeve 52, and protect the motor from various damages and pollutions. The motor sleeve 52 and the rear wheel base 11 are engaged with each other, which is convenient for installation and use. .

An optional embodiment, as shown in FIG. 5, the motor 8 is a hub motor, and the hub motor is installed on the front wheel 71 or the rear wheel 72 of the stroller to realize the forward or backward movement of the stroller. Front wheel 71 is universal wheel.

Wherein, the motor 8 of the present invention can be a wheel hub motor, and the wheel hub motor is detachable, and can be installed on the front wheel 71 or the rear wheel 72 of the stroller according to the needs of the user, so as to realize the forward or backward movement of the stroller according to the needs of the user. The present invention sets front wheel 71 to be universal wheel, and effect is to carry out 360 degree rotations, adopts the setting rotation of universal wheel more flexible, safe and reliable.

An optional embodiment, as shown in Figure 5, the motor 8 is a DC motor with a reduction ratio, the DC motor is installed at the axle core of the rear wheel, and a clutch is provided between the rear wheel 72 and the DC motor Institution 6.

Wherein, the motor 8 of the present invention adopts a DC motor with a reduction ratio. According to the actual needs of the user, the DC motor is installed at the rear wheel shaft core position, and a clutch system 6 is provided between the rear wheel 72 and the DC motor. When the baby carriage does not use the motor, the rear wheel can be separated from the motor, and at this time the baby carriage is no different from an ordinary baby carriage.

An optional implementation manner, as shown in Figure 1-2, the input signal module includes one or a combination of two or more of a Bluetooth signal sending module, a UWB positioning and ranging module, or an ultrasonic ranging module.

Wherein, in the present invention, send straight ahead, turn left, turn right, stop and back commands to the microcontroller through the Bluetooth signal sending module; measure the distance and angle between the person and the car through the UWB positioning and ranging module, and send it to the microcontroller ; The ultrasonic ranging module is driven by the motor drive module to detect the distance and angle of obstacles in the surrounding environment, and the detection result is transmitted to the microcontroller.

An optional embodiment, as shown in Figure 1, the control mechanism 10 is equipped with a calling module, a remote control module, a follower module, and a power assist module, and the call module, remote control module, follower module and power boost module are independently installed or Combined installation.

Wherein, when the calling module, the remote control module, the following module and the booster module are installed in combination, an intelligent stroller with calling, remote control, following, and power assistance can be realized; the calling module is installed independently to realize a smart stroller with a calling function. Stroller; independently install the remote control module to realize a smart baby stroller with remote control function; independently install the follow module to realize a smart stroller with follow function; independently install the booster module to realize a smart stroller with booster function Smart stroller; calling module, remote control module, following module and booster module. Each group of modules has its corresponding control system.

An optional implementation, as shown in Figure 1-2, the steps of the control method of the smart stroller with a control system are:

S1: The stroller is powered on, and the stroller is paired through the Bluetooth connection of the input signal module;

S2: Select a mode, select one of the long-distance one-key call mode, wireless remote control mode or short-distance automatic follow-up mode, or two or more modes, and enter step S21, S22, S23 or S24;

S21: Mode selection, select the close-range automatic follow mode, the positioning module judges the owner's position, the upper computer sends instructions, and the lower computer receives instructions;

S22: Mode selection, select the wireless remote control mode, the mobile phone/computer sends commands, and the lower computer receives commands;

S23: Mode selection, select the long-distance one-key call mode, the positioning module finds the owner's location, the upper mechanism formulates the action route, sends instructions, and the lower computer receives the instructions;

S24: Mode selection, select the long-distance one-button call mode, the positioning module finds the owner's location, the upper mechanism formulates the action route, sends instructions, intelligently avoids after encountering obstacles, the positioning module searches for the owner's location again, the upper computer formulates the action route, and sends command, the lower computer receives the command;

S3: After the lower computer receives the instruction, the lower computer controls the wheel set to turn, go straight and slow down;

S31: The lower computer controls the speed of the left and right wheels of the wheel set, and differential steering;

S32: The lower computer controls the wheel set to accelerate slowly until the set speed;

S33: The lower computer controls the wheel set to decelerate slowly until it stops. .

Among them, the APP software application of the present invention is installed in the user's upper computer system, and the Bluetooth module of the car body realizes the communication with the car body, and the relevant parameters and control modes of the stroller can be set on the upper computer APP to realize the control mode such as Real-time display of the switching and information of various control commands for calling baby carriages, remote control baby carriages, and automatic following baby carriages.

The mobile phone/computer sends straight, left, right, stop and reverse commands to the microcontroller through Bluetooth, and then the single-chip microcomputer controls the steering and speed of the left and right motors to perform five behaviors: straight, left, right, stop and backward , to realize the wireless remote control mode; followed by the short-range automatic follow mode, the distance and angle between the person and the car are measured by the UWB positioning and ranging module, and sent to the microcontroller, and then the single-chip microcomputer is processed by the automatic follow algorithm to control the left and right motors Steering and speed, five behaviors of going straight, turning left, turning right, stopping and retreating; the last is the long-distance one-button calling mode, which includes the obstacle avoidance mode, which is driven by the motor for ultrasonic distance measurement The module detects the distance and angle of obstacles in the surrounding environment, and transmits the detection results to the microcontroller, and the single-chip microcomputer processes the information and controls the stroller to bypass the obstacles.

The stroller described in this application adopts an automatic follow algorithm, which is one of the most widely used algorithms in industrial applications. In the control of a closed-loop system, the control system can be automatically corrected accurately and quickly.

PID algorithm: It is "proportional, integral, derivative", which is a common "maintaining stability" control algorithm.

The block diagram of a conventional analog PID control system is shown in Figure 10, from which the relationship between u(t) and e(t) can be obtained:

Among them, Kp is the proportional gain, which is an adjustment parameter; Ki is the integral gain, which is also an adjustment parameter; Kd is the differential gain, which is also an adjustment parameter; e is error=setting value (SP)-feedback value (PV); t is the current time.

In most occasions, it is relatively simple and rude to use "switching quantity" to control a physical quantity, and sometimes it cannot be kept stable, because the single-chip microcomputer and sensor are not infinitely fast, and acquisition and control take time. Moreover, the control object has inertia. For example, if the hot water controller is unplugged, its "residual heat", that is, thermal inertia, may continue to increase the water temperature for a while. At this time, the PID control algorithm needs to be used.

① Kp proportional gain

Kp proportional control considers the current error, and the error value is multiplied by a positive constant Kp (representing the ratio). The amount that needs to be controlled has its current value and our desired target value. When the gap between the two is extremely large, the rate of change block, as the gap decreases, the rate of change slows down until it reaches the desired value.

The larger the Kp, the more aggressive the regulation, and the smaller the Kp, the more conservative the regulation.

② Kd differential gain

With the function of P, the car may "shake wildly" back and forth near the balance angle, making it difficult to stabilize. At this time, a control effect is needed to make the "change speed" of the controlled physical quantity tend to 0, which is similar to the "damping" effect.

The Kd differential control considers the future error, calculates the first derivative of the error, and multiplies it with a positive constant Kd.

When it is closer to the target, the control effect of P is relatively small. The closer to the target, the gentler the effect of P. There are many internal or external factors that cause the control amount to fluctuate in a small range. The function of D is to make the velocity of the physical quantity tend to 0. Whenever the quantity has a velocity, D will exert force in the opposite direction to stop the change as much as possible. The larger the Kd parameter, the stronger the braking force in the opposite direction of the speed.

③Ki integral gain

The Ki integral control considers the past error, and multiplies the error value over a period of time (error sum) by a positive constant Ki. The function of I is to reduce the error under static conditions and make the controlled physical quantity as close as possible to the target value. The larger the value of Ki, the larger the multiplied coefficient during integration, and the more obvious the integration effect.

The Ki integral control considers the past error, and multiplies the error value over a period of time (error sum) by a positive constant Ki. The function of I is to reduce the error under static conditions and make the controlled physical quantity as close as possible to the target value. The larger the value of Ki, the larger the multiplied coefficient during integration, and the more obvious the integration effect.

The most important and difficult work of the PID algorithm is parameter debugging, that is, the system can achieve the best control effect by adjusting the control parameters (proportional gain, integral gain/time, differential gain/time).

Stability (no divergent oscillations) is the primary condition for debugging. If the parameters of the PID algorithm controller are not selected properly, the controller output may be unstable, that is, the output diverges. Instability is generally caused by excessive gain, especially for systems with long delay times.

The automatic following algorithm adopted by the stroller described in this application is the PID control algorithm, and the PID control method is a positional PID, and its expression is as follows:

Wherein: k represents the sampling sequence number, k=0,1,2,...;

uk - the computer output value at the Kth sampling moment;

ek--the deviation value input at the kth sampling moment;

ek-1--the deviation value input at the k-1th sampling time;

Ki--Integral coefficient, Ki=Kp*T/Ti;

Kd--differential coefficient, Kd=Kp*Td/T.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solution of the present invention Any equivalent replacement or change of the inventive concepts thereof shall fall within the protection scope of the present invention.

Claims (9)

1. The utility model provides an intelligence perambulator with control system which characterized in that: the bicycle comprises a frame (1), a bicycle basket (2), a wheel set (3), a handlebar (4) and a control mechanism (10), wherein the bicycle basket (2) is arranged in the middle of the frame (1), the handlebar (4) is arranged above the frame (1), the wheel set (3) is arranged at the bottom of the frame (1), and the wheel set (3) comprises a brake mechanism (5), a clutch mechanism (6), a wheel (7), a motor (8) and a wheel hub (9);

the vehicle comprises wheels (7) and is characterized in that the wheels (7) comprise front wheels (71) and rear wheels (72), the front wheels (71) and the rear wheels (72) are both mounted on a vehicle frame (1), the front wheels (71) are provided with steering mechanisms, the steering mechanisms on the front wheels are driven by a motor (8) to realize steering, the rear wheels (72) comprise left rear wheels (721) and right rear wheels (722), the rear wheels (72) are driven by the motor (8), and the steering is realized by controlling the difference of the rotating speeds of the left rear wheels (721) and the right rear wheels (722);

the left rear wheel (721) and the right rear wheel (722) are sequentially connected with a detachable hub (9), a detachable clutch mechanism (6), a detachable motor (8) and a detachable brake mechanism (5);

the control mechanism (10) comprises an input signal module, an execution module, a microcontroller, a power supply module and a direct-current voltage reduction module; the input signal module is connected with the input end of the microcontroller, the output end of the microcontroller is connected with the execution module, the output end of the power supply module is connected with the input end of the direct current voltage reduction module, and the output end of the direct current voltage reduction module is connected with the input end of the microcontroller;

the execution module comprises a motor driving module, a left motor and a right motor.

2. The intelligent stroller with control system of claim 1, wherein: brake mechanism (5) are including pedal (51), motor sleeve (52), boss (53) and brake round pin (54), motor sleeve (52) inside is provided with boss (53), and pedal (51) drive motor sleeve (52) and rotate certain angle, and under the effect of boss (53), brake round pin (54) are ejecting to be inserted wheel hub (9) internal braking.

3. The intelligent baby carriage with the control system as claimed in claim 1, wherein: clutch mechanism (6) are including separation and reunion boss (61), separation and reunion round pin (62) and runner (63), under brake state, rotate runner (63), establish separation and reunion boss (61) in runner (63) separation and reunion round pin (62) are ejecting under the effect of separation and reunion boss (61), realize clutch mechanism (6) and wheel hub (9) fixed.

4. The intelligent baby carriage with the control system as claimed in claim 1, wherein: the motor (8) is sleeved on the rear wheel seat (11) and arranged inside the motor sleeve (52), and the motor sleeve (52) is mutually clamped with the rear wheel seat (11).

5. The intelligent stroller with control system of claim 1, wherein: the motor (8) is a hub motor, the hub motor is arranged on a front wheel (71) or a rear wheel (72) of the baby carriage to realize the forward or backward movement of the baby carriage, and the front wheel (71) is a universal wheel.

6. The intelligent stroller with control system of claim 1, wherein: the motor (8) is a direct current motor with a reduction ratio, the direct current motor is arranged at the position of a rear wheel axle core, and a clutch mechanism (6) is arranged between the rear wheel (72) and the direct current motor.

7. The intelligent stroller with control system of claim 1, wherein: the input signal module comprises one or the combination of two or more than two of a Bluetooth signal sending module, a UWB positioning ranging module or an ultrasonic ranging module.

8. The intelligent baby carriage with the control system as claimed in claim 1, wherein: the control mechanism (10) is internally provided with a calling module, a remote control module, a following module and a power assisting module, wherein the calling module, the remote control module, the following module and the power assisting module are independently or jointly installed.

9. A control method of an intelligent baby carriage with a control system based on any one of claims 1-8, characterized in that the steps of the control method are as follows:

s1: the power supply of the baby carriage is started, and the baby carriage is connected and paired through the Bluetooth of the input signal module;

s2: selecting a mode, selecting one or two or more modes of a long-distance one-key calling mode, a wireless remote control mode or a close-distance automatic following mode, and entering the steps S21, S22, S23 or S24;

s21: selecting a close-range automatic following mode, judging the position of a master by a positioning module, sending an instruction by an upper computer, and receiving the instruction by a lower computer;

s22: selecting a wireless remote control mode, sending an instruction by a mobile phone/a computer, and receiving the instruction by a lower computer;

s23: selecting a remote one-key calling mode, searching the position of a host by a positioning module, making a moving route by an upper mechanism, sending an instruction, and receiving the instruction by a lower computer;

s24: selecting a remote one-key calling mode, searching the position of a host by a positioning module, making a motion route by an upper computer, sending an instruction, intelligently avoiding the host after encountering an obstacle, searching the position of the host again by the positioning module, making the motion route by the upper computer, sending the instruction, and receiving the instruction by a lower computer;

s3: after the lower computer receives the instruction, the lower computer controls the wheel set to steer, go straight and stop slowly;

s31: the lower computer controls the speed of the left wheel and the right wheel of the wheel set and performs differential steering;

s32: the lower computer controls the wheel set to slowly accelerate until the set speed is reached;

s33: the lower computer controls the wheel set to slowly decelerate until the lower computer stops.

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