CN105059358A - Intelligent safe fall-prevention baby carriage - Google Patents
Intelligent safe fall-prevention baby carriage Download PDFInfo
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- CN105059358A CN105059358A CN201510419310.1A CN201510419310A CN105059358A CN 105059358 A CN105059358 A CN 105059358A CN 201510419310 A CN201510419310 A CN 201510419310A CN 105059358 A CN105059358 A CN 105059358A
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- baby carriage
- perambulator
- car body
- falling
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Abstract
The invention relates to an intelligent safe fall-prevention baby carriage. The intelligent safe fall-prevention baby carriage is characterized by comprising a controller module, a body fall prevention module, a posture detection module, a body overturn prevention module, a running module, a brake module, a speed detection module, a voice control module, a voice broadcasting module, a power supply module and a baby carriage body. The controller module is connected with the body fall prevention module, the posture detection module, the body overturn prevention module, the running module, the brake module, the speed detection module, the voice control module, the voice broadcasting module and the power supply module. The intelligent safe fall-prevention baby carriage can actively prevent the baby carriage body from falling, the gesture of the baby carriage can be detected in real time, the baby carriage body is actively prevented from falling, the baby carriage is subjected to controlling and reasonable speed limiting, so that the baby carriage is automatically braked and the baby carriage is guaranteed not to slide.
Description
Technical field
The invention belongs to Intelligent baby carriage technical field, relate to a kind of Intelligent baby carriage, particularly the dropproof Intelligent baby carriage of a kind of safety.
Background technology
Along with the development of economy and technology, the nurse technology of people to baby is more and more paid attention to, and perambulator has become one of instrument of requisite nurse baby.But current perambulator exists certain defect at secure context, cause some safety misadventures.
At present, mainly there is the defect of following secure context in the perambulator of use: perambulator does not have and prevents from falling function; Perambulator does not have and initiatively prevents overturning ability; Perambulator can not detect perambulator self attitude; When parking unreasonable, perambulator easily slips car; Perambulator does not have autobrake ability.Therefore, need the dropproof Intelligent baby carriage of a kind of safety to overcome the defect of above-mentioned secure context, ensure the safety of baby.
Summary of the invention
The present invention is directed to prior art and cannot solve above-mentioned perambulator Problems existing, provide the dropproof Intelligent baby carriage of a kind of safety.The dropproof Intelligent baby carriage of safety can, to ground, travel direction front recess position probing, initiatively prevent baby carriage body from falling; Can detect in real time self attitude, initiatively prevent baby carriage body overturning; Control and reasonable speed limit can be carried out to perambulator speed; Realize autobrake and ensure that perambulator does not slip car.
In order to complete above-mentioned purpose, the present invention by the following technical solutions.
The dropproof Intelligent baby carriage of a kind of safety, it is characterized in that, the dropproof Intelligent baby carriage of described safety comprises: controller module, prevent car body from falling module, attitude detection module, prevent car body overturning module, travel module, brake module, velocity measuring module, speech control module, voice playing module, supply module, baby carriage body.Described controller module respectively with prevent car body from falling module, attitude detection module, prevent car body overturning module, travel module, brake module, velocity measuring module, speech control module, voice playing module, supply module be connected.Described supply module respectively with controller module, prevent car body from falling module, attitude detection module, prevent car body overturning module, travel module, brake module, velocity measuring module, speech control module, voice playing module be connected.
Described controller module falls module with preventing car body respectively, attitude detection module, prevent car body overturning module, travel module, brake module, velocity measuring module, speech control module, voice playing module, supply module connects, receiving process prevents car body from falling module, attitude detection module, prevent car body overturning module, travel module, brake module, velocity measuring module, speech control module, voice playing module, the information that supply module transmission comes and data, and to preventing car body from falling module, attitude detection module, prevent car body overturning module, travel module, brake module, velocity measuring module, speech control module, voice playing module, supply module transmission command information and data, control each module and realize corresponding function.
Described prevent from car body from falling module being connected with controller module, for realizing ground, baby carriage body travel direction front recess position probing, preventing perambulator from falling.Prevent car body from falling module and comprise dropproof sensor.
Described attitude detection module is connected with controller module, for detecting self attitude of baby carriage body in real time, by self gesture feedback of current baby carriage body to controller module.Attitude detection module comprises obliquity sensor.
The described car body overturning module that prevents is connected with controller module, and receive the information that controller module sends, realize the front support baby carriage body of perambulator overturning, auto-strengthening perambulator makes it recover normal placement, stops the overturning of baby carriage body.Prevent car body overturning module from comprising multiple degree of freedom folding mechanical arm.
Described traveling module realizes the movable of perambulator and left and right turn.Traveling module comprises: rotary encoder, motor-drive circuit, independent driving wheel, cushion universal flower wheel, retarder, DC servo motor.
Described brake module completes perambulator and realizes autobrake when halted state.Brake module comprises electromagnetism brake holding.
Described velocity measuring module realizes the real-time detection to perambulator moving velocity and moving direction, by the moving velocity of perambulator and moving direction information feed back to controller module.Velocity measuring module comprises speed sensor.
Described speech control module realizes being controlled by the function of voice to perambulator, completes the remote not way of contact and controls perambulator.Speech control module comprises: voice recognition chip, mini microphone.
Described voice playing module realizes being play by voice perambulator current state and function situation and reporting to the police.Voice playing module comprises: speech play chip, loud speaker.
Described supply module realizes power supply to perambulator whole system, Power convert transformation and the detection to energy-storage battery dump energy.Supply module comprises: mains charger, electric pressure converter, electric power detection controller, energy-storage battery.
Described baby carriage body is the vehicle body frame of perambulator, has parasols, rotatable mobile change sun shading angle; There is handrail handlebar.
The invention has the beneficial effects as follows: the dropproof Intelligent baby carriage of a kind of safety of the present invention, can initiatively prevent baby carriage body from falling, perambulator self attitude can be detected in real time, initiatively prevent baby carriage body overturning, control and reasonable speed limit are carried out to perambulator speed, realizes perambulator autobrake and ensure that perambulator does not slip car.
Accompanying drawing explanation
Fig. 1 is Intelligent baby carriage integral structure functional schematic of the present invention.
Fig. 2 is Intelligent baby carriage construction profile schematic diagram of the present invention.
In figure 1, controller module, 2, prevent car body from falling module, 3, attitude detection module, 4, prevent car body overturning module, 5, module is travelled, 6, brake module, 7, velocity measuring module, 8, speech control module, 9, voice playing module, 10, supply module, 21, parasols, 22, handrail handlebar, 23, dropproof sensor, 24, mini microphone, 25, loud speaker, 26,3DOF folding mechanical arm, 27, independent driving wheel, 28, universal flower wheel, 29, baby carriage body.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further illustrated, specifically to set forth technical scheme of the present invention.
As depicted in figs. 1 and 2, the dropproof Intelligent baby carriage of a kind of safety of the present invention, it is characterized in that, the dropproof Intelligent baby carriage of described safety comprises: controller module 1, prevent car body from falling module 2, attitude detection module 3, prevent car body overturning module 4, travel module 5, brake module 6, velocity measuring module 7, speech control module 8, voice playing module 9, supply module 10, baby carriage body 29.Described controller module 1 respectively with prevent car body from falling module 2, attitude detection module 3, prevent car body overturning module 4, travel module 5, brake module 6, velocity measuring module 7, speech control module 8, voice playing module 9, supply module 10 be connected.Described supply module 10 respectively with controller module 1, prevent car body from falling module 2, attitude detection module 3, prevent car body overturning module 4, travel module 5, brake module 6, velocity measuring module 7, speech control module 8, voice playing module 9 be connected.
Described controller module 1 adopts MSP430 processor of single chip computer as the treater of data processing and control.
Described prevent from car body from falling module 2 adopting dropproof sensor 23 to be arranged on baby carriage body bottom surface surrounding to be connected with MSP430 processor of single chip computer in controller module 1, realize ground, baby carriage body 29 travel direction front recess position probing, Detection Information is fed back to MSP430 processor of single chip computer in controller module 1, prevent perambulator from falling.
Described attitude detection module 3 adopts double-shaft tilt angle sensor to be arranged on forward and backward side and the left and right side angle of inclination of baby carriage body 29 floor detection baby carriage body, completes the detection to baby carriage body self attitude.
The described car body overturning module 4 that prevents adopts 8 groups of 3DOF folding mechanical arm 26 control realization at the front support baby carriage body 29 of perambulator overturning, and auto-strengthening perambulator makes it recover normal placement, stops the overturning of baby carriage body 29; 8 groups of 3DOF folding mechanical arms 26 are arranged on baby carriage body 29 surrounding side respectively, and 2 groups of 3DOF folding mechanical arms 26 are installed in each side.
Described traveling module 5 adopts 2 motor-drive circuits, 2 retarders, 2 DC servo motor, 2 rotary encoders, 2 independent driving wheels, 2 universal flower wheels of buffering.Motor-drive circuit is by controller module 1 connection control; Every one speed reducer is connected with each drive wheel; Each DC servo motor is connected with a retarder, rotary encoder, a motor-drive circuit; 2 independent driving wheels 27, as the trailing wheel of perambulator, are realized the turning function of perambulator, realize moving forward and backward of perambulator when speed is identical by the speed difference of two independent driving wheels; 2 universal flower wheels 28 of buffering, as the front-wheel of perambulator, coordinate 2 independent driving wheels to complete advance, retreat, turn to, and form the mobile engine installation of two covers.
Described brake module 6 installs electromagnetism brake holding by the afterbody of the DC servo motor in traveling module 5, electromagnetism brake holding energising adhesive when DC servo motor is rotated, and motor is not braked; The electromagnetism brake holding power-off when DC servo motor stops, brake holding checks motor under the effect of spring force, realizes the braking to perambulator.
Inside 2 independent driving wheels 27 that described velocity measuring module 7 adopts 2 speed sensors to be arranged on perambulator respectively, velocity measuring is carried out to it, realize the real-time detection to perambulator moving velocity and moving direction.
Described speech control module 8 adopts voice recognition chip and mini microphone 24 to form speech recognition equipment, realizes receiving the function of voice command to perambulator and controls.
Described voice playing module 9 adopts speech play chip and loud speaker 25 to realize carrying out speech play and audio alert to perambulator current state and function situation.
In described supply module 10, energy-storage battery selects high energy efficiency Li-ion batteries piles.When Li-ion batteries piles electricity is not enough, electric power detection controller can detect that battery electric quantity is low, and it is not enough that perambulator plays voice message battery electric quantity by voice playing module 9, and reminding user is Li-ion batteries piles charging in time; User connects civil power by mains charger plug and charges, and after charging terminates, stops charging to Li-ion batteries piles when electric power detection controller detects that Li-ion batteries piles electricity is sufficient.
The dropproof Intelligent baby carriage principle of work of a kind of safety is as follows: when perambulator is started working, in controller module 1, the data of MSP430 processor of single chip computer to each module process and control, prevent from car body from falling module 2 to adopt dropproof sensor 23 to be arranged on baby carriage body bottom surface surrounding to be connected with MSP430 processor of single chip computer in controller module 1, when recess position, ground, baby carriage body 29 travel direction front being detected, Detection Information is fed back to MSP430 processor of single chip computer in controller module 1, control perambulator halts, and prevents perambulator from falling.
In controller module 1, MSP430 processor of single chip computer processes self attitude data of baby carriage body 29 that double-shaft tilt angle sensor feedback in attitude detection module 3 is come, when detect baby carriage body 29 angle of inclination close to will the angle value of overturning time, in controller module 1, MSP430 processor of single chip computer controls to prevent car body overturning module 4 from launching to support perambulator in 2 groups of 3DOF folding mechanical arm 26 shifted laterallys of side, baby carriage body overturning direction, perambulator is stoped to continue overturning, control 2 groups of 3DOF folding mechanical arms 26 all to stretch and make it recover normal placement baby carriage body righting.
User sends advance voice command to perambulator, speech control module 8 receives the voice messaging of user, this voice command is identified and feeds back to controller module 1 after processing, controller module 1 controls to travel 2 DC servo motor in module 5 and rotates forward with identical speed, completes perambulator and moves forward; User sends retrogressing voice command to perambulator, speech control module 8 receives the voice messaging of user, this voice command is identified and feeds back to controller module 1 after processing, controller module 1 controls to travel 2 DC servo motor in module 5 and reverses with identical speed, completes perambulator and travels backward; User sends left-hand rotation or right-hand rotation voice command to perambulator, speech control module 8 receives the voice messaging of user, this voice command is identified and feeds back to controller module 1 after processing, controller module 1 controls to travel 2 DC servo motor in module 5 and rotates with friction speed, completes perambulator left steering or right steering traveling; Turn right when left side DC servo motor velocity of rotation is greater than right side DC servo motor velocity of rotation, turn left when right side DC servo motor velocity of rotation is greater than left side DC servo motor velocity of rotation; User sends stopping voice command to perambulator, speech control module 8 receives the voice messaging of user, this voice command is identified and feeds back to controller module 1 after processing, controller module 1 controls to travel 2 DC servo motor in module 5 and stops operating, brake module 6 is by installing electromagnetism brake holding at the afterbody of the DC servo motor travelling module 5, electromagnetism brake holding energising adhesive when DC servo motor is rotated, motor is not braked; The electromagnetism brake holding power-off when DC servo motor stops, brake holding checks motor under the effect of spring force, realizes the braking to perambulator.
User sends fast running to perambulator or travels voice command at a slow speed, speech control module 8 receives the voice messaging of user, these order voice are identified and feeds back to controller module 1 after processing, controller module 1 controls to travel 2 DC servo motor in module 5 and carries out speed adjustment, and perambulator is travelled fast or at a slow speed.
Velocity measuring module 7 adopts 2 speed sensors to be arranged on respectively inside 2 independent driving wheels 27 of perambulator, realizes the real-time detection to perambulator moving velocity and moving direction.When perambulator speed, in velocity measuring module 7,2 speed sensors detect 2 independent driving wheel 27 speed, and it is very fast that voice message present speed play by the loud speaker 25 that controller module 1 controls voice playing module 9; When perambulator excessive velocities exceedes limited speed, when having influence on safe, it is too fast that voice message present speed play by the loud speaker 25 that controller module 1 controls voice playing module 9, automatically controls to travel module 5 simultaneously and reduce by 2 DC servo motor velocities of rotation and make perambulator speed be reduced in safety speed; When in velocity measuring module 7,2 speed sensors detect that 2 independent driving wheel 27 speed are different, when identifying the independent driving wheel speed in left side and being greater than the independent driving wheel speed in right side, then perambulator is just in right steering; When right side independent driving wheel speed is greater than the independent driving wheel speed in left side, then perambulator is just at left steering.
Through the dropproof Intelligent baby carriage embodiment working process of above the present invention's safety, realize initiatively preventing baby carriage body from falling, real-time self attitude of detection perambulator, initiatively prevent baby carriage body overturning, control and reasonable speed limit are carried out to perambulator speed, realizes perambulator autobrake and ensure that perambulator does not slip car.
Claims (1)
1. the dropproof Intelligent baby carriage of safety, it is characterized in that, the dropproof Intelligent baby carriage of described safety comprises: controller module, prevent car body from falling module, attitude detection module, prevent car body overturning module, travel module, brake module, velocity measuring module, speech control module, voice playing module, supply module, baby carriage body; Described controller module respectively with prevent car body from falling module, attitude detection module, prevent car body overturning module, travel module, brake module, velocity measuring module, speech control module, voice playing module, supply module be connected; Described supply module respectively with controller module, prevent car body from falling module, attitude detection module, prevent car body overturning module, travel module, brake module, velocity measuring module, speech control module, voice playing module be connected;
Described prevent from car body from falling module being connected with controller module, for realizing ground, baby carriage body travel direction front recess position probing, preventing perambulator from falling; Prevent car body from falling module and comprise dropproof sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510419310.1A CN105059358A (en) | 2015-07-17 | 2015-07-17 | Intelligent safe fall-prevention baby carriage |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510419310.1A CN105059358A (en) | 2015-07-17 | 2015-07-17 | Intelligent safe fall-prevention baby carriage |
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| CN105059358A true CN105059358A (en) | 2015-11-18 |
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| CN201510419310.1A Pending CN105059358A (en) | 2015-07-17 | 2015-07-17 | Intelligent safe fall-prevention baby carriage |
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| CN106184330A (en) * | 2016-08-04 | 2016-12-07 | 陕西科技大学 | A kind of multifunctional intellectual follows stroller |
| CN107320278A (en) * | 2017-07-31 | 2017-11-07 | 成都中科博恩思医学机器人有限公司 | A kind of operation chassis with pushing hands |
| CN107320277A (en) * | 2017-07-31 | 2017-11-07 | 成都中科博恩思医学机器人有限公司 | A kind of operating table underbody seat with parked function |
| CN107334595A (en) * | 2017-07-31 | 2017-11-10 | 成都中科博恩思医学机器人有限公司 | A kind of operating table underbody seat with extension leg |
| CN108186296A (en) * | 2017-12-27 | 2018-06-22 | 重庆柚瓣家科技有限公司 | Open air is from the auxiliary running gear of walking robot |
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| CN107334595A (en) * | 2017-07-31 | 2017-11-10 | 成都中科博恩思医学机器人有限公司 | A kind of operating table underbody seat with extension leg |
| CN107320277B (en) * | 2017-07-31 | 2021-07-13 | 成都博恩思医学机器人有限公司 | Operation platform truck base with parking function |
| CN108186296A (en) * | 2017-12-27 | 2018-06-22 | 重庆柚瓣家科技有限公司 | Open air is from the auxiliary running gear of walking robot |
| CN108186296B (en) * | 2017-12-27 | 2020-06-05 | 重庆柚瓣家科技有限公司 | Auxiliary walking system of outdoor self-walking robot |
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Application publication date: 20151118 |
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