CN106672051A - Novel foldable baby carriage - Google Patents
Novel foldable baby carriage Download PDFInfo
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- CN106672051A CN106672051A CN201510750208.XA CN201510750208A CN106672051A CN 106672051 A CN106672051 A CN 106672051A CN 201510750208 A CN201510750208 A CN 201510750208A CN 106672051 A CN106672051 A CN 106672051A
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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
- B62B9/00—Accessories or details specially adapted for children's carriages or perambulators
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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
- B62B9/00—Accessories or details specially adapted for children's carriages or perambulators
- B62B9/24—Safety guards for children, e.g. harness
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- Health & Medical Sciences (AREA)
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Emergency Alarm Devices (AREA)
Abstract
The invention relates to the technical field of baby carriages, in particular to a novel foldable baby carriage having a body; the body is provided with a motor drive system, an intelligent follow-up system, an intelligent obstacle-avoiding system, an intelligent fall protection system, a baby safeguard system, a power system, a central microcomputer control system, an automatic charge system and a handheld terminal; without omitting the functions of an existing baby carriage, such as portability, foldability and good simplicity and comfort of use, the novel foldable baby carriage has no need for manual push, frees the hands, is convenient to use and good in safety and reliability, and has the functions, such as automatic follow-up, automatic parking and braking, trajectory recording, automatic fall protection, baby safeguard, cradle function, automatic obstacle avoidance, and automatic charging.
Description
Technical field
The present invention relates to the technical field of stroller, especially a kind of novel foldable stroller.
Background technology
Stroller is a kind of tool car for aiming at baby's outdoor activities offer facility and designing, and stroller can give child
The intelligent development of son brings certain benefit, increases the brains development of child, there is various vehicles, folding baby
Car is exactly the one kind in numerous vehicles.
Existing folding baby car mostly is implementation, foot manually and touches on the brake, and there are many safety in actual use
Hidden danger, mainly there is following several representative accidents：
(1) on slope or other more smooth road surfaces, once forgetting brake, it is easily caused stroller certainly
By sliding, road is gone out in overturning, gets into an accident, and even results in baby's injury or dies young；
(2) chat or do not note for the moment with people when the head of a family uses, stroller pushes away race by other people, or
Take advantage of the head of a family not note embracing baby；
(3) when old man uses existing stroller, manual hand is needed, increases the burden of old people；
(4) anyone necessary go-cart of both hands when in use, it is impossible to both hands are liberated, in many routine use situations
Under, if baby cry, when needing to have in arms baby, baby's one hand go-cart singlehanded can only be embraced；
(5) existing stroller in step equation of equal altitude than being easy to the things such as fall or overturn occur where larger
Therefore problem.
The content of the invention
The technical problem to be solved in the present invention is：What the prior art in order to solve above-mentioned background technology was present
Problem, there is provided a kind of without manual hand, liberation both hands, novel foldable easy to use, safe
Formula stroller.
The technical solution adopted for the present invention to solve the technical problems is：A kind of novel foldable stroller,
With car body, be provided with the car body motor driven systems, intelligent system for tracking, intelligent barrier avoiding system,
Intelligent fall arrest system, baby safe guard system, dynamical system, center microcomputer control system, automatically
Charging system and handheld terminal；The motor driven systems include brush direct current motor module, clutch mould
Block and brake module；The brush direct current motor module includes brush direct current motor and direct current motor drive circuit；
The clutch module includes clutch drive circuit and electromagnetic clutch；The brake module includes electric uncaging
Normally closed brake；The intelligent system for tracking include gyroscope gesture recognition module, following distance detection module and
Data reception module；The gyroscope gesture recognition module includes nine axle gyro sensors；It is described follow away from
Include that ZIGBEE RSSI values are obtained and ultrasonic receiver from detection module；The data reception module includes
ZIGBEE low-power consumption communication boards；The intelligent barrier avoiding system involves infrared ray detection of obstacles module including ultrasound
With obstacle algorithm rapid computations processing module；The ultrasound involves infrared ray detection of obstacles module and includes ultrasound
Wave sensor and infrared distance sensor；The obstacle algorithm rapid computations processing module includes independent MCU core
Piece and MCU peripheral circuits；The intelligent fall arrest system include dropproof algorithm rapid computations processing module and
The dropproof module of infrared ray；The dropproof algorithm rapid computations processing module includes independent MCU chip and MCU
Peripheral circuit；The dropproof module of the infrared ray includes infrared distance sensor；The baby safe protection system
System includes car body periphery human body pyroelectricity infrared induction module, bicycle basket baby's detection module, bicycle basket infrared palisade
Foreign body intrusion detection module, GPS location track record module, handlebar fingerprint authentication module and car body alarm module；
The car body periphery human body pyroelectricity infrared induction module includes miniature human body pyroelectric sensor；The bicycle basket
Baby's detection module includes miniature human body pyroelectric sensor；The bicycle basket infrared palisade foreign body intrusion detects mould
Block includes miniature echlette sensor；The GPS location track record module includes that gps satellite positions mould
Block；The handlebar fingerprint authentication module includes fingerprint sensor；The car body alarm module includes high-decibel wind
Flute, audible-visual annunciator and warning lamp；The dynamical system include power battery module, power management module and
Independent stand-by power supply module；The power battery module includes ter-polymers dynamic lithium battery；The power supply
Management module includes electric power management circuit；The independent stand-by power supply module includes ter-polymers power lithium battery
Pond and stand-by power supply handover management circuit；The center microcomputer control system includes the micro computer controlled molding in center
Block and bluetooth communication module；The center microcomputer controlling module includes Intel's micro processor and process
Device peripheral circuit；The bluetooth communication module includes bluetooth 4.0BLE low-power consumption communication module；It is described to fill automatically
Electric system includes charging circuit module, automatic charging guiding module and charging stubs；The charging circuit mould
Block includes the high-power charging circuits of AC-DC；The automatic charging guiding module includes ultrasonic transmitter and red
Outside line emitter；The charging stubs include contact charging pile；The handheld terminal includes wearable knot
Structure module, guiding signaling module, alarm module, supply module and charging device module；The wearable knot
Structure module includes wearable handheld terminal；The guiding signaling module includes that ultrasonic transmitter, ZIGBEE are low
Power consumption wireless electricity communication module and nine axle gyro sensors；The alarm module includes buzzer and vibrations report
Alert device；The supply module includes miniature ter-polymers lithium battery；The charging device module includes car body
Handheld terminal cradle.
Further, motor driven systems described in above-mentioned technical proposal pass through gear shift using direct current generator
Case produces suitable power and realizes the rotating speed and Torque Control of two trailing wheels by Motor drive plate；Straight trip
When two trailing wheels rotating speed it is consistent, using left rear wheel and the differential of off hind wheel during turning, promote two above
Universal wheel is turned to according to certain angle, realizes turning；Electromagnetic clutch is arranged on the gear shift of motor transmission
Behind case, clutch closure, motor direct-drive wheel when obtaining electric；Clutch upon loss of power is unclamped, and is braked
During release, wheel can be rotated freely, in clutch electromagnetic brake disposed behind, when brake has electricity, be unclamped
Brake, wheel can be rotated；When brake there is not electricity, closure brake, wheel stop motion.
Further, intelligent system for tracking described in above-mentioned technical proposal by ZIGBEE low-power consumption communication board with
Handheld terminal is communicated, receive the direction of nine axle gyroscopes of the axle gyro sensor of handheld terminal nine, speed and
Acceleration information, then the ultrasonic receiver by following distance detection module, ZIGBEE low-power consumption communication boards
RSSI intensity, be sent to center microcomputer control system, calculate handheld terminal running orbit, operation
Direction and distance and in accordance with setting rule followed.
Further, in intelligent barrier avoiding system described in above-mentioned technical proposal ultrasonic sensor and it is infrared away from
From sensor respectively positioned at the front and back of car body, visited by ultrasonic sensor and infrared distance sensor
The obstacle in front of direct of travel is measured, is transferred data to only in obstacle avoidance algorithm rapid computations processing module
Vertical MCU chip is calculated, driving stroller avoiding obstacles of obtaining a result.
Further, the dropproof module of intelligence fall arrest system middle infrared (Mid-IR) described in above-mentioned technical proposal is red
Outer range sensor is arranged on surrounding under car body, with the distance that 45 degree of angles detect car body and ground, in real time will
Range data is sent to dropproof algorithm rapid computations processing module, dropproof algorithm rapid computations processing module
Computing draws the discrepancy in elevation on front ground, when more than setting value, sends execute instruction and allows stroller to stop or make
Go out corresponding workaround.
Further, car body periphery human body pyroelectricity in baby safe guard system described in above-mentioned technical proposal
The miniature human body pyroelectric sensor of infrared induction module is arranged on car body surrounding, has around real-time detection car body
It is close without personnel；The miniature human body pyroelectric sensor of bicycle basket baby's detection module module is arranged on inside bicycle basket,
Baby is whether there is in real-time monitoring bicycle basket；The miniature echlette of bicycle basket infrared palisade foreign body intrusion detection module is passed
Sensor is arranged on bicycle basket inside edge, and real-time monitoring has foreign to enter bicycle basket；GPS location track record module by
GPS sensor and peripheral circuit are constituted, and using GPS sensor current positional information is obtained, and are sent to central authorities
Microcomputer controlling module, to handle well and be pushed to outside mobile phone A PP by bluetooth after data, and uploads to high in the clouds clothes
Business device and the running orbit of stroller is drawn out on APP；The fingerprint sensor of handlebar fingerprint authentication module
For user arrange follow, into manual mode safety certification and using biological identification technology prevent him
People pushes without authorization vehicle；Car body alarm module is divided into two-stage alert levels, and general alarm uses audible-visual annunciator
And warning lamp, special hazard is used can send the high-decibel bagpipe that ear-piercing alarm song is reminded.
Further, the power battery module described in above-mentioned technical proposal in dynamical system is gathered by polylith ternary
Compound dynamic lithium battery constitutes and is responsible for providing car load electric power；The electric power management circuit of power management module is responsible for
Charge Management, power distribution and battery protection；Small-sized ter-polymers in independent stand-by power supply module are moved
Power lithium battery and stand-by power supply handover management circuit are constituted for being responsible for being supplied to parking brake when main power source exhausts
Electricity.
Further, the center micro computer control in center microcomputer control system described in above-mentioned technical proposal
Module is responsible for the data operation of car load and conversion by Intel's micro processor and processor peripheral circuit,
Appropriate control instruction and processing method is drawn according to the data of each subsystem；In bluetooth communication module
Bluetooth 4.0BLE low-power consumption communication module is used for and mobile phone connection and outside mobile phone A PP communication.
Further, the AC-DC of the charging circuit module described in above-mentioned technical proposal in automatic charging system
Civil power is converted into unidirectional current and for charging to the power battery module of stroller by high-power charging circuit；From
Dynamic charging guiding module is navigated using ultrasonic transmitter and infrared sensor, allows stroller in certain model
Find charging pile and voluntarily charge in enclosing；The charging pile of charging stubs adopts contact connected mode, works as baby
When youngster's car is before charging pile, start to charge up by touching charge connector.
Further, the wearable construction module described in above-mentioned technical proposal in handheld terminal adopts human body work
Cheng Xue is designed；Guiding signaling module is not stopped paying out using ultrasonic transmitter in the case where function is followed automatically and penetrates specific frequency
The ultrasound wave of rate, while keep online using ZIGBEE low-consumption wireless electricity communication module and car body, by car
Body follows module arithmetic automatically, obtains the distance between handheld terminal and car body；Passed using nine axle gyroscopes
Sensor collects the movement angle speed and movement locus of handheld terminal；Communicated by ZIGBEE low-consumption wireless electricity
Module sends these data to intelligence and follows module to follow；Alarm module is using vibrations alarm and honeybee
Ring device, cooperation peripheral circuit receive the correlation letter that car body sends by ZIGBEE low-consumption wireless electricity communication module
Breath, the alarm signal for sending vibrations or sound；The miniature ter-polymers lithium battery of supply module is responsible for whole
Individual handheld terminal is powered；Charging device module has the base special charging position for agreeing with handheld terminal on car body.
The invention has the beneficial effects as follows：By the thinking of Internet of Things, using sensor technology, low-consumption wireless
Communication technology, closely location technology and motor-drive technique, make it is a can be with automatic traveling, automatically stop
Car brake, track record, automatically it is dropproof, with baby safe protection, cradle, automatic obstacle-avoiding, automatic
Charge and the electric intelligent Pushchair with certain amusement function, do not lack existing stroller it is light,
It is foldable, using simple comfortable function on the basis of, without manual hand, liberate both hands, it is easy to use,
It is safe and reliable.
Description of the drawings
With reference to the accompanying drawings and examples the present invention is further described.
Fig. 1 is the structural representation of the present invention；
Fig. 2 is that the operation of mobile phone terminal APP is illustrated.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further detailed explanation.These accompanying drawings are simplified schematic diagram,
The basic structure of the present invention is only illustrated in a schematic way, therefore it only shows the composition relevant with the present invention.
See Fig. 1 and Fig. 2, a kind of novel foldable stroller of the invention, with car body, the car body is aluminum
Alloy material and band incabloc function, are provided with motor driven systems, intelligent system for tracking, intelligence and keep away on car body
Barrier system, intelligent fall arrest system, baby safe guard system, dynamical system, center micro computer control system
System, automatic charging system and handheld terminal.
Motor driven systems include brush direct current motor module, clutch module and brake module；DC brush
Motor module includes brush direct current motor and direct current motor drive circuit；Clutch module includes that clutch drives electricity
Road and electromagnetic clutch；Brake module includes obtaining electric normally closed brake of uncaging.
Intelligent system for tracking includes gyroscope gesture recognition module, following distance detection module and data reception
Block；Gyroscope gesture recognition module includes nine axle gyro sensors；Following distance detection module includes ZIGBEE
RSSI value is obtained and ultrasonic receiver；Data reception module includes ZIGBEE low-power consumption communication boards.
Intelligent barrier avoiding system involves at infrared ray detection of obstacles module and obstacle algorithm rapid computations including ultrasound
Reason module；Ultrasound involves infrared ray detection of obstacles module including ultrasonic sensor and infrared distance sensor；
Obstacle algorithm rapid computations processing module includes independent MCU chip and MCU peripheral circuits.
Intelligent fall arrest system includes dropproof algorithm rapid computations processing module and the dropproof module of infrared ray；
Dropproof algorithm rapid computations processing module includes independent MCU chip and MCU peripheral circuits；Infrared ray is anti-to fall
Stamping die block includes infrared distance sensor.
Baby safe guard system includes that car body periphery human body pyroelectricity infrared induction module, bicycle basket baby are detected
Module, bicycle basket infrared palisade foreign body intrusion detection module, GPS location track record module, handlebar finger print identifying
Module and car body alarm module；Car body periphery human body pyroelectricity infrared induction module includes miniature human body pyroelectricity
Sensor；Bicycle basket baby detection module includes miniature human body pyroelectric sensor；Bicycle basket infrared palisade foreign body enters
Detection module is invaded including miniature echlette sensor；GPS location track record module is positioned including gps satellite
Module；Handlebar fingerprint authentication module includes fingerprint sensor；Car body alarm module includes high-decibel bagpipe, sound
Light crossing-signal and warning lamp.
Dynamical system includes power battery module, power management module and independent stand-by power supply module；Power current
Pond module includes ter-polymers dynamic lithium battery；Power management module includes electric power management circuit；It is independent standby
Include ter-polymers dynamic lithium battery and stand-by power supply handover management circuit with supply module.
Center microcomputer control system includes center microcomputer controlling module and bluetooth communication module；The micro- electricity in center
Brain control module includes Intel's micro processor and processor peripheral circuit；Bluetooth communication module includes indigo plant
Tooth 4.0BLE low-power consumption communication modules.
Automatic charging system includes charging circuit module, automatic charging guiding module and charging stubs；Charge
Circuit module includes the high-power charging circuits of AC-DC；Automatic charging guiding module include ultrasonic transmitter and
RF transmitter；Charging stubs include contact charging pile.
Handheld terminal includes wearable construction module, guiding signaling module, alarm module, supply module and fills
Electric installation module；Wearable construction module includes wearable handheld terminal；Guiding signaling module includes ultrasound wave
Emitter, ZIGBEE low-consumption wireless electricity communication module and nine axle gyro sensors；Alarm module includes honeybee
Ring device and vibrations alarm；Supply module includes miniature ter-polymers lithium battery；Charging device module includes
Car body handheld terminal cradle.
Motor driven systems produce suitable power and by motor using direct current generator by speed-changing gear box
Driving plate realizes the rotating speed and Torque Control of two trailing wheels；The rotating speed of two trailing wheels is consistent during straight trip, during turning
Using left rear wheel and the differential of off hind wheel, promote two universal wheels above to turn to according to certain angle, realize
Turn；Electromagnetic clutch is arranged on behind the speed-changing gear box of motor transmission, the clutch closure when obtaining electric, electricity
Machine direct drive of wheel；Clutch upon loss of power is unclamped, and during brake release, wheel can be rotated freely,
Clutch electromagnetic brake disposed behind, when brake has electricity, releasing of brake, wheel can be rotated；When brake does not have
When electric, closure brake, wheel stop motion, brake gear has compact lithium cell as standby independently-powered,
Equally come into force when main body there is not electricity.
Intelligent system for tracking is communicated by ZIGBEE low-power consumption communication board with handheld terminal, receives handheld terminal nine
The direction of nine axle gyroscopes of axle gyro sensor, speed and acceleration information, then examined by following distance
Ultrasonic receiver, the RSSI intensity of ZIGBEE low-power consumption communication boards of module are surveyed, middle core microcomputer is sent to
Control system, calculates running orbit, traffic direction and the distance of handheld terminal and carries out in accordance with setting rule
Follow.
Ultrasonic sensor and infrared distance sensor in intelligent barrier avoiding system respectively positioned at car body front and
Rear, by ultrasonic sensor and infrared distance sensor the obstacle in front of direct of travel is detected, will
The independent MCU chip that data are sent in obstacle avoidance algorithm rapid computations processing module is calculated, and is obtained a result
Stroller avoiding obstacles are driven, the purpose of avoidance is reached；In a manual mode the system equally comes into force, can
Effectively to prevent stroller and front or behind object from clashing into.
The infrared distance sensor of the dropproof module of intelligent fall arrest system middle infrared (Mid-IR) is arranged on four under car body
In week, with the distance that 45 degree of angles detect car body and ground, in real time range data is sent to into dropproof algorithm quick
Calculation process module, dropproof algorithm rapid computations processing module computing draws the discrepancy in elevation on front ground, when big
When setting value, send execute instruction and allow stroller to stop or make corresponding workaround.In manual mode
The lower system equally comes into force, and can effectively prevent stroller from running into the big ground road surface of the discrepancy in elevation and send danger of overturning.
The miniature human body pyroelectricity of car body periphery human body pyroelectricity infrared induction module in baby safe guard system
Sensor is arranged on car body surrounding, and to whether there is personnel close for 40cm around real-time detection car body；Bicycle basket baby detects
The miniature human body pyroelectric sensor of module is arranged on inside bicycle basket, and in real-time monitoring bicycle basket baby is whether there is；
The miniature echlette sensor of bicycle basket infrared palisade foreign body intrusion detection module is arranged on bicycle basket inside edge, real
When monitoring have foreign to enter bicycle basket；GPS location track record module is made up of GPS sensor and peripheral circuit,
Current positional information is obtained using GPS sensor, central microcomputer controlling module is sent to, number is handled well
Outside mobile phone A PP is pushed to by bluetooth according to rear, and is uploaded to cloud server and baby is drawn out on APP
The running orbit of youngster's car；The fingerprint sensor of handlebar fingerprint authentication module is followed, entered for user in setting
The safety certification of manual mode simultaneously prevents other people from pushing vehicle without authorization using biological identification technology；Car body is reported to the police
Module is divided into two-stage alert levels, and, using audible-visual annunciator and warning lamp, special hazard is used can for general alarm
Send the high-decibel bagpipe that ear-piercing alarm song is reminded.
Power battery module in dynamical system constitutes and is responsible for offer by polylith ter-polymers dynamic lithium battery
Car load electric power；The electric power management circuit of power management module is responsible for Charge Management, power distribution and battery and is protected
Shield；Small-sized ter-polymers dynamic lithium battery and stand-by power supply handover management electricity in independent stand-by power supply module
Road is constituted for being responsible for being powered to parking brake when main power source exhausts.
Center microcomputer controlling module in the microcomputer control system of center by Intel's micro processor and
Manage device peripheral circuit to be responsible for data operation and the conversion of car load, drawn according to the data of each subsystem suitable
When control instruction and processing method；Bluetooth 4.0BLE low-power consumption communication module in bluetooth communication module is used for
With mobile phone connection and outside mobile phone A PP communication.
The high-power charging circuits of AC-DC of the charging circuit module in automatic charging system are converted into civil power directly
Stream electricity simultaneously is used for being charged to the power battery module of stroller；Automatic charging guiding module adopts ultrasonic emitting
Device and infrared sensor are navigated, and allow stroller to find charging pile within the specific limits and voluntarily charge；Fill
The charging pile of electric stubs adopts contact connected mode, when stroller is before charging pile, touches and fills
Electric connector can be started to charge up.
Wearable construction module in handheld terminal adopts ergonomic designs, volume very little to be clipped in
Collar, or with being worn on plus lanyard, the module of all handheld terminals is assembled into the inside.Guiding letter
Number module does not stop paying out the ultrasound wave for penetrating characteristic frequency in the case where function is followed automatically using ultrasonic transmitter, while
Keep online using ZIGBEE low-consumption wireless electricity communication module and car body, module is followed by car body automatically
Computing, obtains the distance between handheld terminal and car body；Handheld terminal is collected using nine axle gyro sensors
Movement angle speed and movement locus；These data are sent out by ZIGBEE low-consumption wireless electricity communication module
Give intelligence and follow module to follow；Alarm module is using vibrations alarm and buzzer, cooperation periphery electricity
Road receives the relevant information of car body transmission, sends vibrations or sound by ZIGBEE low-consumption wireless electricity communication module
The alarm signal of sound；The miniature ter-polymers lithium battery of supply module is responsible for being powered to whole handheld terminal；
Charging device module has the base special charging position for agreeing with handheld terminal on car body, with inserting with filling guarantee handss
Hold the endurance of terminal.
Wherein, mobile phone A PP, writes mobile phone A PP, installed in the intelligent mobile phone system of client, such as ARIXTRA
Or on IOS, the bluetooth module of car body realizes the communication with car body, and stroller can be arranged on APP
Relevant parameter, display alarm information, track drafting record etc. function.
A kind of novel foldable stroller of the present invention mainly has following several functions：
First, function is followed automatically：Using handheld terminal send low-power wireless signal and body system communicate and
Using the RSSI value of ZIGBEE wireless signals, using near field location algorithm, handheld terminal and car body are calculated
The distance between；Send the ultrasound wave of characteristic frequency, car using the supersonic generator of handheld terminal simultaneously
The ultrasonic sensor of body is received, calculate it is visual in the case of handheld terminal and car body the distance between.
Again by ZIGBEE wireless communication techniques by the speed of handheld terminal, track of walking about, position is sent to car body,
The central micro computer module of car body calculates the relative movement orbit of car body and handheld terminal by following algorithm, enters
Row is followed.This function has certain speed to limit, and only limits with speed below of jogging, when more than certain speed
Value, stops following, the brake of original place locking when system can be judged to harmful to baby safe, and in handheld terminal and
Car body sends warning and sends location information to user is formulated.
2nd, automatic obstacle avoidance functions：Using ultrasonic sensor, and infrared ray range sensor measurement barrier
Size, the distance with car body sends the barrier data of acquisition to central microcomputer controlling module, in
Centre microcomputer controlling module draws avoidance mode by automatic obstacle-avoiding algorithm, and avoidance track, dolly is certainly automatic
In the case of following, according to the avoidance mode for being given of central microcomputer controlling module, avoidance track is run,
Avoidance mode is divided into and detouring, and stops, when the avoidance mode for drawing is to stop, i.e., when cannot detour, and dolly
Original place stops, and disturbance of perception thing leaves, or manual intervention, once stop, while carrying out in handheld terminal
Vibrations and audible alarm.In a manual mode the function is equally effective, when the sensor sensing of front or behind
When having barrier to front, can 30cm before barrier apart from when automatic original place brake and reported to the police mould by car body
Block and handheld terminal alarm module alert.
3rd, automatic dropproof function：During stroller is followed or carried out manually automatically, using dress
The dropproof module of infrared ray below car body is put, the infrared sensor device of the dropproof module of infrared ray exists
Surrounding under car body, with the distance that 45 degree of angles detect car body and ground, is in real time sent to range data anti-
Fall algorithm rapid computations processing module, dropproof algorithm rapid computations processing module computing draws front ground
The discrepancy in elevation, during more than setting value, send execute instruction, allow stroller retreat certain distance (distance is by intelligence
Obstacle avoidance system data and the dropproof module data of infrared ray are by dropproof algorithm rapid computations processing module computing
Draw), then original place locking brake, and report is sent by car body alarm module, and handheld terminal alarm module
Alarming information.User is reminded to carry out manual intervention.
4th, baby safe safeguard function：The function is mainly realized by baby safe guard system.Car body week
The human body pyroelectricity sensor device of side human body pyroelectricity infrared induction module in baby carriage body surrounding, in real time
To whether there is personnel close for 40cm around detection car body.The miniature human body pyroelectricity of bicycle basket baby's detection module module is passed
Sensor arrangement whether there is baby inside bicycle basket in real-time monitoring bicycle basket.Bicycle basket infrared palisade foreign body intrusion is detected
In bicycle basket inside edge, real-time monitoring has foreign to enter bicycle basket to the miniature echlette sensor device of module.
GPS track logging modle coordinates mobile phone A PP to draw out the running orbit of stroller.The finger of car fingerprint authentication module
Stricture of vagina sensor is followed for user in setting, into the safety certification of manual mode, using biological identification technology
Prevent other people from pushing vehicle without authorization.Car body alarm module, by high-decibel bagpipe, audible-visual annunciator, warning lamp
Composition, is divided into two-stage alert levels, and general alarm uses audible-visual annunciator, warning lamp.Special hazard is used
High-decibel bagpipe, sends ear-piercing alarm song and reminds.
5th, automatic parking brake function：This programme stroller brakes with dead electricity locking, in a manual mode,
When user's handss leave handle, brake comes into force, original place brake, automatic parking brake without the need for manual intervention, such as
Fruit will continue to carry out by after implementation then only will need to be manually placed on handle through safety certification.In dynamical system electricity
Change brake function when source exhausts equally effective, independent stand-by power supply module will continue as this function and provide electric power
Hold, independent stand-by power supply module can provide continuation of the journey in 3 hours for the function.Work as the system failure, or artificially
In the case that destruction causes all electronic equipments to fail, the brake is equally effective, meeting original place locking brake, no
Meeting art skating as existing stroller.
6th, track recording function：The main GPS location track record module using baby safe guard system
Realize, using GPS sensor current positional information obtained, with reference to baby safe guard system and intelligence with
With other event informations of system, central micro computer module is sent in real time, handle well and pass through after data bluetooth
Mobile phone A PP is pushed to, and uploads to cloud server, the running orbit and fortune of stroller is drawn out on APP
Event information during row, for example：Under current location, in-car whether there is baby, current direct of travel,
The information such as acceleration, speed.For user when reviewed.
7th, manual mode function：The original function of manual mode function and the existing folding baby car of reduction,
Stroller is static or in the case that automatic follow the mode runs, and stroller enters the pattern carried out manually.
During automatic traveling, using baby safe guard system and the data of intelligent barrier avoiding system, someone is perceived
Body follows function stop around car body during 40cm, automatically, keep car body brake, is reported to the police mould by car body
Block, and handheld terminal alarm module alert, when now staff costs hand push handle, point out unblock,
Fingerprint recognition is carried out, after safety certification passes through, clutch is opened, and is turned to and driving means freedom of entry state,
Common handbarrow function, manual feed are reduced, but baby's guard system is not turn off, barrier avoiding function and anti-
Fall function opening, automatic automatic parking brake function function is opened, original place brake when staff leaves handle.
8th, cradle function：The function is mainly by intelligent barrier avoiding system, the gyroscope appearance of automatic following system
State identification module is realized, after handheld terminal or car body are set as cradle pattern, into cradle function, cradle work(
Two kinds of functions of automatic cradle and hand-operated cradles can be divided into；Automatic cradle function：Using intelligent barrier avoiding system, from
The data of the gyroscope gesture recognition module of dynamic system for tracking, are pushed to center microcomputer control system, center
Microcomputer control system sends control instruction according to special algorithm, after allowing stroller so that in front and back comfortable speed is advanced
Move back.Hand-operated cradles function：Follow speed and the direction of front or behind motion subject matter movable, limit
Displacement 2M, limits certain speed.Under the function, intelligent barrier avoiding system and intelligent fall arrest system are simultaneously
Effectively.
9th, automatic charging function：The function mainly by automatic charging system realize, automatic charging system
Automatic charging guiding module, is navigated using ultrasonic transmitter and infrared sensor, allows stroller one
Determine to find charging pile in scope, voluntarily charge.Charging stubs are that a specially designed charging pile employing connects
Touch connected mode, when stroller is before charging pile, touches charge connector, you can start to charge up.
The charging circuit module of automatic charging system is to be detachably connected with charging pile, when user needs to travel outdoors
Charging circuit module can easily be pulled down, be carried together with stroller, when staying out, it is possible to use be charged
The supply socket of the plug reeve car body of circuit module carries out manual powered.
With the above-mentioned desirable embodiment according to the present invention as enlightenment, by above-mentioned description, related work
Personnel can carry out various change and modification in the range of without departing from this invention technological thought completely.
The technical scope of this invention is not limited to the content in description, it is necessary to according to right
To determine its technical scope.
Claims (10)
1. a kind of novel foldable stroller, it is characterised in that：With car body, it is provided with the car body
Motor driven systems, intelligent system for tracking, intelligent barrier avoiding system, intelligent fall arrest system, baby safe are prevented
Protecting system, dynamical system, center microcomputer control system, automatic charging system and handheld terminal；
The motor driven systems include brush direct current motor module, clutch module and brake module；It is described
Brush direct current motor module includes brush direct current motor and direct current motor drive circuit；The clutch module bag
Include clutch drive circuit and electromagnetic clutch；The brake module includes obtaining electric normally closed brake of uncaging；
The intelligent system for tracking connects including gyroscope gesture recognition module, following distance detection module and data
Receive module；The gyroscope gesture recognition module includes nine axle gyro sensors；The following distance detection
Module includes that ZIGBEE RSSI values are obtained and ultrasonic receiver；The data reception module includes ZIGBEE
Low-power consumption communication board；
The intelligent barrier avoiding system involves infrared ray detection of obstacles module including ultrasound and obstacle algorithm is quickly transported
Calculate processing module；The ultrasound involve infrared ray detection of obstacles module including ultrasonic sensor and it is infrared away from
From sensor；The obstacle algorithm rapid computations processing module includes independent MCU chip and MCU peripheral circuits；
The intelligent fall arrest system includes dropproof algorithm rapid computations processing module and the dropproof mould of infrared ray
Block；The dropproof algorithm rapid computations processing module includes independent MCU chip and MCU peripheral circuits；Institute
The dropproof module of infrared ray is stated including infrared distance sensor；
The baby safe guard system includes car body periphery human body pyroelectricity infrared induction module, bicycle basket baby
Detection module, bicycle basket infrared palisade foreign body intrusion detection module, GPS location track record module, handlebar fingerprint
Authentication module and car body alarm module；The car body periphery human body pyroelectricity infrared induction module includes miniature people
Body pyroelectric sensor；The bicycle basket baby detection module includes miniature human body pyroelectric sensor；The car
Basket infrared palisade foreign body intrusion detection module includes miniature echlette sensor；The GPS location track note
Record module includes gps satellite locating module；The handlebar fingerprint authentication module includes fingerprint sensor；It is described
Car body alarm module includes high-decibel bagpipe, audible-visual annunciator and warning lamp；
The dynamical system includes power battery module, power management module and independent stand-by power supply module；Institute
Power battery module is stated including ter-polymers dynamic lithium battery；The power management module includes power management
Circuit；The independent stand-by power supply module includes ter-polymers dynamic lithium battery and stand-by power supply handover management
Circuit；
The center microcomputer control system includes center microcomputer controlling module and bluetooth communication module；It is described
Center microcomputer controlling module includes Intel's micro processor and processor peripheral circuit；The bluetooth is led to
News module includes bluetooth 4.0BLE low-power consumption communication module；
The automatic charging system includes charging circuit module, automatic charging guiding module and charging stubs；
The charging circuit module includes the high-power charging circuits of AC-DC；The automatic charging guiding module includes super
Pinger and RF transmitter；The charging stubs include contact charging pile；
The handheld terminal includes wearable construction module, guiding signaling module, alarm module, supply module
With charging device module；The wearable construction module includes wearable handheld terminal；The guiding signal mode
Block includes ultrasonic transmitter, ZIGBEE low-consumption wireless electricity communication module and nine axle gyro sensors；Institute
Alarm module is stated including buzzer and vibrations alarm；The supply module includes miniature ter-polymers lithium electricity
Pond；The charging device module includes car body handheld terminal cradle.
2. a kind of novel foldable stroller according to claim 1, it is characterised in that：The motor
Drive system produces suitable power and by Motor drive plate reality using direct current generator by speed-changing gear box
The rotating speed and Torque Control of existing two trailing wheels；The rotating speed of two trailing wheels is consistent during straight trip, using left back during turning
The differential of wheel and off hind wheel, promotes two universal wheels above to turn to according to certain angle, realizes turning；Electricity
Magnet clutch is arranged on behind the speed-changing gear box of motor transmission, and the clutch closure when obtaining electric, motor directly drives
Motor car wheel；Clutch upon loss of power is unclamped, and during brake release, wheel can be rotated freely, behind clutch
Electromagnetic brake is set, and when brake has electricity, releasing of brake, wheel can be rotated；When brake there is not electricity, close
Close brake, wheel stop motion.
3. a kind of novel foldable stroller according to claim 1, it is characterised in that：The intelligence
System for tracking is communicated by ZIGBEE low-power consumption communication board with handheld terminal, receives the axle gyroscope of handheld terminal nine
The direction of nine axle gyroscopes of sensor, speed and acceleration information, then by following distance detection module
The RSSI intensity of ultrasonic receiver, ZIGBEE low-power consumption communication boards, is sent to center microcomputer control system,
Calculate running orbit, traffic direction and the distance of handheld terminal and followed in accordance with setting rule.
4. a kind of novel foldable stroller according to claim 1, it is characterised in that：The intelligence
Ultrasonic sensor and infrared distance sensor in obstacle avoidance system leads to respectively positioned at the front and back of car body
Cross ultrasonic sensor and infrared distance sensor detects obstacle in front of direct of travel, data are transmitted
Calculated to the independent MCU chip in obstacle avoidance algorithm rapid computations processing module, obtain a result driving baby
Car avoiding obstacles.
5. a kind of novel foldable stroller according to claim 1, it is characterised in that：The intelligence
The infrared distance sensor of the dropproof module of fall arrest system middle infrared (Mid-IR) is arranged on surrounding under car body, with 45
Degree angle detection car body and the distance on ground, are sent to range data dropproof algorithm rapid computations and process in real time
Module, dropproof algorithm rapid computations processing module computing draws the discrepancy in elevation on front ground, when more than setting value
When, send execute instruction and allow stroller to stop or make corresponding workaround.
6. a kind of novel foldable stroller according to claim 1, it is characterised in that：The baby
The miniature human body pyroelectric sensor of car body periphery human body pyroelectricity infrared induction module sets in security protection system
Put that to whether there is personnel around car body surrounding, real-time detection car body close；Bicycle basket baby's detection module module it is micro-
Type human body heat-releasing electric transducer is arranged on inside bicycle basket, and in real-time monitoring bicycle basket baby is whether there is；The infrared grid of bicycle basket
The miniature echlette sensor of hurdle foreign body intrusion detection module is arranged on bicycle basket inside edge, and real-time monitoring whether there is
Foreign body enters bicycle basket；GPS location track record module is made up of GPS sensor and peripheral circuit, using GPS
Sensor obtains current positional information, is sent to central microcomputer controlling module, handles well and pass through after data
Bluetooth is pushed to outside mobile phone A PP, and uploads to cloud server and the fortune of stroller is drawn out on APP
Row track；The fingerprint sensor of handlebar fingerprint authentication module is followed, enters manual mode for user in setting
Safety certification and prevent other people from pushing vehicle without authorization using biological identification technology；Car body alarm module is divided into
Two-stage alert levels, general alarm is using audible-visual annunciator and warning lamp, and special hazard is ear-piercing using sending
The high-decibel bagpipe that alarm song is reminded.
7. a kind of novel foldable stroller according to claim 1, it is characterised in that：The power
Power battery module in system is made up of polylith ter-polymers dynamic lithium battery and is responsible for providing car load electricity
Power；The electric power management circuit of power management module is responsible for Charge Management, power distribution and battery protection；Solely
Small-sized ter-polymers dynamic lithium battery and stand-by power supply handover management circuit composition in vertical stand-by power supply module
For being responsible for being powered to parking brake when main power source exhausts.
8. a kind of novel foldable stroller according to claim 1, it is characterised in that：The center
Center microcomputer controlling module in microcomputer control system is by Intel's micro processor and processor periphery
Circuit draws appropriate control being responsible for data operation and the conversion of car load according to the data of each subsystem
Instruction and processing method；Bluetooth 4.0BLE low-power consumption communication module in bluetooth communication module is used for and mobile phone connects
Connect and the communication of outside mobile phone A PP.
9. a kind of novel foldable stroller according to claim 1, it is characterised in that：It is described automatic
Civil power is converted into unidirectional current and is used in combination by the high-power charging circuits of AC-DC of the charging circuit module in charging system
To be charged to the power battery module of stroller；Automatic charging guiding module is using ultrasonic transmitter and infrared
Sensor is navigated, and allows stroller to find charging pile within the specific limits and voluntarily charge；Charging stubs
Charging pile adopt contact connected mode, when stroller is before charging pile, touch charge connector
Can start to charge up.
10. a kind of novel foldable stroller according to claim 1, it is characterised in that：The handss
The wearable construction module held in terminal adopts ergonomic designs；Guiding signaling module is following work(automatically
Can descend and the ultrasound wave for penetrating characteristic frequency not stopped paying out using ultrasonic transmitter, at the same using ZIGBEE low-power consumption without
Line electricity communication module keeps online with car body, and by car body module arithmetic is followed automatically, obtains handheld terminal
The distance between with car body；The movement angle speed and fortune of handheld terminal are collected using nine axle gyro sensors
Dynamic rail mark；By ZIGBEE low-consumption wireless electricity communication module send these data to intelligence follow module with
Just follow；Alarm module passes through ZIGBEE low-power consumption using vibrations alarm and buzzer, cooperation peripheral circuit
The alarm signal that radiocommunication module receives the car body relevant information for sending, sends vibrations or sound；Power supply
The miniature ter-polymers lithium battery of module is responsible for being powered to whole handheld terminal；Charging device module is i.e. in car
There is the base special charging position for agreeing with handheld terminal on body.
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| CN107697145A (en) * | 2017-11-15 | 2018-02-16 | 贵州大学 | A kind of perambulator Intelligent brake system |
| CN107908127A (en) * | 2017-10-23 | 2018-04-13 | 广州视源电子科技股份有限公司 | Electric wheelchair control method and device and computer readable storage medium |
| CN108363340A (en) * | 2018-05-14 | 2018-08-03 | 桂林理工大学 | SCM Based Intelligent baby carriage |
| CN108363390A (en) * | 2018-01-23 | 2018-08-03 | 安徽酷哇机器人有限公司 | Auto-manual luggage case system for tracking, method and handle and luggage case |
| CN109008121A (en) * | 2018-05-29 | 2018-12-18 | 武汉纺织大学 | A kind of luggage case follows technology automatically |
| CN109124173A (en) * | 2018-10-18 | 2019-01-04 | 李良杰 | Intelligent go-cart |
| CN109189059A (en) * | 2018-07-25 | 2019-01-11 | 云南中商正晓农业科技有限公司 | Wisdom formula follows perambulator and tele-control system and business model automatically |
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| CN111506092A (en) * | 2019-06-03 | 2020-08-07 | 合肥工业大学 | Control method and system of baby carriage |
| CN111591337A (en) * | 2020-05-03 | 2020-08-28 | 无锡玖秀科技有限公司 | Baby carriage capable of being driven intelligently |
| CN111845872A (en) * | 2019-04-29 | 2020-10-30 | 北京京东尚科信息技术有限公司 | Carrying vehicle, carrying vehicle structure and carrying vehicle motion control method |
| CN112389531A (en) * | 2019-09-05 | 2021-02-23 | 浙江群英车业有限公司 | Intelligent baby carriage and control system thereof |
| CN112506231A (en) * | 2020-11-27 | 2021-03-16 | 安徽信息工程学院 | Automatic following baby carriage and control method thereof |
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| WO2022226658A1 (en) * | 2021-04-30 | 2022-11-03 | Glüxkind Technologies Inc. | Carriage for guided autonomous locomotion |
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| CN108363340A (en) * | 2018-05-14 | 2018-08-03 | 桂林理工大学 | SCM Based Intelligent baby carriage |
| CN109008121A (en) * | 2018-05-29 | 2018-12-18 | 武汉纺织大学 | A kind of luggage case follows technology automatically |
| CN109189059A (en) * | 2018-07-25 | 2019-01-11 | 云南中商正晓农业科技有限公司 | Wisdom formula follows perambulator and tele-control system and business model automatically |
| CN109278841A (en) * | 2018-09-29 | 2019-01-29 | 上海阿柚信息科技有限公司 | Method of controlling security and safety control system for perambulator |
| CN109124173A (en) * | 2018-10-18 | 2019-01-04 | 李良杰 | Intelligent go-cart |
| CN112969625A (en) * | 2019-04-26 | 2021-06-15 | 康贝株式会社 | Baby carriage |
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| CN111845872A (en) * | 2019-04-29 | 2020-10-30 | 北京京东尚科信息技术有限公司 | Carrying vehicle, carrying vehicle structure and carrying vehicle motion control method |
| CN111506092A (en) * | 2019-06-03 | 2020-08-07 | 合肥工业大学 | Control method and system of baby carriage |
| CN112389531A (en) * | 2019-09-05 | 2021-02-23 | 浙江群英车业有限公司 | Intelligent baby carriage and control system thereof |
| CN111332354A (en) * | 2020-04-06 | 2020-06-26 | 孙弢 | Intelligent baby carriage |
| CN111591337A (en) * | 2020-05-03 | 2020-08-28 | 无锡玖秀科技有限公司 | Baby carriage capable of being driven intelligently |
| CN111591337B (en) * | 2020-05-03 | 2022-04-29 | 无锡玖秀科技有限公司 | Baby carriage capable of being driven intelligently |
| CN112506231A (en) * | 2020-11-27 | 2021-03-16 | 安徽信息工程学院 | Automatic following baby carriage and control method thereof |
| CN113044095A (en) * | 2021-03-31 | 2021-06-29 | 福州大学 | Automatic following baby carriage based on UWB positioning and working method |
| WO2022226658A1 (en) * | 2021-04-30 | 2022-11-03 | Glüxkind Technologies Inc. | Carriage for guided autonomous locomotion |
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