CN106681359A - Method for controlling intelligent baby pram, intelligent baby pram and control system - Google Patents
Method for controlling intelligent baby pram, intelligent baby pram and control system Download PDFInfo
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- CN106681359A CN106681359A CN201610565712.7A CN201610565712A CN106681359A CN 106681359 A CN106681359 A CN 106681359A CN 201610565712 A CN201610565712 A CN 201610565712A CN 106681359 A CN106681359 A CN 106681359A
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000004044 response Effects 0.000 claims description 122
- 238000012545 processing Methods 0.000 claims description 32
- 230000004888 barrier function Effects 0.000 claims description 15
- 230000007613 environmental effect Effects 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 2
- 238000002604 ultrasonography Methods 0.000 claims 1
- 238000012795 verification Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 9
- 230000008901 benefit Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 210000004247 hand Anatomy 0.000 description 4
- 230000000052 comparative effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 241001269238 Data Species 0.000 description 2
- 208000010086 Hypertelorism Diseases 0.000 description 2
- 206010020771 Hypertelorism of orbit Diseases 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 206010057855 Hypotelorism of orbit Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Carriages For Children, Sleds, And Other Hand-Operated Vehicles (AREA)
Abstract
The invention discloses a method for controlling an intelligent baby pram, an intelligent baby pram and a control system. The method includes the following steps: determining successful matching and verification between a wireless receiving and transmitting module and an object device on an intelligent baby pram which is provided with at least a first receiving and transmitting module and a second wireless receiving and transmitting module, the distance between the first wireless receiving and the transmitting module and the head of the intelligent baby pram being smaller than the distance between the second wireless receiving and transmitting module and the head of the intelligent baby pram; and based on the RSSI values of each wireless responding signals, adjusting the direction and speed to be followed by the intelligent baby pram, and thus achieving automatic following of the object device by the intelligent baby pram. According to the invention, the method is advantaged by clear controlling logic and high controlling accuracy, is easy to achieve, has low cost, and is easy to promote.
Description
Technical field
The present invention relates to field of artificial intelligence, more particularly to a kind of control method of Intelligent baby carriage, intelligent baby
Car and control system.
Background technology
Stroller is that each stroller for having one of essential product of neonate family, traditional type relies on frame for movement, is needed
Want Manpower operating and driving.At least there is following defect in the stroller of traditional type：
1st, conventional pushchair, needs the head of a family with the hands to control stroller handle all the time, and enforces, and can just be allowed to mobile
And turn to, experience is not high；
2nd, when conventional pushchair stops, needing, with the pedal above foot treading wheel, just to can guarantee that stroller by wheel is locked
Transfixion, if the head of a family forgets pedal, the easy car slipping of stroller causes the accident and tragedy；
3rd, when conventional pushchair is carried out, if the low obstructions in head of a family's sight line not to be noted roadside, collision is susceptible to,
Frighten baby.
Based on the drawbacks described above of traditional type stroller, a kind of intelligentized, without the need for manpower drive control stroller is needed badly.
The content of the invention
The invention provides a kind of control method of Intelligent baby carriage, Intelligent baby carriage and control system, to realize intelligence
Stroller following automatically to target device.
To reach above-mentioned purpose, the technical scheme is that what is be achieved in that：
On the one hand, a kind of control method of Intelligent baby carriage is embodiments provided, the method includes：
Confirm that the radio receiving transmitting module arranged in Intelligent baby carriage matches certification success with target device, wherein, in intelligence
At least provided with the first radio receiving transmitting module and the second radio receiving transmitting module on stroller, along Intelligent baby carriage travel direction, first
The distance between radio receiving transmitting module and Intelligent baby carriage headstock less than the second radio receiving transmitting module and Intelligent baby carriage headstock it
Between distance；
By each radio receiving transmitting module to target device launch wireless signal, and by each radio receiving transmitting module receive come
From the wireless response signal of target device；
Calculate the signal intensity RSSI value of the corresponding wireless response signal of each radio receiving transmitting module；
Following direction and following speed for Intelligent baby carriage is adjusted according to the RSSI value of each wireless response signal, intelligence is realized
Stroller following automatically to target device.
On the other hand, a kind of Intelligent baby carriage is embodiments provided, including：Wireless receiving and dispatching module and central authorities' process
Device；Wireless receiving and dispatching module at least includes the first radio receiving transmitting module and the second radio receiving transmitting module, along Intelligent baby carriage traveling side
To the distance between the first radio receiving transmitting module and Intelligent baby carriage headstock less than the second radio receiving transmitting module and stroller headstock
The distance between；
Central processing unit includes：
A matching authentication ' unit, for the first radio receiving transmitting module and the second radio receiving transmitting module and target device to be carried out
With certification, confirm that the radio receiving transmitting module arranged in Intelligent baby carriage matches certification success with target device；
Signal transmitting and receiving unit, for launching wireless communication to target device by each radio receiving transmitting module of wireless receiving and dispatching module
Number, and the wireless response signal from target device is received by each radio receiving transmitting module；
Signal intensity calculates unit, for calculating the signal intensity of the corresponding wireless response signal of each radio receiving transmitting module
RSSI value；
Drive control unit, for adjusting intelligent baby according to the RSSI value of the wireless response signal of each radio receiving transmitting module
Following for car and follows speed at direction, realizes Intelligent baby carriage following automatically to target device.
Another aspect, embodiments provides a kind of control system of Intelligent baby carriage, and the system sets including target
The Intelligent baby carriage that standby and above-described embodiment is provided, target device is wearable device or smart mobile phone；Target device is to intelligence
Stroller sending signal, to realize that Intelligent baby carriage is followed to target device.
The beneficial effect of the embodiment of the present invention is：The present invention is based on the radio receiving transmitting module being arranged in Intelligent baby carriage,
Using the RSSI value of the wireless response signal of each radio receiving transmitting module, following for real-time adjustment Intelligent baby carriage and follows speed at direction
Degree, without the need for hand push Intelligent baby carriage following automatically to target device is capable of achieving.The present invention has that control logic is clear, control
The high advantage of accuracy, and realize simple, low cost, be easy to the advantage of popularization.
Description of the drawings
Fig. 1 is the control method flow chart of the Intelligent baby carriage that the embodiment of the present invention one is provided；
Fig. 2 is the front view of the Intelligent baby carriage that the embodiment of the present invention one is provided；
Fig. 3 is the side view of Fig. 2；
Fig. 4 is the distribution schematic diagram of environment point data in the embodiment of the present invention one；
Fig. 5 is the structured flowchart of the Intelligent baby carriage that the embodiment of the present invention two is provided；
Fig. 6 is the Control system architecture block diagram of the Intelligent baby carriage that the embodiment of the present invention three is provided.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is described in further detail.
Stroller is that each has one of essential product of neonate family, with the development of intellectualized technology, is intelligently followed
Technology is more and more inseparable with the convenient life of people.In the case, need badly it is a kind of can intelligently follow, the intelligence of automatic obstacle-avoiding
Can infants car.So when the head of a family goes on a journey with baby, when carrying a large amount of luggage or being inconvenient to vacate handss, it is possible to allow
Stroller tightly followed by the head of a family automatically, use more convenient.
Intelligent baby carriage collection bluetooth location technology, automatic control technology, Power Electronic Technique, the ultrasonic ranging of the present invention
Technology, Laser Radar Scanning technology and dependent adaptive control algolithm, realize that the full intellectualized of stroller follows.
Embodiment one
Fig. 1 is the control method flow chart of the Intelligent baby carriage that the embodiment of the present invention one is provided, as shown in figure 1, the method
Including：
S100, confirms that the radio receiving transmitting module arranged in Intelligent baby carriage matches certification success with target device, wherein,
At least provided with the first radio receiving transmitting module and the second radio receiving transmitting module in Intelligent baby carriage, along Intelligent baby carriage travel direction,
The distance between first radio receiving transmitting module and Intelligent baby carriage headstock are less than the second radio receiving transmitting module and Intelligent baby carriage car
The distance between head.
In the present embodiment, target device is preferably capable the intelligent handss matched with the radio receiving transmitting module in Intelligent baby carriage
The mobile devices such as table, smart mobile phone, Intelligent bracelet.
S110, wireless signal is launched by each radio receiving transmitting module to target device, and by each radio receiving transmitting module
Receive the wireless response signal from target device.
In the present embodiment, the first radio receiving transmitting module and the second radio receiving transmitting module are while overseas broadcast wireless signal, builds
The vertical wireless connection and between target device；First radio receiving transmitting module and the second radio receiving transmitting module are received from the nothing of target device
Line response signal, and the wireless response signal for receiving is sent to into the central processing unit of Intelligent baby carriage.
S120, calculates the signal intensity RSSI value (Received of the corresponding wireless response signal of each radio receiving transmitting module
Signal Strength Indication, the signal intensity of reception is indicated).
The central processing unit of Intelligent baby carriage calculates corresponding first wireless response signal of the first radio receiving transmitting module
RSSI value a2 of RSSI value a1 and corresponding second wireless response signal of the second radio receiving transmitting module.
S130, adjusts following for Intelligent baby carriage and direction and follows speed according to the RSSI value of each wireless response signal, real
Existing Intelligent baby carriage following automatically to target device.
The present embodiment is based on the radio receiving transmitting module being arranged in Intelligent baby carriage, using the wireless of each radio receiving transmitting module
The RSSI value of response signal, following for real-time adjustment Intelligent baby carriage and follows speed at direction, without the need for hand push, you can realize intelligence
Stroller following automatically to target device.
The method of the present embodiment has the advantages that control logic is clear, control accuracy is high, and with realize it is simple, into
Originally advantage that is low, being easy to popularization.
Above-mentioned radio receiving transmitting module can be Wifi modules, ZigBee module or bluetooth module, in one reality of the present embodiment
In existing scheme, because bluetooth wirelessly connects small power consumption, radio receiving transmitting module is bluetooth module.
Above-mentioned first radio receiving transmitting module and the second radio receiving transmitting module can be arranged near headstock simultaneously, it is also possible to while
It is arranged near the tailstock, can also be simultaneously arranged on vehicle body medium position, as long as ensures the first radio receiving transmitting module with intelligent baby
The distance between youngster's car headstock is less than the distance between the second radio receiving transmitting module and Intelligent baby carriage headstock, you can so that each nothing
The RSSI value of the corresponding wireless response signal of line transceiver module is different, so correspondence adjustment Intelligent baby carriage follow direction and with
With speed, realize that Intelligent baby carriage is followed to the intelligent automatic of target device.
In one implementation of the present embodiment, the first radio receiving transmitting module is arranged at the headstock of Intelligent baby carriage, and second
Radio receiving transmitting module is arranged at the tailstock of Intelligent baby carriage, i.e., by the distance of two radio receiving transmitting modules of increase, increase two
The difference of the wireless response signal that radio receiving transmitting module is received, improves the accuracy of control.
It should be noted that the RSSI value of wireless response signal is bigger, the distance between Intelligent baby carriage and target device is got over
Closely；The RSSI value of wireless response signal is less, and the distance between Intelligent baby carriage and target device is more remote.
In one implementation of the present embodiment, above-mentioned steps S130 include：The relatively RSSI of the first wireless response signal
RSSI value a2 of value a1 and second wireless singal, if RSSI value a1 of the first wireless response signal is more than the second wireless response signal
RSSI value a2, show target device near headstock side, keep Intelligent baby carriage it is current follow direction；If the first wireless response
RSSI value a1 of signal shows target device near tailstock side, control intelligence less than RSSI value a2 of the second wireless response signal
Stroller turns around；I.e. according to the comparison of RSSI value a2 of RSSI value a1 and the second wireless response signal of the first wireless response signal
As a result, real-time control is carried out to the direction that follows of Intelligent baby carriage.
Above-mentioned steps S130 also include：RSSI value a1 of the first wireless response signal of relatively the first radio receiving transmitting module and
Default RSSI threshold values, if RSSI value a1 of the first wireless response signal is more than default RSSI threshold values, show Intelligent baby carriage
With the hypotelorism of target device, now control Intelligent baby carriage and slow down or retreat to tailstock direction；If the first wireless response letter
Number RSSI value a1 be less than default RSSI threshold values, show the hypertelorism of Intelligent baby carriage and target device, now control intelligence
Can stroller acceleration；Otherwise control Intelligent baby carriage and target device is followed with present speed；I.e. according to the first wireless response signal
RSSI value a1 and default RSSI threshold values comparative result, real-time control is carried out to the speed that follows of Intelligent baby carriage.
Wherein, default RSSI threshold values are Intelligent baby carriage wireless response corresponding with the distance that target device needs keep
The RSSI value of signal, it is assumed that the following distance for keeping 50cm is needed between Intelligent baby carriage and target device, then can by tabling look-up or
Other existing schemes are calculated corresponding RSSI threshold values.
It should be noted that in this implementation, in RSSI value a1 for obtaining the first wireless response signal and the second nothing
During RSSI value a2 of line response signal, can first compare RSSI value a1 and the second wireless response signal of the first wireless response signal
RSSI value a2, RSSI value a1 and default RSSI threshold values of the first wireless response signal are then compared again；Can also first compare
RSSI value a1 of the first wireless response signal and default RSSI threshold values, then compare RSSI value a1 of the first wireless response signal
With RSSI value a2 of the second wireless response signal；Or, while comparing RSSI value a1 of the first wireless response signal, second wireless
Wirelessly response is believed for RSSI value a2 of response signal and default RSSI threshold values, RSSI value a1 of the first wireless response signal and second
Number RSSI value a2；This implementation is not construed as limiting.
In another implementation of the present embodiment, the 3rd radio receiving transmitting module and the 4th nothing are also set up in Intelligent baby carriage
Line transceiver module, i.e., arrange altogether four radio receiving transmitting modules in Intelligent baby carriage, and direction is followed to Intelligent baby carriage to improve
With the control accuracy for following speed.
Fig. 2 is the front view of Intelligent baby carriage provided in an embodiment of the present invention, and Fig. 3 is the side view of Fig. 2, such as Fig. 2, Fig. 3
Shown, the first radio receiving transmitting module F1 and the 3rd radio receiving transmitting module F3 is located at two edges of Intelligent baby carriage headstock, and
Arrange into axial symmetry；Second radio receiving transmitting module F2 and the 4th radio receiving transmitting module F4 is located at two sides of the Intelligent baby carriage tailstock
At angle, also arrange into axial symmetry.
The embodiment of the present invention is being calculated the RSSI of corresponding first wireless response signals of the first radio receiving transmitting module F1
RSSI value a2, the 3rd radio receiving transmitting module F3 pair of value a1, corresponding second wireless response signals of the second radio receiving transmitting module F2
RSSI value a3 of the 3rd wireless response signal answered and corresponding 4th wireless response signals of the 4th radio receiving transmitting module F4
During RSSI value a4, above-mentioned steps S130 include：Relatively at headstock at the RSSI value (a1, a3) and the tailstock of two wireless response signals
The RSSI value (a2, a4) of two wireless response signals, if the RSSI value of two wireless response signals is all higher than at the tailstock at headstock
The RSSI value of two wireless response signals, keep Intelligent baby carriage it is current follow direction；If headstock left side wireless response signal
RSSI value (RSSI value a1 of the first wireless response signal) more than headstock right side wireless response signal RSSI value (the 3rd is wireless
RSSI value a3 of response signal), show that Intelligent baby carriage left side wheel distance objective equipment is near, right side wheels distance objective equipment
Far, i.e. target device now controls Intelligent baby carriage and deflects to the left in Intelligent baby carriage position to the left；If headstock left side is wireless
RSSI value of the RSSI value (RSSI value a1 of the first wireless response signal) of response signal less than headstock right side wireless response signal
(RSSI value a3 of the 3rd wireless response signal), shows that Intelligent baby carriage right side wheels distance objective equipment is near, left side wheel away from
Away from target device, i.e. target device now controls Intelligent baby carriage and deflects to the right in Intelligent baby carriage position to the right；If car
The RSSI value of two wireless response signals is respectively less than the RSSI value of two wireless response signals at the tailstock, the intelligent baby of control at head
Car turns around；
The RSSI value (a1, a3) and default RSSI threshold values of two wireless response signals relatively at headstock, if two at headstock
The RSSI value of individual wireless response signal is all higher than default RSSI threshold values, shows the distance mistake of Intelligent baby carriage and target device
Closely, now control Intelligent baby carriage to slow down or retreat to tailstock direction；If the RSSI value of two wireless response signals is equal at headstock
Less than default RSSI threshold values, show the hypertelorism of Intelligent baby carriage and target device, now control Intelligent baby carriage and accelerate.
It should be noted that for following direction and following the judgement order of speed, this implementation to be not construed as limiting.
In another implementation of the present embodiment, Intelligent baby carriage also has lock function, automatic obstacle avoidance and passively keeps away
The function of barrier.
With reference to Fig. 2, the present embodiment illustrates Intelligent baby carriage and is provided with four wheels, and each wheel is respectively by driving
Motor is driven, i.e., the Intelligent baby carriage shown in Fig. 2 is provided with four motors D1, D2, D3 and D4 respectively to corresponding
Wheel is driven control.During central processing unit M controls Intelligent baby carriage follows target device T automatically, centre
Reason device M adjusts the rotating speed of four motors according to different RSSI values, and realization follows direction to Intelligent baby carriage and follows speed
The control of degree.
When central processing unit M receive target device T transmissions plus lock signal or during unlocking signal, according to plus lock signal or
Unlocking signal carries out locking processing or solution locking processing to the motor of Intelligent baby carriage.For example, central processing unit M is received
During unlocking signal (such as " parking/car locking " signal) that target device T sends, central processing unit M locks to four motors
Dead control, prevents vehicle wheel rotation.By the locking processing to Intelligent baby carriage, there is unexpected slipping when on the one hand can avoid stopping
Car accident, on the other hand can be antitheft when Intelligent baby carriage daily is parked, as long as the head of a family does not unlock, other people just cannot be by
Stroller is pushed.
Due to ultrasonic scanning device compared to laser scanning device can rapidly judge a direction barrier away from
From, therefore the present embodiment realizes the passive barrier avoiding function of Intelligent baby carriage preferably by ultrasonic scanning device；And due to
Ultrasonic scanning device can only be rough a direction of judging have barrier and a distance, and laser scanning device it is discernible away from
From relatively far away from, and 360 degree of scannings can be carried out, thus the automatic obstacle avoidance function of Intelligent baby carriage is realized using laser scanning device
More accurate virtual map can be built, more accurate automatic obstacle avoidance route is planned.As shown in figure 3, the car of Intelligent baby carriage
Bottom is provided with laser scanning device R, and laser scanning is carried out to surrounding using laser scanning device R, obtains environmental data,
Draw the avoidance route of Intelligent baby carriage according to environmental data, and control Intelligent baby carriage follows target to set according to avoidance route
It is standby, realize the automatic obstacle avoidance function of Intelligent baby carriage.Specifically, it is possible to use each rings of the laser scanning device R to surrounding
Border point carries out laser scanning, records the data of each environment point for scanning；The distance between any two environment points are corresponded to into one
Bar route, and calculate the relative distance between any two environment points；When body width of the relative distance more than stroller, confirm
The corresponding route of the relative distance belongs to avoidance route.
In actual applications, the laser scanning device R of underbody can carry out 180 degree scanning to Intelligent baby carriage headstock direction,
Sweep spacing is such as set for 0.25 degree, then a 180 degree scanning is obtained 721 environment point datas, the ring that scanning is obtained
Border point data is sent to central processing unit M process, you can obtain the scattergram of environment point data.
Fig. 4 is the distribution schematic diagram of environment point data provided in an embodiment of the present invention, exemplarily, the coordinate system in Fig. 4
For Descartes's rectangular coordinate system XOY, the origin of rectangular coordinate system XOY is laser scanning device R positions, X-axis positive direction
For the direction that follows of Intelligent baby carriage, Y-axis is the width of Intelligent baby carriage.With reference to Fig. 4, Fig. 4 show single pass (with
0.25 degree be sweep spacing, scan 180 degree) obtained by 721 environment point datas, the distribution shape in rectangular coordinate system XOY
State, the laser scanning device R due to the present embodiment is to carrying out 180 degree scanning on Intelligent baby carriage headstock direction, thus environment point
Data are mainly distributed in the first quartile and fourth quadrant of rectangular coordinate system XOY.
Central processing unit M is according to formulaI=0 ..., 720, j=0 ..., 720
Calculate any two environment point between apart from Di,jIf, apart from Di,jMore than Intelligent baby carriage local width, then judge at this 2 points
Between position can to pass through, the vertical direction of line is exercised along between two data points, and Intelligent baby carriage is combined in driving process
The value of the RSSI of wireless response signal is followed, so as to realize the automatic obstacle avoidance during following.
It should be noted that in order to improve calculating speed, preferably, central processing unit M is according to formula for the present embodimentZ=0 ..., 720, calculate any two environment adjacent point between apart from Dz。
Because laser scanning device is arranged on the underbody of Intelligent baby carriage, subaerial barrier, therefore this can only be scanned
Ultrasonic scanning device is preferably arranged on embodiment the vehicle body middle part of Intelligent baby carriage, and the relative ground of scanning is higher and suitable
The barrier of Intelligent baby carriage bodywork height, with the laser scanning device of underbody complementation is formed.
As shown in Fig. 2 exemplarily arrange around the vehicle body of Intelligent baby carriage the first ultrasonic scanning device C1, second
Ultrasonic scanning device C2, the 3rd ultrasonic scanning device C3 and the 4th ultrasonic scanning device C4, are filled using ultrasonic scanning
C1, C2, C3 and C4 are put to carrying out ultrasonic scanning around vehicle body, and receives the ultrasonic reflections signal of barrier reflection；Work as barrier
When hindering the ultrasonic reflections signal that thing reflects to reach warning value, the speed of Intelligent baby carriage is reduced, control Intelligent baby carriage is certainly
Move and carry out passive avoidance during following.
Illustrated as a example by avoiding occurring in the barrier of Intelligent baby carriage left front, utilizing ultrasonic scanning device
When C1, C2, C3 and C4 around vehicle body to carrying out ultrasonic scanning, if the ultrasonic reflections signal of left front barrier reflection reaches
During warning value, show the barrier of left front very close to Intelligent baby carriage, now central processing unit M adjustment Intelligent baby carriage
Four motors, make Intelligent baby carriage be zero with respect to the speed of its left front, it is to avoid Intelligent baby carriage collides left front
Barrier.
Embodiment two
The present embodiment is based on and the identical technology design of embodiment one, there is provided a kind of Intelligent baby carriage.
The structured flowchart of the Intelligent baby carriage that Fig. 5 is provided for the present embodiment, as shown in figure 5, the Intelligent baby carriage includes nothing
Line receives and dispatches module 51 and central processing unit 52；
Wireless receiving and dispatching module 51 at least includes the first radio receiving transmitting module 511 and the second radio receiving transmitting module 512, along intelligence
Stroller travel direction, the distance between the first radio receiving transmitting module 511 and Intelligent baby carriage headstock are less than the second wireless receiving and dispatching
The distance between module 512 and stroller headstock；
Central processing unit 52 includes：
Matching authentication ' unit 521, for by the first radio receiving transmitting module 511 and the second radio receiving transmitting module 512 and target
Equipment carries out matching certification, confirms that each radio receiving transmitting module arranged in Intelligent baby carriage matches certification success with target device；
Signal transmitting and receiving unit 522, for being launched to target device by each radio receiving transmitting module of wireless receiving and dispatching module 51
Wireless signal, and the wireless response signal from target device is received by each radio receiving transmitting module；
Signal intensity calculates unit 523, and the signal for calculating the corresponding wireless response signal of each radio receiving transmitting module is strong
Degree RSSI value；
Drive control unit 524, for according to the RSSI value of the wireless response signal of each radio receiving transmitting module adjustment intelligence
Following for stroller and follows speed at direction, realizes Intelligent baby carriage following automatically to target device.
In one preferred version of the present embodiment, radio receiving transmitting module is bluetooth module, and the first radio receiving transmitting module 511 sets
The headstock of Intelligent baby carriage is placed in, the second radio receiving transmitting module 512 is arranged at the tailstock of Intelligent baby carriage.
Drive control unit 524 includes comparison module and control module；
Comparison module, for comparing RSSI value a1 of the first wireless response signal and RSSI value a2 of second wireless singal；
Control module, in RSSI value a2 of RSSI value a1 of the first wireless response signal more than the second wireless response signal, protecting
Hold Intelligent baby carriage it is current follow direction；The second wireless response signal is less than in RSSI value a1 of the first wireless response signal
During RSSI value a2, control Intelligent baby carriage turns around；I.e. control module according to the comparative result of comparison module to Intelligent baby carriage
Direction is followed to carry out real-time control.
Comparison module, RSSI value a1 of the first wireless response signal for being additionally operable to compare the first radio receiving transmitting module 511 and
Default RSSI threshold values；Control module, is further used for being more than default RSSI in RSSI value a1 of the first wireless response signal
During threshold value, control Intelligent baby carriage is slowed down or is retreated to tailstock direction；It is less than in RSSI value a1 of the first wireless response signal pre-
If RSSI threshold values when, control Intelligent baby carriage accelerate；Otherwise control Intelligent baby carriage and target device is followed with present speed；I.e.
The comparative result of control module comparison module, to the speed that follows of Intelligent baby carriage real-time control is carried out.
In another preferred version of the present embodiment, the wireless receiving and dispatching module 51 of Intelligent baby carriage also includes the 3rd wireless receipts
The radio receiving transmitting module 514 of module 513 and the 4th is sent out, wherein, the first radio receiving transmitting module 511 and the 3rd radio receiving transmitting module 513
Positioned at two edges of Intelligent baby carriage headstock, and arrange into axial symmetry；Second radio receiving transmitting module 512 and the 4th wireless receipts
Two edges that module 514 is located at the Intelligent baby carriage tailstock are sent out, and is arranged into axial symmetry.
Drive control unit 524 includes comparison module and control module；
Comparison module, for comparing two radio receiving transmitting modules at headstock, (the first radio receiving transmitting module the 511, the 3rd is wireless
Transceiver module 513) wireless response signal RSSI value and the tailstock at two radio receiving transmitting module (the second radio receiving transmitting modules
512nd, the 4th radio receiving transmitting module 514) wireless response signal RSSI value；Control module, it is wireless at headstock two
When the RSSI value of response signal is all higher than at the tailstock RSSI value of two wireless response signals, keep Intelligent baby carriage it is current with
With direction；When the RSSI value of wireless response signal is more than the RSSI value of wireless response signal on the right side of headstock on the left of headstock, control
Intelligent baby carriage is deflected to the left；The RSSI value of wireless response signal is less than wireless response signal on the right side of headstock on the left of headstock
During RSSI value, control Intelligent baby carriage is deflected to the right；The RSSI value of two wireless response signals is respectively less than at the tailstock at headstock
The RSSI value of two wireless response signals, control Intelligent baby carriage turns around；
Comparison module, is additionally operable to compare two radio receiving transmitting modules (the first radio receiving transmitting module 511, the 3rd nothings at headstock
Line transceiver module 513) wireless response signal RSSI value and default RSSI threshold values；Control module, is further used in car
When the RSSI value of two wireless response signals is all higher than default RSSI threshold values at head, control Intelligent baby carriage is slowed down or to the tailstock
Direction retreats；When the RSSI value of two wireless response signals is respectively less than default RSSI threshold values at headstock, the intelligent baby of control
Car accelerates.
In another preferred version of the present embodiment, each wheel of Intelligent baby carriage is provided with corresponding motor, then
Drive control unit 524 be additionally operable to receive target device send plus lock signal or unlocking signal, according to plus lock signal or unblock
Signal carries out locking processing or solution locking processing to each motor of Intelligent baby carriage.
In another preferred version of the present embodiment, Intelligent baby carriage also include be arranged on underbody laser scanning device and
The ultrasonic scanning device being arranged in Intelligent baby carriage.
Wherein, laser scanning device is used to carry out laser scanning to surrounding, the environmental data for obtaining, and by the environment
Data is activation is to central processing unit 52；Drive control unit 524 in central processing unit is additionally operable to according to the environment number for receiving
According to drawing the avoidance route of Intelligent baby carriage, and control Intelligent baby carriage and follow target device according to avoidance route.Specifically, swash
Light scanning apparatus carries out laser scanning to each environment point of surrounding, records the data of each environment point for scanning；Drive control
The distance between any two environment points are corresponded to a route by unit processed 524, and calculate relative between any two environment points
Distance, when body width of the relative distance more than stroller, confirms that the corresponding route of the relative distance belongs to avoidance route.
Ultrasonic scanning device is used for carrying out ultrasonic scanning around vehicle body, receives the ultrasonic reflections of barrier reflection
Signal, and the ultrasonic reflections signal for receiving is sent to into central processing unit 52, the drive control list in central processing unit 52
Unit 524 is additionally operable to whether the ultrasonic reflections signal of disturbance in judgement thing reflection reaches warning value, when warning value is reached, reduces intelligence
The speed of energy stroller, control Intelligent baby carriage carries out avoidance during following automatically.
By upper, at least there is following advantage in the Intelligent baby carriage that the present embodiment is provided compared to conventional pushchair：
One, conventional pushchair need the head of a family with the hands to control stroller all the time, and enforce just can be allowed to it is mobile or
Turn to；The Intelligent baby carriage of the present invention is without the need for hand push, you can follow the head of a family automatically.
When two, conventional baby stops, the pedal above foot treading wheel is needed, just can guarantee that stroller is quiet by wheel is locked
It is only motionless, if the head of a family forgets to step on pedal, stroller car slipping may be made so as to cause the accident or tragedy；The intelligent baby of the present invention
Car is moved using power wheel, and when Intelligent baby carriage is stopped, be automatically locked motor, such that it is able to prevent car slipping or any
Accidental movement.
Third, when conventional pushchair is carried out, because the head of a family realizes being blocked or the head of a family does not note, some are low in invisible roadside
Short obstacle, causes collision；The Intelligent baby carriage of the present invention is capable of achieving actively using laser scanning device and ultrasonic scanning device
The function of avoidance and passive avoidance, the fortuitous event that will not be collided.
Embodiment three
Based on the identical technology design of embodiment two, present embodiments provide a kind of control system of Intelligent baby carriage.
The Control system architecture block diagram of the Intelligent baby carriage that Fig. 6 is provided for the present embodiment, as shown in fig. 6, the system includes
Intelligent baby carriage 61 in target device 60 and embodiment two, wherein, target device 60 is smart mobile phone or Intelligent bracelet, intelligence
The wearable devices such as wrist-watch, are provided with corresponding radio receiving transmitting module on target device 60；Intelligent baby carriage 61 includes embodiment
Wireless receiving and dispatching module 611 and central processing unit 612 in two, the interactively reference implementation of Intelligent baby carriage unit module
Shown in example two, will not be described here.
Target device 60 to the sending signal of Intelligent baby carriage 61, with realize Intelligent baby carriage 61 to target device 60 with
With.
In an implementation of the present embodiment, the wireless receiving and dispatching module 611 of Intelligent baby carriage 61 is to target device 60
Transmitting wireless signal, target device 60 sends wireless response signal, intelligence when wireless signal is received to Intelligent baby carriage 61
The wireless receiving and dispatching module 611 of stroller 61 receives the wireless response signal from target device 60, and by the wireless sound for receiving
Induction signal is sent to central processing unit 612, and central processing unit 612 adjusts Intelligent baby carriage according to the RSSI value of wireless response signal
61 follow and follows speed at direction, realizes the following automatically to target device 60 of Intelligent baby carriage 61.
In another implementation of the present embodiment, target device 60 sends plus lock signal or solution to Intelligent baby carriage 61
Lock signal, the central processing unit 612 of Intelligent baby carriage 61 receives that target device 60 sends plus lock signal or unlocking signal, according to
Plus lock signal or unlocking signal carry out locking processing or solution locking processing to each motor of Intelligent baby carriage.
In sum, the present invention is based on and is arranged on radio receiving transmitting module in Intelligent baby carriage, using each radio receiving transmitting module
Wireless response signal RSSI value, following for real-time adjustment Intelligent baby carriage direction and follow speed, can be real without the need for hand push
Existing Intelligent baby carriage following automatically to target device.The present invention has the advantages that control logic is clear, control accuracy is high, with
And realize simple, low cost, be easy to the advantage of popularization.
For the ease of clearly describing the technical scheme of the embodiment of the present invention, in inventive embodiment, employ " first ",
The identical entry essentially identical to function and effect such as " second " printed words or similar item make a distinction, and those skilled in the art can manage
The printed words such as solution " first ", " second " are not defined to quantity and execution order.
Presently preferred embodiments of the present invention is the foregoing is only, protection scope of the present invention is not intended to limit.It is all
Any modification, equivalent substitution and improvements made within the spirit and principles in the present invention etc., are all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of control method of Intelligent baby carriage, it is characterised in that methods described includes：
Confirm that the radio receiving transmitting module arranged in Intelligent baby carriage matches certification success with target device, wherein, in intelligent baby
It is described along the Intelligent baby carriage travel direction at least provided with the first radio receiving transmitting module and the second radio receiving transmitting module on car
The distance between first radio receiving transmitting module and Intelligent baby carriage headstock are less than the second radio receiving transmitting module and Intelligent baby carriage car
The distance between head；
Wireless signal is launched to target device by each radio receiving transmitting module, and is received from mesh by each radio receiving transmitting module
The wireless response signal of marking device；
Calculate the signal intensity RSSI value of the corresponding wireless response signal of each radio receiving transmitting module；
Following direction and following speed for the Intelligent baby carriage is adjusted according to the RSSI value of each wireless response signal, is realized described
Intelligent baby carriage following automatically to target device.
2. control method according to claim 1, it is characterised in that the radio receiving transmitting module is bluetooth module, described
First radio receiving transmitting module is arranged at the headstock of Intelligent baby carriage, and second radio receiving transmitting module is arranged at Intelligent baby carriage
The tailstock.
3. control method according to claim 1, it is characterised in that the signal intensity according to each wireless response signal
Value adjusts following direction and following speed to include for the Intelligent baby carriage：
Compare the RSSI value and the second nothing of the second radio receiving transmitting module of the first wireless response signal of the first radio receiving transmitting module
The RSSI value of line signal, if the RSSI value of first wireless response signal is more than the RSSI of second wireless response signal
Value, keep the Intelligent baby carriage it is current follow direction；If the RSSI value of first wireless response signal is less than described the
The RSSI value of two wireless response signals, controls the Intelligent baby carriage and turns around；
Compare the RSSI value and default RSSI threshold values of the first wireless response signal of the first radio receiving transmitting module, if described first
The RSSI value of wireless response signal is more than default RSSI threshold values, controls the Intelligent baby carriage and slows down or to after tailstock direction
Move back；If the RSSI value of first wireless response signal is less than default RSSI threshold values, controls the Intelligent baby carriage and accelerate；It is no
Then control the Intelligent baby carriage and target device is followed with present speed.
4. control method according to claim 1, it is characterised in that methods described also includes：In Intelligent baby carriage also
3rd radio receiving transmitting module and the 4th radio receiving transmitting module are set；
First radio receiving transmitting module and the 3rd radio receiving transmitting module are located at two edges of Intelligent baby carriage headstock, and into
Axial symmetry is arranged；Second radio receiving transmitting module and the 4th radio receiving transmitting module are located at two of the Intelligent baby carriage tailstock
Edge, and arrange into axial symmetry.
5. control method according to claim 4, it is characterised in that the signal intensity according to each wireless response signal
Value adjusts following direction and following speed to be specially for the Intelligent baby carriage：
Compare the RSSI value of two wireless response signals at the RSSI value and the tailstock of two wireless response signals at headstock, if headstock
The RSSI value of two wireless response signals in place is all higher than the RSSI value of two wireless response signals at the tailstock, keeps the intelligent baby
Youngster's car it is current follow direction；If the RSSI value of headstock left side wireless response signal is more than headstock right side wireless response signal
RSSI value, controls the Intelligent baby carriage and deflects to the left；If the RSSI value of headstock left side wireless response signal is less than headstock right side
The RSSI value of wireless response signal, controls the Intelligent baby carriage and deflects to the right；If two wireless response signals at headstock
RSSI value is respectively less than the RSSI value of two wireless response signals at the tailstock, controls the Intelligent baby carriage and turns around；
The RSSI value and default RSSI threshold values of two wireless response signals relatively at headstock, if two wireless response letters at headstock
Number RSSI value be all higher than default RSSI threshold values, control the Intelligent baby carriage and slow down or retreat to tailstock direction；If headstock
The RSSI value of two wireless response signals in place is respectively less than default RSSI threshold values, controls the Intelligent baby carriage and accelerates.
6. the control method according to any one of claim 1 to 5, it is characterised in that methods described also includes：
The motor of each wheel of the Intelligent baby carriage is set；
That target device sends plus lock signal or unlocking signal are received, according to described plus lock signal or unlocking signal to the intelligence
Each motor of stroller carries out locking processing or solution locking processing.
7. the control method according to any one of claim 1 to 5, it is characterised in that methods described also includes：
Laser scanning device is set in the underbody of the Intelligent baby carriage, surrounding is carried out using the laser scanning device
Laser scanning, obtains environmental data；
The avoidance route of Intelligent baby carriage is drawn according to the environmental data, and controls the Intelligent baby carriage according to the avoidance
Route follows target device；
And/or,
Ultrasonic scanning device is set in the Intelligent baby carriage, using ultrasonic scanning device to carrying out ultrasound around vehicle body
Ripple is scanned, and receives the ultrasonic reflections signal of barrier reflection；
When the ultrasonic reflections signal of barrier reflection reaches warning value, the speed of the Intelligent baby carriage, control are reduced
Make the Intelligent baby carriage carries out avoidance during following automatically.
8. control method according to claim 7, it is characterised in that the utilization laser scanning device enters to surrounding
Row laser scanning, obtains environmental data, is included according to the avoidance route that environmental data draws Intelligent baby carriage：
Laser scanning is carried out to each environment point of surrounding using the laser scanning device, each environment point for scanning is recorded
Data；
The distance between any two environment points are corresponded to into a route, and calculates the relative distance between any two environment points；
When body width of the relative distance more than stroller, confirm that the corresponding route of the relative distance belongs to avoidance road
Line.
9. a kind of Intelligent baby carriage, it is characterised in that include：Wireless receiving and dispatching module and central processing unit；The wireless receiving and dispatching mould
Group at least includes the first radio receiving transmitting module and the second radio receiving transmitting module, along the Intelligent baby carriage travel direction, described the
The distance between one radio receiving transmitting module and Intelligent baby carriage headstock are less than between the second radio receiving transmitting module and stroller headstock
Distance；The central processing unit includes：
A matching authentication ' unit, for first radio receiving transmitting module and the second radio receiving transmitting module and target device to be carried out
With certification, confirm that the radio receiving transmitting module arranged in Intelligent baby carriage matches certification success with target device；
Signal transmitting and receiving unit, for launching wireless communication to target device by each radio receiving transmitting module of the wireless receiving and dispatching module
Number, and the wireless response signal from target device is received by each radio receiving transmitting module；
Signal intensity calculates unit, for calculating the signal intensity RSSI of the corresponding wireless response signal of each radio receiving transmitting module
Value；
Drive control unit, for adjusting the intelligent baby according to the RSSI value of the wireless response signal of each radio receiving transmitting module
Following for car and follows speed at direction, realizes Intelligent baby carriage following automatically to target device.
10. a kind of control system of Intelligent baby carriage, it is characterised in that the system includes target device and such as claim 9 institute
The Intelligent baby carriage stated, the target device is wearable device or smart mobile phone；The target device to Intelligent baby carriage is sent out
The number of delivering letters, to realize that Intelligent baby carriage is followed to target device.
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| CN201610565712.7A CN106681359B (en) | 2016-07-18 | 2016-07-18 | Control method of intelligent baby carriage, intelligent baby carriage and control system |
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| CN201610565712.7A CN106681359B (en) | 2016-07-18 | 2016-07-18 | Control method of intelligent baby carriage, intelligent baby carriage and control system |
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| CN106681359A true CN106681359A (en) | 2017-05-17 |
| CN106681359B CN106681359B (en) | 2020-10-27 |
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| CN108279673A (en) * | 2018-01-18 | 2018-07-13 | 华侨大学 | A kind of stroller Intelligent power assisting device and control method |
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