CN109969247A - Incude the control system and control method of drive-type automatically walk folding baby vehicle - Google Patents
Incude the control system and control method of drive-type automatically walk folding baby vehicle Download PDFInfo
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- CN109969247A CN109969247A CN201910193823.3A CN201910193823A CN109969247A CN 109969247 A CN109969247 A CN 109969247A CN 201910193823 A CN201910193823 A CN 201910193823A CN 109969247 A CN109969247 A CN 109969247A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000006698 induction Effects 0.000 claims description 35
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- 230000004888 barrier function Effects 0.000 description 8
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000008451 emotion Effects 0.000 description 3
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- 238000001514 detection method Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 210000000452 mid-foot Anatomy 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B7/00—Carriages for children; Perambulators, e.g. dolls' perambulators
- B62B7/04—Carriages for children; Perambulators, e.g. dolls' perambulators having more than one wheel axis; Steering devices therefor
- B62B7/06—Carriages for children; Perambulators, e.g. dolls' perambulators having more than one wheel axis; Steering devices therefor collapsible or foldable
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Carriages For Children, Sleds, And Other Hand-Operated Vehicles (AREA)
Abstract
The present invention provides a kind of control systems and control method for incuding drive-type automatically walk folding baby vehicle, the control system includes: human inductor, human inductor is set to the rear portion of perambulator, for detecting the human body and position of human body information at perambulator rear；Obstacle avoidance sensor, obstacle avoidance sensor are set to the front of perambulator, for detecting the obstacle information in front of perambulator；The driving wheel of driving wheel motor, driving wheel motor and perambulator is connected by power；Vehicle body folding electric push rod；Pushing hands folding electric push rod；Controller, controller is connected with human inductor, obstacle avoidance sensor, driving wheel motor, vehicle body folding electric push rod and pushing hands folding electric push rod respectively, controller is for controlling driving wheel motor according to human body and position of human body information, obstacle information, to control perambulator automatically walk and avoidance, and vehicle body folding electric push rod and pushing hands folding electric push rod are controlled to control perambulator auto-folder.
Description
Technical field
The present invention relates to field of intelligent control technology, and in particular to a kind of induction drive-type automatically walk folding baby vehicle
Control system and a kind of control method for incuding drive-type automatically walk folding baby vehicle.
Background technique
In recent years, with the continuous improvement of people's living standards, in most of families, the birth of newborn one will be obtained
Many matched products, and perambulator is one of its essential product.With young and have high cultural quality parent
Based on the consumer group increase, with its fashionable consumption idea, strong health perception, powerful consumption strength, for baby
The requirement of youngster's vehicle is also higher and higher.Pregnant baby's culture of a new generation simultaneously promotes so that traditional idea of bringing up is updated comprehensively,
There is the biggish market demand to multi-functional, diversified, intelligentized perambulator.Perambulator is broadly divided into three on the market at present
Class: it is suitble to the perambulator (dividing into full-lying and semi-lying) used the time according to operator, is suitble to often outgoing lightweight perambulator, more people
Perambulator (twins, triplet, multiparity etc.).Although the design of perambulator can be described as many kinds of now,
With living-pattern preservation, demand of the consumer to perambulator also shows diversified tendency, and the past is relatively simple to be made
The diversity requirement of present people life style is no longer satisfied with mode.
Perambulator traditional at present relies primarily on own mechanical structure, completes driving walking by Manpower operating, main to have
Have the disadvantage that: 1, traditional perambulator needs operator with the hands to control stroller handle always, and enforces, ability
It is allowed to moving machine steering, usage experience is not high, and overlong time, operator is easy to produce fatigue；2, conventional pushchair generally requires
By being folded manually, make troubles during folding baby vehicle to operator；3, when conventional pushchair is carried out, if behaviour
Author's sight not to be noted roadside low obstructions, are easy to happen collision, and scaring arrives baby.
Summary of the invention
The present invention solves current perambulator and needs Manual-pushing, folds and be easy to collide because of short collision object
Technical problem provides a kind of control system and control method for incuding drive-type automatically walk folding baby vehicle.
The technical solution adopted by the invention is as follows:
A kind of control system incuding drive-type automatically walk folding baby vehicle, comprising: human inductor, the human body sense
Device is answered to be set to the rear portion of the perambulator, the human inductor is used to detect human body and the human body position at the perambulator rear
Confidence breath；Obstacle avoidance sensor, the obstacle avoidance sensor are set to the front of the perambulator, and the obstacle avoidance sensor is for detecting
Obstacle information in front of the perambulator；The driving wheel of driving wheel motor, the driving wheel motor and the perambulator carries out
It is connected by power；Vehicle body folding electric push rod；Pushing hands folding electric push rod；Controller, the controller respectively with the human body sense
Answer device, the obstacle avoidance sensor, the driving wheel motor, the vehicle body folding electric push rod and the pushing hands folding electric push rod
It is connected, the controller is used for according to the human body and position of human body information, the obstacle information to the driving wheel motor
It is controlled, to control the perambulator automatically walk and avoidance, and the vehicle body folding electric push rod and the pushing hands is rolled over
Folded electric pushrod is controlled to control the perambulator auto-folder.
The control system of the induction drive-type automatically walk folding baby vehicle further include: remote controler, the remote controler
It is wirelessly connected with the controller, the remote controler sends control information to the controller, so as to the controller root
The perambulator automatically walk, avoidance and folding are controlled according to the control information.
The human body sensor is set on the backrest support frame at the perambulator rear portion.
The obstacle avoidance sensor is set on the front leg strut of the perambulator front.
The driving wheel motor is two, respectively corresponds left driving wheel and the right driving wheel setting of the perambulator.
The vehicle body folding electric push rod is two groups, is respectively arranged at the two sides of the perambulator.
The pushing hands folding electric push rod is two, is respectively arranged at the pushing hands part two of the handspike of the perambulator
Side.
The remote controler is communicatively coupled with the controller by bluetooth.
A kind of control method incuding drive-type automatically walk folding baby vehicle, comprising: detect the perambulator rear
Human body and position of human body information, and detect the obstacle information in front of the perambulator；Believed according to the human body and position of human body
Breath, the obstacle information control driving wheel motor, to control the perambulator automatically walk and avoidance, and to vehicle body
Folding electric push rod and pushing hands folding electric push rod are controlled to control the perambulator auto-folder.
The control method of the induction drive-type automatically walk folding baby vehicle further include: receive the control that remote controler is sent
Information processed, and the perambulator automatically walk, avoidance and folding are controlled according to the control information.
Beneficial effects of the present invention:
The present invention can be realized the induction driving of perambulator, and can be realized the auto-folder of perambulator, so as to big
The big ease of use for improving perambulator, reduces the labor intensity of operator, alleviates operator's fatigue, promotes operator and baby
Emotion communication, also, can also realize the automatic obstacle-avoiding of perambulator, improve the safety of perambulator.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the induction drive-type automatically walk folding baby vehicle of one embodiment of the invention；
Fig. 2 is the box signal of the control system of the induction drive-type automatically walk folding baby vehicle of the embodiment of the present invention
Figure；
Fig. 3 is that the box of the control system of the induction drive-type automatically walk folding baby vehicle of one embodiment of the invention shows
It is intended to；
Fig. 4 is that position view is arranged in the human inductor of one embodiment of the invention；
Fig. 5 is that position view is arranged in the obstacle avoidance sensor of one embodiment of the invention；
Fig. 6 is the application scenarios schematic diagram of the induction drive-type automatically walk folding baby vehicle of one embodiment of the invention；
Fig. 7 is the folded state schematic diagram of the induction drive-type automatically walk folding baby vehicle of one embodiment of the invention；
Fig. 8 is the flow chart of the control method of the induction drive-type automatically walk folding baby vehicle of the embodiment of the present invention；
Fig. 9 is the stream of the control method of the induction drive-type automatically walk folding baby vehicle of one specific embodiment of the present invention
Cheng Tu；
Figure 10 is the drive wheel system schematic of one embodiment of the invention.
Appended drawing reference:
Handspike 1, backrest support frame 2, electric cabinet 3, backrest column 4, front leg strut 5, rear support leg 6, driving wheel 7, universal wheel
8, desktop 9, seat plate support frame 10, balustrade panel 11, triangle connection element 12, front leg strut connector 13, rear support leg connector 14, automatically controlled
Case connector 15, battery 16；
Human inductor 100, obstacle avoidance sensor 200, driving wheel motor 300, vehicle body folding electric push rod 400, pushing hands folding
Folded electric pushrod 500, controller 600, remote controler 700, folding backrest electric pushrod 410, legs fold electric pushrod 420；
Operator 001, perambulator 002, barrier 003.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, the induction drive-type automatically walk folding baby vehicle of the embodiment of the present invention, including handspike 1, backrest
Support frame 2, electric cabinet 3 and 4, two, the two backrest columns rear support leg of front leg strut 5, two for being respectively arranged at perambulator two sides
6, two driving wheels 7, i.e. front-wheel, two universal wheels 8, i.e. rear-wheel.Incuding drive-type automatically walk folding baby vehicle further includes table
Plate 9, seat plate support frame 10 and two balustrade panels 11 for being respectively arranged at perambulator two sides.Wherein, the left and right sides of handspike 1
It is respectively articulated with two backrest columns 4；In every side of perambulator, backrest column 4 and handspike 1 respectively with triangle connection element 12
Two connecting pins are articulated and connected by pin shaft, and backrest support frame 2 is installed on the inside of two backrest columns 4, and desktop 9 is installed
In the front end of two balustrade panels 11.In every side of perambulator, the bottom of backrest column 4 and 6 middle and upper part supporting point of rear support leg are logical
It crosses pin shaft to be articulated and connected, the top of rear support leg 6 is articulated and connected with the midfoot support point of balustrade panel 11 by pin shaft, is helped
Another supporting point of the middle part of palm 11 is articulated and connected by the top of pin shaft and front leg strut 5, the intermediate supports of front leg strut 5
The front end of point and seat plate support frame 10 is articulated and connected by pin shaft, and the rear end of seat plate support frame 10 passes through pin shaft and backrest branch
The bottom end of support 2 is articulated and connected.
Further, as shown in Figure 1, each front leg strut 5 installs corresponding driving wheel 7 by front leg strut connector 13, often
A rear support leg 6 installs corresponding universal wheel 8 by rear support leg connector 14.Specifically, 13 upper end of front leg strut connector can pass through
Bolt is fixedly connected with front leg strut 5, and lower end can install driving wheel 7 by bolt, and 14 upper end of rear support leg connector can pass through bolt
It is fixedly connected with rear support leg 6, lower end can install universal wheel 8 by bolt.
As shown in Fig. 2, the control system of the induction drive-type automatically walk folding baby vehicle of the embodiment of the present invention includes: people
Body inductor 100, obstacle avoidance sensor 200, driving wheel motor 300, vehicle body folding electric push rod 400, pushing hands folding electric push rod
500 and controller 600.Wherein, human inductor 100 is set to the rear portion of perambulator, and human inductor 100 is for detecting baby
The human body and position of human body information at vehicle rear；Obstacle avoidance sensor 200 is set to the front of perambulator, and obstacle avoidance sensor 200 is used for
Detect the obstacle information in front of perambulator；Driving wheel motor 300 and the driving wheel of perambulator are connected by power；Controller
600 respectively with human inductor 100, obstacle avoidance sensor 200, driving wheel motor 300, vehicle body folding electric push rod 400 and pushing hands
Folding electric push rod 500 is connected, and controller 600 is used for according to human body and position of human body information, obstacle information to driving wheel electricity
Machine 300 is controlled, and to control perambulator automatically walk and avoidance, and folds electricity to vehicle body folding electric push rod 400 and pushing hands
Dynamic push rod 500 is controlled to control perambulator auto-folder.
Further, as shown in figure 3, the control system of the induction drive-type automatically walk folding baby vehicle of the embodiment of the present invention
System may also include remote controler 700, and remote controler 700 is wirelessly connected with controller 600, and remote controler 700 is sent to controller 600
Information is controlled, so that controller 600 controls perambulator automatically walk, avoidance and folding according to the control information.Of the invention one
In a specific embodiment, remote controler 700 can be communicatively coupled with controller 600 by bluetooth.Wherein, remote controler 700 is sent out
The control information sent can be used cooperatively with the induction information of above-mentioned human inductor 100 and obstacle avoidance sensor 200, such as can be passed through
Remote controler 700 configures the speed threshold and turning gear of perambulator automatically walk.Control information can also transmitted by remote controler 700
Be implemented separately the control to perambulator, such as travel commands can be sent to perambulator by remote controler 700, including straight trip, retrogressing,
Turning and halt instruction send to control perambulator walking and avoidance and fold instruction to control folding of baby.
In one embodiment of the invention, as shown in figure 4, human body sensor 100 may be disposed at leaning on for perambulator rear portion
On back support frame 2.Human inductor 100 can be to be multiple, for example, uniform rectilinear can arrange five human bodies on backrest support frame 2
Inductor 100, so as to induce the human body being located at the different location of perambulator left, center, right.It is specific at of the invention one
In embodiment, human inductor can be but be not limited to infrared sensor of the human body.
In one embodiment of the invention, as shown in figure 5, before obstacle avoidance sensor 200 may be disposed at perambulator front
On supporting leg 5.Obstacle avoidance sensor 200 can be to be multiple, for example, two obstacle avoidance sensors 200 can be respectively provided on supporting leg 5 in each of front.
In one particular embodiment of the present invention, obstacle avoidance sensor can be but be not limited to ultrasonic sensor or infrared sensor,
The barrier in front of perambulator can be induced by ultrasonic sensor or infrared sensor.
In one embodiment of the invention, as shown in Figure 1, driving wheel motor 300 is two, perambulator is respectively corresponded
Left driving wheel and right driving wheel setting.
In one embodiment of the invention, vehicle body folding electric push rod 400 is two groups, is respectively arranged at the two of perambulator
Side.As shown in Figure 1, vehicle body folding electric push rod 400 includes folding backrest electric pushrod 410 and legs fold electric pushrod 420.
Wherein, the other end of triangle connection element 12 and one end of folding backrest electric pushrod 410 are articulated and connected by pin shaft, backrest
The other end of folding electric push rod 410 and the supporting point of backrest column 4 are articulated and connected by pin shaft, the middle part of front leg strut 5
One end of supporting point and legs fold electric pushrod 420 is articulated and connected by pin shaft, legs fold electric pushrod 420 it is another
One end and the midfoot support point of rear support leg 6 are articulated and connected by pin shaft.
In one embodiment of the invention, pushing hands folding electric push rod 500 is two, is respectively arranged at the hand of perambulator
The pushing hands part two sides of push rod 1 collectively form entire handspike 1 with pushing hands part.
In one embodiment of the invention, controller 600 may be disposed in electric cabinet 3 shown in FIG. 1.As shown in Figure 1,
The two sides of electric cabinet 3 are respectively arranged with electric cabinet connector 15, the correspondence of electric cabinet connector 15 and two 6 phases of rear support leg of two sides
Even, so that electric cabinet 3 is fixedly installed on rear support leg 6.It may also include battery 16, such as lithium battery, battery 16 in electric cabinet 3
It can be controller 600, human inductor 100, obstacle avoidance sensor 200, driving wheel motor 300, vehicle body folding electric push rod 400
It is powered with the equal electricity consumptions device of pushing hands folding electric push rod 500.
The automatically walk of the induction drive-type automatically walk folding baby vehicle of the embodiment of the present invention and avoidance scene such as Fig. 6 institute
Show, when operator 001 is located at 002 rear of perambulator, human body and position of human body are induced by human inductor 100, controls
Device 600 can control the traveling and steering of perambulator 002 by control driving wheel motor 300.For example, baby is being induced
When 002 dead astern someone of youngster's vehicle, the controllable operating of driving wheel motor 300 is to drive perambulator 002 to advance；Inducing human body position
When 002 rear of perambulator is to the left or to the right, it can control two driving wheel motors 300 with different rotation speed operations, to drive baby
Youngster's vehicle 002 turns to.When there is barrier 003 to be located at 002 front of perambulator, barrier can be induced by obstacle avoidance sensor 200
003, controller 600 can control perambulator 002 by control driving wheel motor 300 to be stopped.
The folded state of the induction drive-type automatically walk folding baby vehicle of the embodiment of the present invention is as shown in Figure 7.
The control system of induction drive-type automatically walk folding baby vehicle according to an embodiment of the present invention, by the way that human body is arranged
Inductor, obstacle avoidance sensor, driving wheel motor, vehicle body folding electric push rod and pushing hands folding electric push rod, and pass through controller
Vehicle body folding electric push rod and pushing hands folding electric push rod are controlled, according to the induction of human inductor and obstacle avoidance sensor
As a result driving wheel motor is controlled, can be realized the induction driving of perambulator, and can be realized the auto-folder of perambulator,
So as to greatly improve the ease of use of perambulator, the labor intensity of operator is reduced, alleviates operator's fatigue, promotes behaviour
The emotion communication of author and baby, also, can also realize the automatic obstacle-avoiding of perambulator, improve the safety of perambulator.
The control system of the induction drive-type automatically walk folding baby vehicle of corresponding above-described embodiment, the present invention also propose one
The control method of kind induction drive-type automatically walk folding baby vehicle.
As shown in figure 8, the control method of the induction drive-type automatically walk folding baby vehicle of the embodiment of the present invention, including with
Lower step:
S1, detects the human body and position of human body information at perambulator rear, and detects the obstacle information in front of perambulator.
Detection human body and human body position are respectively corresponded especially by the human inductor in above-mentioned control system, obstacle avoidance sensor
Confidence breath, obstacle information.
S2 controls driving wheel motor according to human body and position of human body information, obstacle information, to control perambulator
Automatically walk and avoidance, and vehicle body folding electric push rod and pushing hands folding electric push rod are controlled automatic to control perambulator
It folds.
Further, the control method of the induction drive-type automatically walk folding baby vehicle of the embodiment of the present invention can also wrap
It includes: receiving the control information that remote controler is sent, and control perambulator automatically walk, avoidance and folding according to the control information.
In one particular embodiment of the present invention, as shown in figure 9, the control of induction drive-type automatically walk folding baby vehicle
Method processed includes:
S101, initialization.The control system of perambulator is initialized, checks whether system work is normal, if not
Normally, it does not execute downwards, and alarms, if normally, continued to execute downwards.
S102, parameter setting.In one embodiment of the invention, relevant parameter can be set by remote controler.For example, setting
Surely move forward and backward speed, can set 3-5 gear, and each gear corresponds to different vehicle speed values；Turning time is set, can be set
3-5 gear, each gear correspond to different turning time values.
S103, data acquisition.Controller such as single-chip microcontroller can acquire the operation signal of operator, human body by human inductor
Inductor can be uniformly distributed 3-5, different according to the erect-position of operator, reflect the size of different angle of turn, turn
Angle corresponds to 0-75 °；Controller detects the front obstacle information of perambulator by obstacle avoidance sensor.
S104 judges whether there is barrier.Controller detects in front of perambulator whether have barrier by obstacle avoidance sensor,
If there is barrier, thening follow the steps S117, i.e., driving wheel motor and right driving wheel motor issue stop signal to controller to the left,
Stop perambulator；If thening follow the steps S105 without barrier.
S105 judges whether in remote control mode.If so, thening follow the steps S106；If not, thening follow the steps
S107。
S106 executes remote control mode.In one embodiment of the invention, four kinds of functions may be implemented in remote control mode, packet
It includes forward mode, " fall back " mode", turned mode and folding exhibition mode.
For forward mode, when pressing " advance " button on remote controler, remote controler issues " advance " signal to controller,
Speed is the setting speed of step S102.Referring to Fig.1 0, after obtaining target vehicle speed, speed-vehicle wheel rotational speed conversion module can root
The target vehicle wheel rotational speed n under current goal speed is calculated according to formula n=30v/ π R, wherein v is target vehicle speed, and R is driving
Radius is taken turns, the target vehicle wheel rotational speed of two driving wheels should be same value, meanwhile, pass through the actually detected wheel arrived of wheel speed sensors
Tach signal after the two makees difference by PID adjusting, exports pwm control signal to driving wheel motor, to drive as value of feedback
Driving wheel is realized that speed is advanced and is controlled." fall back " mode" is identical as the principle of forward mode, except that the button on remote controler
For " retrogressing " button.For cornering mode, after pressing " left-hand bend " or " right-hand bend " button on remote controler, angle of turn
Size according to by power weight reflected, change between 0 °~90 °, referring to Fig.1 0, it is assumed that with certain power by " turning left
It is curved " button, then target rotation angle θ can be obtained, implements differential steering and turns, right driving wheel is motionless, left driving wheel is driven, then
The target vehicle wheel rotational speed of left driving wheel is calculated according to formula n=(15 π -30 θ) d/ π tR, wherein d be two driving wheels it
Between distance, t is turning time, and using the actually detected left driving wheel tach signal arrived as value of feedback, the two passes through as difference
After PID is adjusted, vehicle driving wheel motor exports pwm control signal to the left, to drive left driving wheel, realizes " left-hand bend " function；
Right-hand bend principle is the same as left-hand bend.For rolling over exhibition mode, after pressing " folding " button on remote controler, remote controler is sent out to controller
Signal " is folded " out, and controller first issues to two pushing hands folding electric push rods and retracts signal, folds pushing hands, folds to pushing hands
Afterwards, it then is issued to two groups of vehicle body folding electric push rods and retracts signal, folded vehicle body, after the completion of to be folded, then stop acting,
" expansion " mode is identical as " folding " mode principle, and sequence is opposite.
S107 executes automatic drive mode.
S108 advances, turn signal detection.Controller by be distributed in perambulator rear human inductor number into
Row " advance " and " turning " judgement, if operator's erect-position occupy center, then it is assumed that be " advance " mode, enter step S109；
If operator is to the left or to the right, then it is assumed that be " turning " mode, enter step S113.
S109 starts forward mode.
S110, advance feedback control.
S111, synchronous driving driving wheel.
S112 judges whether to detect progress signal.If it is, return step S109；If not, thening follow the steps
S117。
Start automatic forward mode, speed remains as the setting speed of step S102, principle with it is " preceding in step S106
Into " mode is identical, except that real-time detection " progress signal " is needed then to stop once can't detect operator, detect
Operator then moves on.
S113 starts cornering mode.
S114, feedback control of turning.
S115, differential drive driving wheel.
S116 judges whether to detect turn signal.If it is, return step S113；If not, thening follow the steps
S117。
Start automatic turning mode, carrying out judgement by the signal of multiple human inductors is " left-hand bend ", " right-hand bend ",
And angle of turn, after obtaining target rotation angle, working principle is identical as " turning " mode in step S106, different
It is to need to be measured in real time turn signal, once can't detect operator, then stops, before detects that operator then continues
Into.
S117 stops.
It can be switched at any time between remote control mode and automatic drive mode by remote controler.
The control method of induction drive-type automatically walk folding baby vehicle according to an embodiment of the present invention, by according to human body
Driving wheel motor is controlled with position of human body information, obstacle information, and vehicle body folding electric push rod and pushing hands are rolled over
Folded electric pushrod is controlled, and can be realized the induction driving of perambulator, and can be realized the auto-folder of perambulator, so as to
The ease of use for enough greatly improving perambulator, reduces the labor intensity of operator, alleviates operator's fatigue, promote operator with
The emotion communication of baby, also, can also realize the automatic obstacle-avoiding of perambulator, improve the safety of perambulator.
In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of control system for incuding drive-type automatically walk folding baby vehicle characterized by comprising
Human inductor, the human inductor are set to the rear portion of the perambulator, and the human inductor is for detecting institute
State the human body and position of human body information at perambulator rear；
Obstacle avoidance sensor, the obstacle avoidance sensor are set to the front of the perambulator, and the obstacle avoidance sensor is for detecting institute
State the obstacle information in front of perambulator；
The driving wheel of driving wheel motor, the driving wheel motor and the perambulator is connected by power；
Vehicle body folding electric push rod；
Pushing hands folding electric push rod；
Controller, the controller respectively with the human inductor, obstacle avoidance sensor, the driving wheel motor, described
Vehicle body folding electric push rod is connected with the pushing hands folding electric push rod, and the controller is used for according to the human body and human body position
Confidence breath, the obstacle information control the driving wheel motor, to control the perambulator automatically walk and avoidance,
And the vehicle body folding electric push rod and the pushing hands folding electric push rod are controlled to control the perambulator and roll over automatically
It is folded.
2. the control system of induction drive-type automatically walk folding baby vehicle according to claim 1, which is characterized in that also
Include:
Remote controler, the remote controler are wirelessly connected with the controller, and the remote controler sends to the controller and controls
Information, so that the controller controls the perambulator automatically walk, avoidance and folding according to the control information.
3. the control system of induction drive-type automatically walk folding baby vehicle according to claim 1, which is characterized in that institute
Human body sensor is stated to be set on the backrest support frame at the perambulator rear portion.
4. the control system of induction drive-type automatically walk folding baby vehicle according to claim 1, which is characterized in that institute
Obstacle avoidance sensor is stated to be set on the front leg strut of the perambulator front.
5. the control system of induction drive-type automatically walk folding baby vehicle according to claim 1, which is characterized in that institute
Stating driving wheel motor is two, respectively corresponds left driving wheel and the right driving wheel setting of the perambulator.
6. the control system of induction drive-type automatically walk folding baby vehicle according to claim 1, which is characterized in that institute
Stating vehicle body folding electric push rod is two groups, is respectively arranged at the two sides of the perambulator.
7. the control system of induction drive-type automatically walk folding baby vehicle according to claim 1, which is characterized in that institute
Stating pushing hands folding electric push rod is two, is respectively arranged at the pushing hands part two sides of the handspike of the perambulator.
8. the control system of induction drive-type automatically walk folding baby vehicle according to claim 2, which is characterized in that institute
It states remote controler and is communicatively coupled with the controller by bluetooth.
9. a kind of control method for incuding drive-type automatically walk folding baby vehicle characterized by comprising
The human body and position of human body information at the perambulator rear are detected, and detects the obstacle information in front of the perambulator；
Driving wheel motor is controlled according to the human body and position of human body information, the obstacle information, described in control
Perambulator automatically walk and avoidance, and vehicle body folding electric push rod and pushing hands folding electric push rod are controlled described in control
Perambulator auto-folder.
10. the control method of induction drive-type automatically walk folding baby vehicle according to claim 9, which is characterized in that
Further include:
Receive the control information that remote controler is sent, and according to the control information control perambulator automatically walk, avoidance and
It folds.
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| CN109969247B (en) | 2021-08-24 |
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