CN111506092A - Control method and system of baby carriage - Google Patents
Control method and system of baby carriage Download PDFInfo
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- CN111506092A CN111506092A CN201910479021.9A CN201910479021A CN111506092A CN 111506092 A CN111506092 A CN 111506092A CN 201910479021 A CN201910479021 A CN 201910479021A CN 111506092 A CN111506092 A CN 111506092A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
Abstract
A control method and a system for a baby carriage comprise the following steps: sensing and acquiring baby monitoring information and baby carriage movement information by using a sensing device; analyzing the infant monitoring information to obtain a trigger signal set; acquiring a baby carriage motion control signal, and processing the baby carriage motion control signal according to the baby carriage motion information to obtain an attitude motion signal set; acquiring control interface data, and transmitting a trigger signal set and an attitude motion signal set according to the control interface data; triggering the operation of the prefabricated monitoring equipment by using a trigger signal set; and controlling the motion state and the deformation posture of the baby carriage by the posture motion signal set. The invention solves the technical problems of low automation degree and single function in the prior art.
Description
Technical Field
The invention relates to a monitoring automation equipment control technology, in particular to a control method and a control system of a baby carriage.
Background
Nowadays, with the development of domestic economy and the implementation of birth encouragement policies, the market for strollers is expanding, wherein the variety of strollers is increasing. The existing baby carriage is mainly pushed and monitored manually, some baby carriages have certain intelligent degree, internal equipment can be simply adjusted, and some baby carriages can be positioned by installing and positioning units. But the function of perambulator intelligent monitoring among the prior art is comparatively single, and the operation is higher to artifical degree of dependence.
In summary, the stroller in the prior art has the technical problems of low automation degree and single function.
Disclosure of Invention
In view of the technical problems of low automation degree and single function in the prior art, the present invention aims to provide a method and a system for controlling a stroller, the method for controlling the stroller comprising: sensing and acquiring the motion information of the baby carriage by using a sensing device; acquiring a baby carriage motion control signal, and processing the baby carriage motion control signal according to the baby carriage motion information to obtain an attitude motion signal set; acquiring control interface data to transmit an attitude motion signal set; and controlling the motion state and the deformation posture of the baby carriage by the posture motion signal set.
In an embodiment of the present invention, the step of obtaining the gesture motion signal includes: extracting relative position data and baby carriage obstacle data in the baby carriage movement information; extracting running control data and posture control data in the baby carriage motion control signal; processing the relative position data and the obstacle data of the baby carriage into motion adjustment data according to the driving control data; and processing the attitude control data and the motion adjustment data to obtain an attitude motion signal set.
In one embodiment of the present invention, the step of transmitting the signal set includes: extracting equipment list data in the control interface data; converting the attitude motion signal set into a track control signal and a deformation driving signal according to the equipment list data; and transmitting the track control signal and the deformation driving signal to the prefabricated telex equipment by prefabricated connection.
In one embodiment of the present invention, the step of controlling the motion state of the stroller includes: extracting a track control signal and a deformation driving signal in the attitude motion signal set; triggering the prefabricated telex equipment by using the track control signal so as to drive the baby carriage to adjust the motion state; triggering the deformation transmission device to operate by using the deformation driving signal; the deformation transmission device is used for driving the baby carriage to adjust the posture.
In one embodiment of the present invention, a control system for a stroller includes: the baby carriage sensing and acquiring unit is used for acquiring baby carriage motion information according to the baby carriage motion information; the baby carriage motion signal unit is used for acquiring a baby carriage motion control signal and processing the baby carriage motion control signal according to the baby carriage motion information to obtain a posture motion signal set, and the baby carriage motion signal unit is connected with the baby carriage sensing and acquiring unit; the signal transmission unit is used for acquiring control interface data and transmitting an attitude motion signal set according to the control interface data, and is connected with the baby carriage motion signal unit; and the control trigger unit is used for controlling the motion state and the deformation posture of the baby carriage by using the posture motion signal set and is connected with the signal transmission unit.
In one embodiment of the present invention, a stroller movement signal unit includes: the position obstacle component is used for extracting relative position data and baby carriage obstacle data in the baby carriage movement information; the gesture motion component is used for extracting the driving control data and the gesture control data in the baby carriage motion control signal; the motion processing assembly is used for processing the relative position data and the baby carriage obstacle data into motion adjusting data according to the driving control data, and the motion output assembly is connected with the position obstacle assembly; and the attitude motion signal assembly is used for processing the attitude control data and the motion regulation data to obtain an attitude motion signal set, and is connected with the attitude motion assembly.
In one embodiment of the present invention, a signal transmission unit includes: the interface component is used for extracting equipment list data in the control interface data; the conversion assembly is used for converting the attitude motion signal set into a track control signal and a deformation driving signal according to the equipment list data and is connected with the interface assembly; and the transmission assembly is used for transmitting the track control signal and the deformation driving signal to the prefabricated telex equipment in a prefabricated connection mode, and the transmission assembly is connected with the conversion assembly.
In one embodiment of the present invention, the control trigger unit includes: the signal extraction component is used for extracting a track control signal and a deformation driving signal in the attitude motion signal set; the steering assembly is used for triggering the prefabricated telex equipment by using a track control signal so as to drive the baby carriage to adjust the motion state and is connected with the signal extraction assembly; the transmission triggering assembly is used for triggering the deformation transmission device to operate by using a deformation driving signal, and the rotation triggering assembly is connected with the steering assembly; the wedge-shaped sliding gear assembly is used for driving the baby carriage to adjust the posture through the deformation transmission device, and the deformation driving assembly is connected with the transmission triggering assembly.
In one embodiment of the present invention, a stroller includes: a stroller body frame; an apparatus case fixedly installed outside the stroller body frame; a control system for a stroller, comprising: the baby carriage sensing and acquiring unit is used for acquiring baby carriage motion information according to the baby carriage motion information; the baby carriage motion signal unit is used for acquiring a baby carriage motion control signal and processing the baby carriage motion control signal according to the baby carriage motion information to obtain a posture motion signal set; the signal transmission unit is used for acquiring control interface data so as to transmit the attitude motion signal set; the control trigger unit is used for controlling the motion state and the deformation posture of the baby carriage by using the posture motion signal set; wherein, the control system of the baby carriage is fixedly arranged in the baby carriage body frame.
As described above, the control method and system for a stroller provided by the present invention have the following beneficial effects: the invention obtains the relative position information between the body and the adult through the pulse generating device, the baby carriage obtains the obstacle information in the advancing process through a vehicle-mounted radar, so as to realize the automatic advancing, and simultaneously, the deformation of the body posture can be carried out through receiving a control signal.
In summary, the present invention provides a control method and system for a stroller, which solves the technical problems of low intelligence and single function in the prior art.
Drawings
Fig. 1 is a schematic diagram illustrating the steps of the control method of the stroller of the present invention.
Fig. 2 shows a data flow diagram of the apparatus of the present invention.
Fig. 3 is a flowchart illustrating a specific step of step S2 in fig. 1 in an embodiment.
Fig. 4 is a flowchart illustrating a specific step of step S3 in fig. 1 in an embodiment.
Fig. 5 is a flowchart illustrating a specific step of step S4 in fig. 1 in an embodiment.
Fig. 6 is a schematic diagram of a control system unit of a stroller according to the present invention.
Fig. 7 is a schematic diagram showing the specific components of the stroller motion signal unit 2 of fig. 6 in one embodiment.
Fig. 8 is a schematic diagram of specific components of the signal transmission unit 3 in fig. 6 in an embodiment.
Fig. 9 is a schematic diagram illustrating specific components of the control trigger unit 4 in fig. 6 in one embodiment.
Fig. 10 shows a schematic view of the wedge sled gear assembly 59 of fig. 9 in this embodiment.
Fig. 11 is a schematic view of a stroller of the present invention.
Description of the element reference numerals
1 baby carriage sensing and collecting unit
2 baby carriage movement signal unit
3 Signal Transmission Unit
4 control trigger unit
21 position obstacle assembly
22-posture movement assembly
23 motion processing assembly
24 gesture motion signal assembly
31 interface assembly
32 device list component
33 conversion assembly
34 transfer assembly
41 signal extraction assembly
42 steering assembly
43 drive trigger assembly
44 deformation driving assembly
59 wedge sliding gear assembly
Description of step designations
Method steps S1-S4
Method steps S21-S24
Method steps S31-S34
Method steps S41-S44
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Referring to fig. 1 to 11, it should be understood that the structures shown in the drawings are only for the purpose of understanding and reading the present disclosure, and are not intended to limit the conditions and conditions of the present invention, so that the present disclosure is not limited to the details of the technology, and any modifications of the structures, changes of the proportion and adjustments of the size, which are within the scope of the present disclosure, should not affect the function and the achievement of the present disclosure. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
Referring to fig. 1 and 2, a schematic step diagram and a schematic device data flow diagram of a stroller control method according to the present invention are shown, as shown in fig. 1 and 2, an object of the present invention is to provide a stroller control method and system, the stroller control method includes:
s1, obtaining the monitoring information and the motion information of the baby carriage by sensing with a sensing device, wherein in one embodiment, the sensing device may be an acceleration sensor or a rotation speed sensor, for example;
s2, acquiring a baby carriage motion control signal, and processing the baby carriage motion control signal according to the baby carriage motion information to obtain a posture motion signal set, wherein in the embodiment, the obstacle avoidance function adopts an HC-SR04 ultrasonic sensor to detect a front obstacle, and the baby carriage stops in time when encountering the obstacle;
s3, acquiring control interface data to transmit an attitude motion signal set, in one embodiment, installing a camera on the baby carriage for remote monitoring, transmitting the data to a mobile phone APP of a user through a wireless local area network or the Internet, and enabling the mobile phone and a monitoring system to establish connection through an intelligent monitoring APP through a Tcp/ip or a control local area network protocol, so as to transmit data in real time;
s4, controlling the motion state and the deformation attitude of the baby carriage by the attitude motion signal set, in the embodiment, an outer gear of the involute small-tooth-difference planetary gear mechanism is a fixed gear, an inner gear of the involute small-tooth-difference planetary gear mechanism is a driven output planetary gear, a planet carrier is replaced by a wedge-shaped eccentric slide block, and the inner gear and the outer gear are pushed to transmit through the wedge-shaped eccentric slide block to realize the adjustment of the backrest angle of the baby carriage.
Referring to fig. 3, which is a flowchart illustrating a specific step of step S2 in fig. 1 according to an embodiment, as shown in fig. 3, the step S2 of obtaining the gesture movement signal includes:
s21, extracting the relative position data and obstacle data of the stroller in the stroller movement information, wherein in an embodiment, the obstacle component 31 can adopt a uwb (ultra Wide band) positioning unit to make the stroller automatically and slowly follow the guardian to synchronously move forward at a stable speed;
s22, extracting the driving control data and the posture control data in the baby carriage movement control signal;
s23, processing the relative position data and the obstacle data of the stroller into motion adjustment data according to the driving control data, wherein in one embodiment, the motion processing component 33 can be implemented by a programmable microprocessor such as: the Raspberry Pi programmable microprocessor realizes automatic following control of the baby carriage to always keep a certain distance in front of a guardian and slowly move forward at a stable speed, and the barrier avoiding function can stop in time when meeting barriers;
and S24, processing the attitude control data and the motion adjusting data to obtain an attitude motion signal set.
Referring to fig. 4, which is a flowchart illustrating a specific step of step S3 in fig. 1 according to an embodiment, as shown in fig. 4, step S3 of transmitting a signal set includes:
s31, extracting the device list data in the control interface data, wherein in one embodiment, the device list data comprises functions of real-time transmission of infant audio and video, real-time monitoring of infant environmental conditions, storage of infant photo video, science popularization of infant-raising knowledge and the like. The user opens the smart stroller software on the mobile phone to enter the home page. The intelligent monitoring function module establishes connection between the mobile phone and the monitor through a Tcp/ip protocol, and the Tcp/ip enables the two parties to establish one connection by means of three-way handshake. The method effectively prevents the failed connection request message from being suddenly transmitted to the server side to generate errors, and ensures the reliability of video transmission. The intelligent monitoring can see the condition of the baby in real time through videos, and timely gives out sound alarm when environmental parameters are abnormal;
s32, processing a trigger signal set as a monitoring device trigger signal according to the device list data, wherein in the embodiment, a mobile phone APP used with the baby carriage has the capability of remotely controlling the mobile phone APP;
and S33, converting the attitude motion signal set into a track control signal and a deformation driving signal according to the equipment list data, in the embodiment, detecting a front obstacle by using an HC-SR04 ultrasonic sensor, receiving the signal by using a trigger signal section, sending 8 square waves of 40KHz by using an ultrasonic sending port, starting a timer, reflecting the ultrasonic signal back to the baby carriage by using the obstacle if the obstacle appears in front of the baby carriage, and stopping timing after receiving the echo signal. The baby carriage is subjected to two-stage amplification and decoding by a chip with audio decoding to generate a response signal which is sent to a raspberry group for processing, a baby carriage motor is driven to steer, if an obstacle exists on the left side, the baby carriage motor is steered to the right side, and if an obstacle exists on the right side, the baby carriage motor is steered to the left side, so that an obstacle avoidance function is realized;
s34, transmitting the track control signal and the deformation driving signal to the prefabricated telex device by the prefabricated connection, in this embodiment, the automatic following function of the stroller adopts uwb (ultra Wide band) positioning technology, measures the distance between the parent and the stroller in real time, transmits the data to the single chip on the stroller, transmits an instruction to the motor controller, and controls the stroller to keep in a certain distance in front of the parent and to slowly advance at a stable speed. When the baby carriage needs to stop advancing, the baby carriage stops moving when a stop button on the handheld control unit is pressed. Freeing the parents 'hands and the guardian's activities from being hampered by the stroller. The distance between the two modules is measured by equipping the user and the baby carriage with UWB positioning modules and adopting a two-way-time of flight method.
Referring to fig. 5, which is a flowchart illustrating a specific step of step S4 in fig. 1 according to an embodiment, as shown in fig. 5, step S4 of triggering the monitoring device includes:
s41, extracting a trajectory control signal and a deformation driving signal from the attitude motion signal set, in this embodiment, the ranging process is: when each module is enabled, a requested pulse is generated at time T1 for module one, a corresponding pulse is generated at time T2 for module two, and module one is received at time T2. The time required for signal transmission of the pulse signal between the two modules can be calculated according to T1 and T2, so that the distance between the modules can be obtained. In addition, 3 positioning base stations are arranged in the baby carriage, the handheld controller carries a positioning tag, the tag sends pulses according to a certain frequency, the distance measurement is continuously carried out with 3 base stations with known positions, and the position of the tag is determined through a Trilateration Trilateration positioning algorithm. The handheld control unit is designed to carry the UWB ranging module, and a user can manually control the baby carriage to move back and forth, left and right, so that the safety and operability of the baby carriage are enhanced;
s42, triggering the prefabricated telex device by a track control signal to drive the baby carriage to adjust the motion state;
s43, a deformation driving signal is used for triggering a deformation transmission device to operate, in the embodiment, an outer gear 591 is fixedly connected with a baby carriage base, so that the adjustment of the angle of the baby carriage backrest can be realized, and in the transmission of the involute small-tooth-difference planetary gear, the structure formed by a central wheel, an eccentric sliding block and a planetary gear is simple and compact, the transmission is stable, the strength is high, the universality is strong, the adjustment precision is high, the adjustment of the angle can be realized, and the self-locking of any angle can be realized;
s44, driving the baby carriage to adjust the posture by a deformation transmission device, in this embodiment, the wedge sliding gear assembly 59 may include an outer gear 591, an inner gear boss 592 and a wedge eccentric slide block 593, in this embodiment, the wedge sliding gear assembly 59 is a sitting and lying double posture adjusting mechanism, its specific configuration and uses an involute small-teeth-difference planetary gear mechanism, the outer gear 591 of the involute small-teeth-difference planetary gear mechanism may use a fixed gear, the inner gear is a driven output planetary gear, the planetary carrier is replaced by the wedge eccentric slide block 593, the inner gear and the outer gear are driven by the wedge eccentric slide block 593 to realize the adjustment of the baby carriage backrest angle, in this embodiment, the outer gear 591 of the involute small-teeth-difference planetary gear mechanism is fixed on the baby carriage body, the outer gear corresponding to the boss 592 is a driven output planetary gear, the outer ring 592 of the inner gear boss, the planet carrier is transformed into a wedge-shaped eccentric slide 593. The outer circle 592 of the inner gear boss is pushed by the wedge-shaped eccentric sliding block 593 to move in the inner circle region of the outer gear 591, and according to the transmission characteristics of the planetary gear mechanism, the outer circle 592 of the inner gear boss rotates around the center of a circle of the inner gear boss 592, and meanwhile, the center of the circle rotates around the center of the outer gear 591. Since the inner gear boss outer circumference 592 is attached to the stroller backrest.
Referring to fig. 6, which is a schematic diagram of a control system unit of a stroller according to the present invention, as shown in fig. 6, the control system of the stroller includes a stroller sensing and collecting unit 1, a stroller movement signal unit 2, a signal transmission unit 3, and a control trigger unit 4, the stroller sensing and collecting unit 1 is used for acquiring stroller movement information to obtain infant monitoring information and stroller movement information, in an embodiment, the temperature and humidity control is performed by using a DHT11 temperature and humidity sensor, the control process is feedback control, and the sensor is a temperature and humidity composite sensor including calibrated digital signal output. The whole temperature and humidity control system works coordinately to maintain the relative stability of the small environment where the baby is located, and the body temperature is detected by adopting a non-contact infrared temperature sensor; the baby carriage motion signal unit 2 is used for acquiring a baby carriage motion control signal and processing the baby carriage motion control signal according to baby carriage motion information to obtain a posture motion signal set, the baby carriage motion signal unit 2 is connected with the baby carriage sensing and collecting unit 1, in the embodiment, an obstacle avoidance function adopts an HC-SR04 ultrasonic sensor to detect a front obstacle, and the baby carriage stops in time when encountering the obstacle; the signal transmission unit 3 is used for acquiring control interface data, transmitting the trigger signal set and the attitude motion signal set according to the control interface data, and the signal transmission unit 3 is connected with the baby carriage motion signal unit 2; the control trigger unit 4 is used for triggering the operation of the prefabricated monitoring equipment by using a trigger signal set and controlling the motion state and the deformation attitude of the baby carriage by using an attitude motion signal set, the control trigger unit 4 is connected with the signal transmission unit 3, in the embodiment, an outer gear of the involute small-tooth-difference planetary gear mechanism is a fixed gear, an inner gear of the involute small-tooth-difference planetary gear mechanism is a driven output planetary gear, a planet carrier is replaced by a wedge-shaped eccentric sliding block, and the inner gear and the outer gear are pushed by the wedge-shaped eccentric sliding block to transmit, so that the adjustment of the.
Referring to fig. 7, which is a schematic diagram illustrating specific components of the stroller movement signal unit 2 in fig. 6 in an embodiment, as shown in fig. 7, the stroller movement signal unit 2 includes a position obstacle component 21, an attitude movement component 22, a movement processing component 23, and an attitude movement signal component 24, the position obstacle component 21 is used to extract relative position data in the stroller movement information and stroller obstacle data, in an embodiment, the position obstacle component 21 may employ a uwb (ultra Wide band) positioning unit, so that the stroller automatically and slowly follows the guardian to synchronously advance at a stable speed; an attitude motion component 22 for extracting the running control data and the attitude control data in the stroller motion control signal; a motion processing component 23 for processing the relative position data and the stroller obstacle data into motion adjustment data according to the driving control data, the motion output component 23 being connected to the position obstacle component 21, in one embodiment, the motion processing component 23 may be implemented by a programmable microprocessor such as: the Raspberry Pi programmable microprocessor realizes automatic following control of the baby carriage to always keep a certain distance in front of a guardian and slowly move forward at a stable speed, and the barrier avoiding function can stop in time when meeting barriers; and an attitude motion signal component 24 for processing the attitude control data and the motion adjustment data to obtain an attitude motion signal set, the attitude motion signal component 24 being connected to the attitude motion component 22.
Referring to fig. 8, which is a schematic diagram illustrating specific components of the signal transmission unit 3 in fig. 6 in an embodiment, as shown in fig. 8, the signal transmission unit 3 includes an interface component 31, a device list component 32, a conversion component 33, and a transmission component 34, where the interface component 31 is configured to extract device list data from control interface data, and in an embodiment, the smart monitor function module establishes a connection between a mobile phone and a monitor through a Tcp/ip protocol, and the Tcp/ip relies on three-way handshaking to establish a connection between the two parties. The method effectively prevents the failed connection request message from being suddenly transmitted to the server side to generate errors, and ensures the reliability of video transmission. The intelligent monitoring can see the condition of the baby in real time through videos, and sound alarm is timely given out when environmental parameters are abnormal. And the shooting and video recording functions can be realized, and shot pictures and recorded videos are transmitted to the APP through the network and stored in the mobile phone of the user. Because the data flow of the video is large, the video must be packaged by a memory card and then transmitted to the local computer through the network. After the software is stored in the computer, the stored videos and photos can be checked when the software is in an off-line state; in this embodiment, the mobile phone APP used with the stroller has a capability of remotely controlling the stroller, and the acquired signal is controlled by analog PID (proportional integral derivative), and then converted into a digital signal; the conversion component 33 is used for converting the attitude motion signal set into a track control signal and a deformation driving signal according to the equipment list data, the conversion component 33 is connected with the interface component 31, in the embodiment, an HC-SR04 ultrasonic sensor is used for detecting a front obstacle, a trigger signal section receives a signal, an ultrasonic transmitting port sends 8 40KHz square waves, a timer is started, if the obstacle appears in front of the baby carriage, the obstacle reflects the ultrasonic signal back to the baby carriage, and the timing is stopped after the echo signal is received. The baby carriage is subjected to two-stage amplification and decoding by a chip with audio decoding to generate a response signal which is sent to a raspberry group for processing, a baby carriage motor is driven to steer, if an obstacle exists on the left side, the baby carriage motor is steered to the right side, and if an obstacle exists on the right side, the baby carriage motor is steered to the left side, so that an obstacle avoidance function is realized; the transmission component 34 is used for transmitting a monitoring device trigger signal, a track control signal and a deformation driving signal to the prefabricated telex device through prefabricated connection, the transmission component 34 is connected with the device list component 32, the transmission component 34 is connected with the conversion component 33, in the embodiment, the automatic following function of the baby carriage adopts a UWB (ultra Wide band) positioning technology, the distance between a parent and the baby carriage is measured in real time, then data is transmitted to a single chip microcomputer on the baby carriage, and then an instruction is transmitted to the motor controller, so that the baby carriage is controlled to be always kept in a certain distance in front of the parent and slowly moves forward at a stable speed. When the baby carriage needs to stop advancing, the baby carriage stops moving when a stop button on the handheld control unit is pressed. Freeing the parents 'hands and the guardian's activities from being hampered by the stroller. The distance between the two modules is measured by equipping the user and the baby carriage with UWB positioning modules and adopting a two-way-time of flight method. The distance measurement process comprises the following steps: when each module is enabled, a requested pulse is generated at time T1 for module one, a corresponding pulse is generated at time T2 for module two, and module one is received at time T2. The time required for signal transmission of the pulse signal between the two modules can be calculated according to T1 and T2, so that the distance between the modules can be obtained. In addition, 3 positioning base stations are arranged in the baby carriage, the handheld controller carries a positioning tag, the tag sends pulses according to a certain frequency, the distance measurement is continuously carried out with 3 base stations with known positions, and the position of the tag is determined through a Trilateration Trilateration positioning algorithm. And the handheld control unit is designed to carry the UWB ranging module, so that a user can manually control the front and back, left and right movement of the baby carriage, and the safety and operability of the baby carriage are enhanced.
Referring to fig. 9 and 10, which are schematic diagrams showing specific components of the control trigger unit 4 in an embodiment in fig. 6 and a schematic structural diagram of the wedge slider gear assembly 59 in this embodiment, as shown in fig. 9 and 10, the control trigger unit 4 includes a signal extraction component 41, a steering component 42, a transmission trigger component 43 and a deformation driving component 44, and the signal extraction component 41 is configured to extract a trajectory control signal and a deformation driving signal concentrated by an attitude motion signal; the steering assembly 42 is used for triggering the prefabricated telex device by a track control signal so as to drive the baby carriage to adjust the motion state, and the steering assembly 42 is connected with the signal extraction assembly 41; the transmission triggering assembly 43 is used for triggering the deformation transmission device to operate by a deformation driving signal, and the rotation triggering assembly 43 is connected with the steering assembly 42; the wedge-shaped sliding gear assembly 44 is used for driving the baby carriage to adjust the posture by the deformation transmission device, the deformation driving assembly 44 is connected with the transmission triggering assembly 44, in the embodiment, the wedge-shaped sliding gear assembly 59 can comprise an outer gear 591, an inner gear boss 592 and a wedge-shaped eccentric slide block 593, in the embodiment, the wedge-shaped sliding gear assembly 59 is a sitting and lying double-posture adjusting mechanism, the specific configuration of the wedge-shaped sliding gear assembly is that an involute small-tooth-difference planetary gear mechanism is adopted, an outer gear 591 of the involute small-tooth-difference planetary gear mechanism can adopt a fixed gear, the inner gear is a driven output planet gear, a planet carrier is replaced by the wedge-shaped eccentric slide block 593, the inner gear and the outer gear are driven by pushing through the wedge-shaped eccentric slide block 593 to realize the adjustment of the backrest angle of the baby carriage, in the embodiment, the involute small-tooth, the outer circle 592 of the inner gear boss is connected with a baby carriage backrest, and the planet carrier is changed into a wedge-shaped eccentric sliding block 593. The outer circle 592 of the inner gear boss is pushed by the wedge-shaped eccentric sliding block 593 to move in the inner circle region of the outer gear 591, and according to the transmission characteristics of the planetary gear mechanism, the outer circle 592 of the inner gear boss rotates around the center of a circle of the inner gear boss 592, and meanwhile, the center of the circle rotates around the center of the outer gear 591. Because inner gear boss excircle 592 is connected with the perambulator back, and outer gear 591 is connected with perambulator base fixed, therefore can realize the regulation of perambulator back angle, in the transmission of few tooth difference planetary gear that gradually bursts at seams, the simple structure compactness of centre wheel, eccentric slider and planet wheel constitution, the transmission is steady, and intensity is high, the commonality is strong, and the adjustment accuracy is high, not only can realize the regulation of angle to can realize the auto-lock of arbitrary angle.
Referring to fig. 11, a schematic view of a stroller according to the present invention is shown, and as shown in fig. 11, the stroller includes: a stroller body frame 10; an apparatus case 20 fixedly installed outside the stroller body frame; a control system 30 for a stroller, comprising: the baby carriage sensing and collecting unit is used for acquiring baby monitoring information and baby carriage movement information according to the baby carriage movement information; the micro-processing unit is used for analyzing the induction state information to obtain a trigger signal set; the baby carriage motion signal unit is used for acquiring a baby carriage motion control signal and processing the baby carriage motion control signal according to the baby carriage motion information to obtain a posture motion signal set; the signal transmission unit is used for acquiring control interface data and transmitting the trigger signal set and the attitude motion signal set according to the control interface data; the control trigger unit is used for triggering the prefabricated monitoring equipment to operate by using the trigger signal set and controlling the motion state and the deformation posture of the baby carriage by using the posture motion signal set; wherein the control system 30 of the stroller is fixedly mounted within the stroller body frame 10.
In summary, according to the control method and system for the stroller provided by the invention, the reference torque current is changed to enable the torque angle to have a fixed change, so that the motor can be effectively and accurately regulated at a low rotating speed without a high-resolution encoder, the speed regulation efficiency is high, and the production cost of the motor is greatly reduced. The low-speed motor can be applied to effectively improve the efficiency of a pumping well system and reduce the energy consumption, equipment loss and the like of the pumping well in the process of oil field exploitation, and in addition, the low-speed motor is widely applied to aspects of medical machinery, food machinery, transportation and the like, has better application prospect, solves the technical problem of poor speed regulation effect and low precision in the prior art, and has very high commercial value and practicability.
Claims (9)
1. A control method for a stroller, the method comprising:
sensing and acquiring the motion information of the baby carriage by using a sensing device;
acquiring a baby carriage motion control signal, and processing the baby carriage motion control signal according to the baby carriage motion information to obtain a posture motion signal set;
acquiring control interface data so as to transmit the attitude motion signal set;
and controlling the motion state and the deformation posture of the baby carriage by the posture motion signal set.
2. The method of claim 1, wherein the step of obtaining the gesture motion signal comprises:
extracting relative position data and baby carriage obstacle data in the baby carriage movement information;
extracting running control data and posture control data in the baby carriage motion control signal;
processing the relative position data and the obstacle data of the baby carriage into movement adjusting data according to the driving control data;
and processing the attitude control data and the motion adjustment data to obtain the attitude motion signal set.
3. The method of claim 1, wherein the step of transmitting the set of signals comprises:
extracting equipment list data in the control interface data;
converting the attitude motion signal set into a track control signal and a deformation driving signal according to the equipment list data;
and transmitting the monitoring equipment trigger signal, the track control signal and the deformation driving signal to prefabricated telex equipment in a prefabricated connection mode.
4. The method of claim 1, the step of controlling a motion state of the stroller comprising:
extracting a track control signal and a deformation driving signal in the attitude motion signal set;
triggering a prefabricated telex device by the track control signal to drive the baby carriage to adjust the motion state;
triggering the deformation transmission device to operate by the deformation driving signal;
and the deformation transmission device is used for driving the baby carriage to adjust the posture.
5. A control system for a stroller, the system comprising:
a baby carriage sensing and collecting unit;
the baby carriage movement signal unit is connected with the baby state acquisition unit;
the signal transmission unit is connected with the baby carriage movement signal unit;
the baby control trigger unit is connected with the signal transmission unit.
6. The system of claim 5, wherein the stroller motion signal unit comprises:
a position obstacle assembly mounted outside the body side frame;
the attitude motion assembly is connected with the position obstacle assembly;
the motion processing assembly is connected with the cloud processing assembly, and the motion processing assembly are integrally installed in the baby carriage motion signal unit;
and the gesture motion signal component is connected with the gesture motion component and the motion processing component.
7. The system of claim 5, wherein the signal transmission unit comprises:
the interface component is an interface expansion device;
the equipment list component is connected with the interface component;
the conversion component is a signal conversion device and is connected with the equipment list component;
and the transmission assembly comprises a wireless transmission element and a plurality of transmission buses, and is connected with the conversion assembly.
8. The system of claim 5, the control trigger unit, comprising:
a signal extraction assembly comprising a plurality of pulse generating devices;
the steering assembly is connected with the signal extraction assembly;
the transmission triggering assembly is connected with the steering assembly;
the deformation driving assembly comprises a driving motor and a transmission device, wherein the driving motor is connected with the transmission device, and the transmission device is a wedge-shaped sliding gear set and is used for driving the baby carriage to adjust the posture through the deformation transmission device.
9. A stroller, comprising:
a stroller body frame;
an apparatus case fixedly installed outside the stroller body frame;
a control system for a stroller, comprising:
a baby carriage sensing and collecting unit;
the baby carriage movement signal unit is connected with the baby state acquisition unit;
the signal transmission unit is connected with the baby carriage movement signal unit;
the baby control trigger unit is connected with the signal transmission unit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910479021.9A CN111506092A (en) | 2019-06-03 | 2019-06-03 | Control method and system of baby carriage |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910479021.9A CN111506092A (en) | 2019-06-03 | 2019-06-03 | Control method and system of baby carriage |
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| CN111506092A true CN111506092A (en) | 2020-08-07 |
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