CN112401568A - Baby walking learning device and using method - Google Patents
Baby walking learning device and using method Download PDFInfo
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- A—HUMAN NECESSITIES
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- A47D—FURNITURE SPECIALLY ADAPTED FOR CHILDREN
- A47D13/00—Other nursery furniture
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47D—FURNITURE SPECIALLY ADAPTED FOR CHILDREN
- A47D15/00—Accessories for children's furniture, e.g. safety belts or baby-bottle holders
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- A—HUMAN NECESSITIES
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- A47D15/00—Accessories for children's furniture, e.g. safety belts or baby-bottle holders
- A47D15/005—Restraining devices, e.g. safety belts, contoured cushions or side bumpers
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Abstract
The invention discloses a baby walking learning device, which comprises a walking learning device body, and a controller, an ultrasonic sensor, a power supply and a wheel assembly which are arranged on the walking learning device body; the ultrasonic sensor and the wheel assembly are connected with the controller, and the ultrasonic sensor, the wheel assembly and the controller are connected with the power supply; the wheel component is connected to the bottom of the walking learning device body, and a cavity which is used for placing an infant to penetrate through the middle of the walking learning device body is formed in the middle of the walking learning device body. The invention also discloses a method for using the baby walking learning device, which has the beneficial effects that: the leg deformity and the skeleton burden caused by the fact that the baby needs to tread on the walking learning device are avoided; the power mode that the original falling-preventing device is powered by external force of parents or the baby needs to step on the powered device by the baby is changed, the labor force of the parents is liberated, and the dependence of the baby on the parents is reduced.
Description
Technical Field
The invention relates to an infant product, in particular to an infant walking learning device and method.
Background
The infant period is the key period for the development of all aspects of cognitive ability, behavior habits, physical signs and the like of children. The step learning stage is a process that the infant borrows the legs of the infant to search surrounding things with curiosity, and in the process, the infant can train the muscle supporting capacity, the self-balancing capacity and the four-limb coordination capacity of the infant through practicing the step learning. However, since the self-care ability of the baby is poor, the baby is easily injured in the exercise process, and the baby can be born by the auxiliary equipment for learning to walk, such as a walking device, in order to meet the nursing requirement of parents, but the common walker has many disadvantages, such as increased danger of learning to walk, and the baby may collide with dangerous articles in the walking process; because the baby walker slides at a high speed, the baby walker needs to be driven to move by forcibly pedaling the baby walker by leaning on the lower limbs of the baby walker, so that the soft skeleton of the baby walker is easy to deform, and then deformed development of the legging and the like is formed. Therefore, the device for preventing the baby from falling during the step learning is intelligently processed by the technical means, other existing intelligent technologies are combined with the step learning to prevent the baby from falling, and the safety is guaranteed while the baby is prevented from being subjected to hidden injury during the step learning, so that the device is significant.
The infant walking learning devices in the current market include enclosed strollers, hand-propelled strollers, walking belts, intelligent strollers, and the like. Relatively speaking, the enclosed walker fixes the baby to a certain extent by using a pocket so as to be better in falling prevention protection, but in the using process, the baby cannot really learn the walking posture by means of a universal wheel sliding mode, on the contrary, the baby cannot pedal the ground to obtain forward power due to the sliding working principle of the walker, the moving mode can generate adverse effects on the baby lower limbs with soft skeletons, the lower limb skeletons of the baby are easy to bend, and pathological development phenomena such as a compass leg and the like are formed, and meanwhile, the baby can use the tiptoes to pedal by inertia in the pedaling process, so that the normal development of the baby soles is not facilitated. And because the universal wheel of the enclosed walker has strong mobility, if the enclosed walker meets a landslide and an obstacle, the enclosed walker is easy to lose control and collide, so that the baby is injured. In summary, although the conventional walker can prevent falling to some extent, the structural design and the working principle are disadvantageous to the skeletal health development of the baby and the formation of the correct walking posture. The hand-push type walker mainly plays a certain supporting and guiding role, is beneficial to helping a baby to exercise balance capacity, is mainly suitable for the baby with certain autonomous walking capacity although playing a certain supporting role, has poor protection performance, is easy to turn on one's side and topple over front and back in the process of walking, and lacks protective measures. The walking learning belt has the advantages that the walking learning belt can achieve the effect of protecting the baby from walking under the auxiliary help of a guardian, the walking learning belt is fixed on the chest of the shoulder of the baby, parents can ensure that the baby who learns to walk keeps body balance to achieve the effect of falling prevention in a pulling mode at the other end, the safety coefficient of the walking learning process under the monitoring of the parents is high, the baby depends on the psychology due to the excessive intervention of the external force of the parents and the parents, the bad posture that the baby walks forwards is formed, the wrong way of exerting force on the baby per se is not beneficial to the balance training capacity of the baby, and the walking learning process is slow and is difficult to form a good walking learning habit. Meanwhile, the walk learning belt depends on the assistance of parents, and the burden of carrying the baby by the parents is increased. Compared with the prior art, the baby walker plays a role in freeing parents to a certain extent.
Aiming at the defects existing in the mechanical design and the working principle in the field of falling prevention for the baby walking learning at present, the related technical personnel also provide a corresponding solution, and aiming at an external protective material, the application number is as follows: 201010140204.7A multifunctional sponge body for baby walker is composed of a cellular sponge body with high-density PU foam as shell, a cushion with foot holes at the upper part of its internal surface, rollers at the bottom of baby walker, and slide legs. It is characterized by soft texture, uneasy bruise, falling injury or no stabbing injury by hard objects. For the protection of mechanical structures, application No.: 201410240419.4, the design of the safe walker is that the supporting rod is arranged, when the safe walker turns over, the supporting end of the supporting rod can be supported on the ground, so as to prevent the safe walker from turning over, and the safety performance of the safe walker is improved. Meanwhile, the invention patents which are partially examined and disclosed apply the concept of intelligent obstacle avoidance to the falling prevention of the baby walker. Although the above patent is an improvement to solve various problems, the following problems are still not well solved.
(1) Design of mechanical structure: the wheel that falls the car is often adopted in traditional baby's learning to walk to prevent adopts the universal wheel of activity, the fast just inertia of the slip of universal wheel dashes the puzzlement that is difficult to control, simultaneously because the mechanical design of universal wheel, the mode that the baby must not step on the ground obtains forward power, this kind of motion mode can produce harmful effects to the soft baby's of skeleton low limbs, lead to baby's low limbs skeleton to produce the bending easily, sick development phenomena such as formation rid ring leg, the in-process baby of stepping on can inertia use the tiptoe to step on, be unfavorable for the normal development of baby's sole. Meanwhile, due to the fact that the universal wheels are not in a mechanical design of stopping and braking, the baby is prone to generating collision danger in the walking process, and due to uncertainty of inertia and movement, the baby is prone to going to unsafe family areas such as a kitchen and the like through the walker after leaving the sight of parents. Traditional baby learns to walk and prevents falling fixed part and accomplish baby's fixed with the form of sitting the pocket, not only can cause the influence to baby's crotch portion like this, can influence the development of shank skeleton simultaneously. The design of these mechanical components does not fully take into account the healthy development of the physiology of the infant during a particular period of time, and therefore a more complete understanding of the physiological characteristics of the infant is needed to avoid the potential safety hazard caused by the wrong mechanical structure.
(2) Design of protective materials: the traditional baby walking learning device comprises plastic, metal, wood, knitted materials and the like, and the baby belongs to a group for special care, so that the device used by the baby has higher requirements on material selection, the environmental protection, safety, no toxicity, harmlessness, antibacterial property and antiskid property of the material are ensured, meanwhile, a passive structure is avoided in the aspect of material molding, and the accidental injury to the baby is avoided. At present, the walking belt mainly adopts knitted materials to fix a baby in a walking learning mode, a walker owner uses PP (polypropylene) plastics, PVC (polyvinyl chloride) plastics and ABS (acrylonitrile-butadiene-styrene) plastics to construct a whole walker frame, the plastic materials have the characteristics of impact resistance, good stability, strong hardness and the like, and meanwhile, the safety of the walking learning equipment is enhanced to a certain extent on the treatment process of the protective materials, for example, the design of carrying out unevenness and forming texture on a handle plays a role in skid resistance. However, the plastic material still has a certain hardness, so that the baby is easily injured during collision and falling. Therefore, the design of reasonably utilizing the materials ensures that the anti-falling design of the whole walker has more humanized characteristics and is the direction needing to be improved at present.
(3) The design of the working principle is as follows: the traditional baby walking learning device relates to a working principle that a parent assists in supporting a walking learning belt, and the baby is ensured to be in an upright walking state by pulling and pulling the external force of the parent; the baby is prevented from falling down by the aid of the protective enclosure structure of the baby walker, and power of the baby stepping on the ground is converted into power of the baby walker advancing through the universal wheels. The supplementary more labour and the time of nursing of head of a family's supporting of learning to walk area device needs the head of a family, simultaneously because the head of a family's support is drawn with dragging, lead to the baby to produce great dependence in the process of learning to walk easily, simultaneously also cause the baby to walk uncoordinately because the unbalance of head of a family's traction force easily, simultaneously because the protectiveness of learning to walk area is relatively poor, if the head of a family causes the accident at the in-process of traction, can lead to the baby to receive more serious injury, simultaneously because the head of a family's long-time bowing of in-process of traction drags to lead to easily learning to the head of a. The traditional baby walker obtains forward power by means of pedaling the baby to the ground, and the whole baby walker needs to be driven by the baby to move, so that the power driving mode increases the load for the baby to learn walking, and the lower limbs of the baby with soft bones are adversely affected. Meanwhile, the speed is not easy to be controlled in the pedaling process and is easy to collide, so that the problem of the walking burden caused by the fact that a baby is required to drive the walker cannot be solved on the basis of the fundamental working principle although a plurality of invention patents are dedicated to adding an obstacle avoidance function to the walker or adding a stepless speed regulation function to wheels.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: how to solve the problem that the existing baby walker mostly depends on the baby to pedal the ground to move, which causes the poor development of the legs and the feet of the baby.
The invention solves the technical problems through the following technical means:
the baby walking learning device comprises a walking learning device body, and a controller, an ultrasonic sensor, a power supply and a wheel assembly which are arranged on the walking learning device body; the ultrasonic sensor and the wheel assembly are connected with the controller, and the ultrasonic sensor, the wheel assembly and the controller are connected with the power supply; the wheel assembly is connected to the bottom of the walking learning device body, and a cavity for holding an infant to penetrate through is formed in the middle of the walking learning device body; still include image recognition device, image recognition device installs the rear at the top of learning to walk the device body, image recognition device with the controller, the power is connected.
The invention realizes the information collection of the obstacles in the front direction of the walking learning device through the ultrasonic sensor, transmits the information to the controller, gives an obstacle avoidance instruction according to the result through the controller, and controls the walking learning device to complete obstacle avoidance; tracking the distance angle between the infants through an image recognition device, and transmitting detection data to a controller; the controller controls the wheel assembly to go straight or turn according to the results obtained by the ultrasonic sensor and the image recognition device, the baby walking device can automatically follow the baby, and leg deformity and skeleton burden caused by the fact that the baby needs to drive the walking device by stepping are avoided; the power mode that the original anti-falling device such as the powered device is stepped by the external force of the parents or the infant needs to be stepped by the self is changed, the labor force of the parents is liberated, the dependence of the infant on the parents is reduced, and meanwhile, the infant is liberated, the walking learning device does not need to be driven by the infant to move forward, so that the adverse effect of the infant on the lower limbs caused by the weight bearing and the stepping is avoided.
Preferably, the step learning device body further comprises an anti-falling body, the anti-falling body is arranged in the step learning device body, and the middle part of the anti-falling body is provided with an inverted circular truncated cone cavity for placing a baby; the baby carrier also comprises an anti-falling belt which is matched with the baby carrier for use, and the anti-falling belt can be detachably connected to the upper half body of the baby.
The anti-falling body is made of sponge which is in accordance with the safe and green level of baby products, and meanwhile, the anti-falling body has certain softness and flexibility and plays a role in buffering and supporting when a baby falls down; the body is prevented falling by the sponge can be connected the hardware parcel that has the passivity, and the active area design of the inverted cone frustum at middle part provides sufficient active area and the buffer distance of falling down for the baby, more accords with human science and avoids the baby to produce and collide with in empting the in-process.
Prevent falling the area and through the half body dryout on wrapping up baby's the waist shoulder, be different from the fixed of baby is accomplished to the form of traditional seat pocket, not only can cause the influence to baby's crotch portion like this, can influence the development of shank skeleton simultaneously. The infant can learn to walk by using the leg strength of the infant instead of relying on tools. The constraint on the legs of the infant is removed, so that the infant can freely move more flexibly, and the leg development and the foot development of the infant are facilitated.
Preferably, the walking device body is of a double-layer circular truncated cone structure and comprises a bottom plate, a top plate and connecting rods, the bottom of the top plate is connected with the top layer of the bottom plate through the connecting rods, and the bottom plate and the top plate are of annular plate structures with hollow middle parts.
Preferably, the wheel subassembly includes drive wheel, universal wheel, motor drive assembly, the drive wheel is connected the bottom rear of learning to walk the device body, the universal wheel is connected the bottom the place ahead of learning to walk the device body, motor drive assembly connects on learning to walk the device body, motor drive assembly connects the drive wheel, motor drive assembly connects the controller.
Preferably, the motor driving assembly comprises a motor and a driver, the motor is connected with the driving wheel, and the driver is connected inside the motor.
The whole device adopts a power driving device combining driving wheels and universal wheels, a four-wheel structure of a front double-universal-wheel rear double-driving wheel, a control system adopts differential steering control, and when steering is needed, the left and right rear driving wheels are driven in different rotating speeds by regulating the speed of a PWM (pulse width modulation) motor, so that the effect of differential steering is realized. The front-drive universal wheel has the characteristic of good steering performance, and the rear-drive driving wheel can provide stable power for the whole device.
Preferably, the ultrasonic sensors are uniformly arranged in front of the bottom of the walking device body.
The ultrasonic sensors can be arranged in a plurality of modes, sensing at a plurality of angles is achieved, the ultrasonic sensors are simple and high in precision, and the ultrasonic sensors are suitable for household use or small-area obstacle avoidance identification.
Preferably, the image is identified as an Open MV camera.
The Open MV camera is a circuit board which is small and exquisite, low in power consumption and low in cost, can easily complete machine vision (machine vision) application, and has the functions of color tracking, mark tracking, face tracking, person tracking, tracking positioning and ranging. The process that the target following system needs to go through is from image acquisition to target identification to target positioning and finally to target following, so that the adoption of an economical and efficient identification module at the acquisition and identification end is an important link for realizing the following purpose.
Preferably, the walking learning device further comprises a communication device, the communication device is installed on the walking learning device body, and the communication device is connected with the controller and the power supply.
The communication device is a Bluetooth communication device, and because the distance between the walking environment of the baby and parents is short and a long-distance communication means is not needed, the invention adopts the Bluetooth communication device as a radio technology supporting short-distance communication (+/-10 m) of equipment, and the core characteristics of Bluetooth are as follows: short range, low cost, and high speed. The baby walking learning device can realize interaction with a parent client through a Bluetooth transmission means, informs the running state of the walking learning device to parents in real time, and sends an alarm message to the parent client in real time if a dangerous fault state occurs; when encountering an unavoidable barrier blind area, the walking learning device keeps still and sends an emergency alarm to parents in time, thereby ensuring the safety of the baby in learning to walk, liberating the labor force of the parents and paying attention to the walking learning state of the baby.
The invention also discloses an automatic following type baby walking learning anti-falling use method, which adopts the baby walking learning device and comprises the following steps of placing a baby in a cavity in the body of the walking learning device, detecting obstacles on a path which the baby advances when learning to walk through an ultrasonic sensor, and transmitting a detection result to a controller; tracking the baby through an image recognition device, and transmitting detection data to a controller; the controller controls the wheel assembly to move straight or turn according to the detection result of the ultrasonic sensor and the detection result of the image recognition device.
More specifically, the obstacle detection is carried out on the advancing path of the baby during walking learning through the ultrasonic sensor, the detection result is transmitted to the controller, and the controller can control the walking learning device to finish obstacle avoidance; the infant tracking device comprises an image recognition device, a target tracking algorithm holding device, a wheel assembly and a wheel assembly, wherein the image recognition device is positioned behind an upper port of a step-learning anti-falling device so as to facilitate the tracking of the infant; meanwhile, when the body change of the baby is abnormal, such as the baby falls down and lies on the side, the alarm lamp can inform parents; the method combines the automatic control technology and the machine vision technology to realize the anti-falling device which can automatically follow the baby, thereby reducing the burden of the lower limbs for the baby to learn walking and freeing the labor of parents.
Preferably, the walking learning device further comprises a communication device, the communication device is mounted on the walking learning device body, and the communication device is connected with the controller and the power supply; the communication device is connected with the client of the caregiver, the image recognition device recognizes, tracks and measures the distance between the infant and the image recognition device when the infant walks, the result is transmitted to the controller, and the controller transmits the signal to the client of the caregiver through the communication device.
Can convey to parents through communication device to report to through the mode of ringing or flashing light and pass through image recognition device and communication device cooperation use, can realize the automatic tracking baby and give information transmission to caregiver client.
The invention has the advantages that:
(1) the invention realizes the information collection of the obstacle in the front direction of the walking learning device by the ultrasonic sensor; transmitting the information to a controller, and giving an obstacle avoidance instruction according to the result by the controller; tracking the distance and the angle between the infants through an image recognition device, transmitting detection data to a controller, and controlling the wheel assembly to go straight or turn through the controller according to the result of the ultrasonic sensor and the result of the image recognition device; the baby walking aid can realize automatic tracking of a baby, avoids leg deformity and skeleton burden caused by the fact that the baby needs to drive the walking learning device by treading, changes the prior power mode of using external force of parents or needing to use the power of treading the walking learning device by the baby, and the like, relieves the labor force of the parents, reduces the dependence of the baby on the parents, and simultaneously avoids the bad influence of the baby on lower limbs caused by treading with load because the baby does not need to drive the walking learning device to advance by the baby;
(2) the driving wheel drive and the combined ultrasonic obstacle avoidance function can prevent collision caused by too fast movement of the walking learning device and collision damage to the baby caused by collision with the outside, and the communication module is combined with real-time interaction of the parent end, so that accidental damage to the baby caused by unconventional movement of the walking learning device is avoided to the great extent.
(3) Compared with a plastic walking learning device in the market, the sponge anti-falling body is designed, so that the flexibility of the whole anti-falling device is increased, the sponge anti-falling body wraps blunt equipment, and a safe buffering and supporting effect is provided for falling of a baby; and the active region design of the inverted cone frustum provides enough active region and falling buffer distance for the baby, and more accords with human science to avoid the baby from colliding with in the process of falling.
(4) Prevent falling the area and through the half body dryout on wrapping up baby's the waist shoulder, be different from the fixed of baby is accomplished to the form of traditional seat pocket, not only can cause the influence to baby's crotch portion like this, can influence the development of shank skeleton simultaneously. The infant can learn to walk by using the leg strength of the infant instead of relying on tools. The constraint on the legs of the infant is removed, so that the infant can freely move more flexibly, and the leg development and the foot development of the infant are facilitated.
(5) The whole device adopts a power driving device combining driving wheels and universal wheels, a four-wheel structure of a front double-universal-wheel rear double-driving wheel, a control system adopts differential steering control, and when steering is needed, the left and right rear driving wheels are driven in different rotating speeds by regulating the speed of a PWM (pulse width modulation) motor, so that the effect of differential steering is realized. The front-drive universal wheel has the characteristic of good steering performance, and the rear-drive driving wheel can provide stable power for the whole device.
(6) The automatic following type baby walk learning anti-falling use method comprises the steps of realizing rotation of a wheel assembly through a controller, processing information identified by an image identification device, processing information collected by an ultrasonic sensor, giving an obstacle avoidance instruction, and realizing interaction with external communication equipment through a communication device; the information collection of the obstacles in the front direction of the walking learning device is realized through an ultrasonic sensor; the running state of the walking learning device is transmitted to a caregiver in real time through the communication device; the image acquisition, target identification, target positioning and target following functions are realized through an image identification device; the power supply provides power for each component; the walking learning device can go forward and turn through the wheel assembly, so that the leg deformity and skeleton burden caused by the fact that the baby needs to tread to drive the walking learning device are avoided; the automatic follow-up and fall-prevention can be realized, the labor force of parents is liberated, the dependence of the baby on the parents is reduced, and meanwhile, the baby does not need to drive the walking learning device to advance through the baby, so that the adverse effects on lower limbs, such as bone bending, girth legs, sole deformity and the like, caused by the heavy-load pedaling of the baby are avoided. The automatic following falling-preventing device can enable the baby to more freely realize the step learning process, so that the foot muscles can be normally exercised and developed.
Drawings
FIG. 1 is a schematic view of an infant walker according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of the wheel assembly;
FIG. 3 is a schematic illustration of the anti-fall body connection;
FIG. 4 is a front view of the fall-resistant band;
FIG. 5 is a perspective view of the drop resistant strap;
FIG. 6 is a wearing schematic view of the fall arrest strap;
FIG. 7 is a schematic image acquisition assembly workflow diagram;
FIG. 8 is an operational view of the communication device;
FIG. 9 is a schematic diagram showing the operation relationship of the second embodiment;
reference numbers in the figures: 1. a walker device body; 11. a bottom layer plate; 12. a top layer plate; 13. a connecting rod; 14. a fall-resistant body; 15. a fall-resistant band; 2. a controller; 3. an ultrasonic sensor; 4. a power source; 5. a wheel assembly; 51. a drive wheel; 52. a universal wheel; 53. a motor drive assembly; 6. an image recognition device; 7. a communication device;
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1, the baby walker comprises a walker body 1, and a controller 2, an ultrasonic sensor 3, a power supply 4 and a wheel assembly 5 which are arranged on the walker body 1; the ultrasonic sensor 3 and the wheel assembly 5 are both connected with the controller 2, and the ultrasonic sensor 3, the wheel assembly 5 and the controller 2 are all connected with the power supply 4; the wheel component 5 is connected to the bottom of the walking learning device body 1, and a cavity for placing an infant to penetrate through is formed in the middle of the walking learning device body 1.
The infant walking device further comprises an image recognition device 6, the image recognition device 6 is installed behind the top of the walking device body 1, specifically behind the top surface of a top plate 12 (the right end in fig. 1), and the image recognition device 6 is connected with the controller 2 and the power source 4.
In this embodiment, the image recognition device 6 is an Open MV camera, which is a circuit board that is small and exquisite, low-power consumption, and low-cost, and can easily complete machine vision (machine vision) application, and its functions include color tracking, mark tracking, face tracking, person tracking, tracking and positioning, and distance measurement. As shown in fig. 7, the processes that the target following system needs to go through are from image acquisition to target identification to target positioning and finally to target following, so that the adoption of an economical and efficient identification module at the acquisition and identification end is an important link for achieving the following purpose. The OpenMV image recognition module collects and transmits important data of image collection and target recognition to the controller chip, and automatic following is realized through the driving motor.
The camera can also be other cameras capable of realizing color tracking, mark tracking, face tracking, person tracking, tracking and positioning and distance measuring functions.
As shown in fig. 1, the walking device body 1 has a double-layered circular truncated cone structure, and includes a bottom plate 11, a top plate 12, and a plurality of connecting rods 13, wherein the bottom of the top plate 12 is connected to the top layer of the bottom plate 11 through the plurality of connecting rods 13, the bottom plate 11 and the top plate 12 are of an annular plate structure with a hollow middle portion, and a baby can hold the top plate 12 by hand while walking, and can also use the top plate 12 as a temporary carrying plate for placing toys and the like.
More specifically, the ultrasonic sensors 3 are provided with a plurality of, preferably three, and are uniformly installed in front of the bottom plate 11 (on the left side in fig. 1), so that sensing at a plurality of angles is realized, and the ultrasonic sensors 3 are simple, high in precision and suitable for household use or obstacle avoidance identification of small areas; the controller 2 is mounted behind the floor plate 11 (to the right in fig. 1), and the power source 4 is mounted on the floor plate 11, near the controller 2.
As shown in fig. 2, the wheel assembly 5 includes a driving wheel 51, a universal wheel 52, and a motor driving assembly 53, the driving wheel 51 is connected to the rear of the bottom plate 11 (the upper end in the drawing), the universal wheel 52 is connected to the front of the bottom plate 11, the motor driving assembly 53 is connected to the driving wheel 51, and the motor driving assembly 53 is connected to the controller 2. The motor driving assembly 53 includes a motor and a driver (driving chip), the motor is connected to the driving wheel 51, and the driver is connected to the inside of the motor.
The whole device adopts a power driving device combining a driving wheel 51 and a universal wheel 52, a four-wheel structure of a front double universal wheel 52 and a rear double universal wheel 52, a control system adopts differential steering control, and when steering is needed, the left and right rear driving wheels 51 are driven in different rotating speeds by regulating the speed through a PWM (pulse-width modulation) motor, so that the effect of differential steering is realized. The front-drive universal wheel 52 has the characteristic of good steering performance, and the rear-drive driving wheel 51 can provide stable power for the whole device.
The motor generally adopts direct current motor as drive module, and specific motor model can be based on preventing falling the concrete weight of device and just preferring. The permanent magnet direct current motor is adopted in the embodiment, and has the advantages of excellent speed control performance, low control difficulty, good starting and speed regulating performance, wide speed regulating range and strong overload capacity. Since the anti-falling device has two driving wheels 51 and is equipped with two independent direct current motors, a motor driving chip L298N is selected, the chip is a motor driver which receives high voltage, one driving chip can simultaneously control two direct current speed reducing motors to do different actions, and the anti-falling device has the functions of overheating self-breaking and feedback detection. The control requirements of the anti-falling device are completely met in the aspects of safety, economy and control requirements. But also other types of chips that can implement this function.
As shown in fig. 3, the walking device body 1 further comprises an anti-falling body 14, the anti-falling body 14 is arranged in the walking device body 1, and the middle part of the anti-falling body 14 is provided with an inverted circular truncated cone cavity for placing a baby;
the anti-falling body 14 is made of sponge which is in accordance with the safe and green level of the baby product, and meanwhile, the anti-falling body 14 has certain softness and flexibility and plays a role of buffering and supporting in the falling process of the baby; the body 14 that falls of preventing of sponge preparation can be connected the hardware parcel that has the passivity, and the active area design of the inverted cone frustum at middle part provides sufficient active area and the buffer distance of falling for the baby, more accords with human science and avoids the baby to produce and collide with at empting the in-process.
As shown in fig. 4, 5 and 6, the walking device body 1 further includes a fall-preventing strap 15 for use in cooperation with the baby, and the fall-preventing strap 15 is detachably connected to the upper body of the baby; prevent falling area 15 and adopt elastic material to make, during the use, wear out the arm by both sides space, there is the belt that can adjust arm below, and the buckle that is located the chest can the joint be in the same place.
Prevent falling area 15 and accomplish baby's fixed through wrapping up baby's waist shoulder upper half body and drying, the form that is different from traditional seat pocket, not only can cause the influence to baby's crotch portion like this, can influence the development of shank skeleton simultaneously. The infant can learn to walk by using the leg strength of the infant instead of relying on tools. The constraint on the legs of the infant is removed, so that the infant can freely move more flexibly, and the leg development and the foot development of the infant are facilitated.
The working process of the embodiment is as follows:
the anti-falling body 14 is arranged on the walking learning device body 1, and the anti-falling belt 15 is used according to the requirements of the baby; the information collection of the obstacles in the front direction of the walking learning device is realized through the ultrasonic sensor 3, the information is transmitted to the controller 2, the functions of image acquisition, target identification, target positioning and target following are realized on the baby through the image identification device, the detection data is transmitted to the controller, and the controller starts the motor driving component 53 to drive the driving wheel 51 to walk or turn by combining the data of the ultrasonic sensor and the result of the image identification device;
when the ultrasonic sensor does not detect the abnormality, the driving wheel 51 drives the universal wheel 52 to realize walking; when detecting the barrier, ultrasonic sensor 3 gives controller 2 with signal transmission, and controller 2 will keep away barrier instruction and send for motor drive subassembly 53, adopts differential steering control, when needs turn to, realizes through PWM motor speed governing that back drive wheel 51 takes the mode of different rotational speeds to drive about realizing the effect of differential turn, with this avoid the baby to produce the danger with external collision at the in-process that uses the device of learning to learn to walk. The motor driving component 53 is used for driving walking, so that leg deformity and skeleton burden caused by the fact that the baby needs to tread on the walking learning device are avoided; the power mode that the original anti-falling device such as the powered device is stepped by the external force of the parents or the infant needs to be stepped by the self is changed, the labor force of the parents is liberated, the dependence of the infant on the parents is reduced, and meanwhile, the infant is liberated, the walking learning device does not need to be driven by the infant to move forward, so that the adverse effect of the infant on the lower limbs caused by the weight bearing and the stepping is avoided.
The infant is identified and tracked through the tracking and positioning functions of the image identification device 6, the distance between the infant and the infant is measured and calculated in a positioning mode, real-time tracking is achieved through a target tracking algorithm, the distance angle between the infant and the device is kept, the image identification device 6 is located behind the upper port of the step-learning anti-falling device so as to facilitate the following of the infant, when the infant wants to move leftwards, the body of the infant can incline leftwards, the image identification device captures the signal, and then the controller controls the wheel assembly to turn leftwards; meanwhile, when the body change of the inside of the device is abnormal, such as the abnormal body change of falling, lying on the side and the like, the image recognition device 6 recognizes the abnormal body change and gives an alarm to parents, and the automatic control technology and the machine vision technology are combined to realize the anti-falling device capable of automatically following the baby, so that the burden of the lower limbs of the baby for learning to walk is reduced, and the labor force of the parents is also liberated.
Example two:
as shown in fig. 1 and 8, in this embodiment, on the basis of the first embodiment, the infant walking learning device further includes a communication device 7, the communication device 7 is installed on the walking learning device body 1, and the communication device 7 is connected to the controller 2 and the power source 4.
The communication device 7 is a bluetooth communication device, and because the distance between the walking environment of the baby and the parents is short and a long-distance communication means is not needed, the invention adopts the bluetooth communication device as a radio technology supporting short-distance communication (plus or minus 10m) of equipment, and the core characteristics of bluetooth are as follows: short range, low cost, and high speed. The baby walking learning device can realize interaction with a parent client through a Bluetooth transmission means, informs the running state of the walking learning device to parents in real time, and sends an alarm message to the parent client in real time if a dangerous fault state occurs; when encountering an unavoidable barrier blind area, the walking learning device keeps still and sends an emergency alarm to parents in time, thereby ensuring the safety of the baby in learning to walk, liberating the labor force of the parents and paying attention to the walking learning state of the baby. Other devices capable of performing communication functions are also possible.
With reference to fig. 9, the present embodiment further discloses an automatic following type infant walking learning falling-prevention using method, and the adoption of the infant walking learning device includes the following steps:
the baby is placed in a cavity in the walking learning device body 1, the ultrasonic sensor 3 is used for detecting obstacles on the advancing path of the baby during walking learning, the detection result is transmitted to the controller 2, and the controller 2 controls the wheel assembly 5 to go straight or turn according to the result;
meanwhile, the communication device 7 can be connected with a caregiver client, interaction with a parent client is realized through the communication device 7, when an unavoidable barrier blind area is met, the motor stops, the walking learning device body 1 keeps static and sends an emergency alarm to a parent in time, and safety of a baby in learning to walk is guaranteed;
the image recognition device 6 is matched with the communication device 7 for use, so that the automatic tracking of the baby can be realized, and information can be transmitted to a caregiver client; specifically, the infant is identified and tracked through the tracking and positioning functions of the identification module, the distance between the infant and the infant is measured and calculated through a positioning mode, real-time tracking is achieved through the distance angle between the target tracking algorithm keeping device and the infant, the image identification device 6 is located behind the upper port of the step learning falling prevention device so that the infant can be conveniently tracked, and meanwhile when the infant has abnormal body changes inside the device, such as abnormal body changes of falling, lying on the side and the like, the image identification device 6 identifies the abnormal body changes, conveys the abnormal body changes to parents through the communication device 7 and gives an alarm through a ringing or flashing light mode.
Through combining together automatic control technique and machine vision technique thereby realize one kind and can carry out the automatic device that falls that prevents that follows to the baby to the lower limbs burden that has reduced the baby and has also liberated father and mother's labour.
According to the above, it can be seen that the controller 2 in this embodiment needs to control the motor to rotate, process Open MV image recognition information, process the information collected by the ultrasonic sensor 3, provide an obstacle avoidance instruction, and interact with an external communication device through the communication module. Therefore, the processor adopts an ARM architecture in consideration of both functionality and economy. The ARM processor is small in size, does not occupy space, can perfectly complete application in an embedded environment, and also keeps super-strong performance. The ARM microprocessor also supports two instruction sets simultaneously: the ARM instruction set and the Thumb instruction set. The ARM processor uses a large number of registers, so that the instruction execution speed is higher, and the ARM processor is a processor with high execution efficiency, small size, high performance, low cost and low power consumption. Other processors capable of performing this function are also possible.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The baby walking learning device is characterized by comprising a walking learning device body, a controller, an ultrasonic sensor, a power supply and a wheel assembly, wherein the controller, the ultrasonic sensor, the power supply and the wheel assembly are arranged on the walking learning device body; the ultrasonic sensor and the wheel assembly are connected with the controller, and the ultrasonic sensor, the wheel assembly and the controller are connected with the power supply; the wheel assembly is connected to the bottom of the walking learning device body, and a cavity for holding an infant to penetrate through is formed in the middle of the walking learning device body;
still include image recognition device, image recognition device installs the rear at the top of learning to walk the device body, image recognition device with the controller, the power is connected.
2. The infant walker of claim 1 wherein the walker body further comprises an anti-fall body disposed within the walker body, the anti-fall body having a rounded off cavity in a middle portion thereof for placement of an infant; the baby carrier also comprises an anti-falling belt which is matched with the baby carrier for use, and the anti-falling belt can be detachably connected to the upper half body of the baby.
3. The infant walker according to claim 1 wherein the walker body is a double-layered circular truncated cone-shaped structure comprising a bottom plate, a top plate, and connecting rods, wherein the bottom of the top plate is connected to the top layer of the bottom plate by a plurality of connecting rods, and the bottom plate and the top plate are of a ring-shaped plate-shaped structure with a hollow middle part.
4. The infant walker of claim 1 wherein the wheel assembly includes a drive wheel connected to the bottom rear of the walker body, a universal wheel connected to the bottom front of the walker body, and a motor drive assembly connected to the walker body, the motor drive assembly being connected to the drive wheel, the motor drive assembly being connected to the controller.
5. The infant walker of claim 4 wherein the motor drive assembly includes a motor coupled to the drive wheel and a drive coupled within the motor.
6. The infant walker of claim 1 wherein the plurality of ultrasonic sensors are uniformly mounted in front of the bottom of the walker body.
7. The infant walker apparatus of claim 1 wherein the image is identified as an Open MV camera.
8. The infant walker of claim 1 further comprising a communication device mounted on the walker body, the communication device being connected to the controller and the power source.
9. A method for using the baby walker according to any one of claims 1-8, comprising the steps of placing the baby in a cavity of the walker body, detecting obstacles on the path of the baby walking through the ultrasonic sensor, and transmitting the detection result to the controller; tracking the baby through an image recognition device, and transmitting detection data to a controller; the controller controls the wheel assembly to move straight or turn according to the detection result of the ultrasonic sensor and the detection result of the image recognition device.
10. The method of claim 9, further comprising a communication device mounted on the body of the baby walker, the communication device being connected to the controller and the power source; the communication device is connected with the client of the caregiver, the image recognition device recognizes, tracks and measures the distance between the infant and the image recognition device when the infant walks, the result is transmitted to the controller, and the controller transmits the signal to the client of the caregiver through the communication device.
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