CN211403239U

CN211403239U - Robot for walking baby independently

Info

Publication number: CN211403239U
Application number: CN201921624458.9U
Authority: CN
Inventors: 肖刚军; 邓文拔; 姜新桥
Original assignee: Zhuhai Amicro Semiconductor Co Ltd
Current assignee: Zhuhai Amicro Semiconductor Co Ltd
Priority date: 2019-09-27
Filing date: 2019-09-27
Publication date: 2020-09-01
Anticipated expiration: 2029-09-27

Abstract

The utility model discloses an autonomous walking baby robot, wherein the autonomous walking baby robot comprises a hand push handle, a vertical connecting rod matched and connected with the hand push handle, a child seat, a child handrail and a mobile base, and the child seat is arranged above the mobile base; the lower part of the child armrest is arranged on the movable base through a first fixed support, and the first fixed support is also accommodated and assembled with a first camera, so that the visual angle of the first camera covers the peripheral side of the advancing direction of the movable base; the lower part of the vertical connecting rod is installed at the rear end of the child seat through a second fixing support, and a second camera is arranged in the middle of the vertical connecting rod, so that the visual angle of the second camera covers the child seat and the peripheral environment.

Description

Robot for walking baby independently

Technical Field

The utility model relates to a technical field of handcart especially relates to an autonomic baby robot of sauntering.

Background

The baby carriage is a tool carriage designed for providing convenience for outdoor activities of children, and has various types, and the baby carriage is a favorite walking vehicle for babies, and is a necessary product for mothers to take the babies to shop on the street and go out. Modern stroller manufacturers have introduced various styles of strollers, such as folding, portable, flexible, and shock resistant, to take into account the varied needs of parents and babies.

In every family with children, the child stroller has become a good helper for young parents to nurture children, but adults cannot keep a good look at the children all the time, and children are not enough in self-protection due to their age, so that children's safety is threatened if an unknown person attempts to take away the stroller or the child when the adult leaves the stroller. If other unknown accidents occur, the baby carriage falls down or slides, and the life of the child can be threatened. In addition, the parent and child carts are also easily crowded and lost by people in a crowded place.

Therefore, it is necessary to develop a stroller that can detect the position of the parent in time and return to itself when the parent and the stroller are lost. And chinese utility model patent CN107215376B discloses an intelligence joint cooperation method and system based on children's handcart and unmanned aerial vehicle, however unmanned aerial vehicle utilizes connecting device to take children's handcart to the in-process of external equipment position, will accomplish the collection and the processing of a large amount of accurate data within strict time limit, otherwise along with the lapse of time, position judgement then can be more uncertain, and this error is called drift (drift), and unmanned aerial vehicle flying speed is faster, and the drift value is also bigger. Therefore, the technical scheme disclosed by the chinese utility model patent CN107215376B puts higher requirements on hardware and software, and the cost is greatly increased.

SUMMERY OF THE UTILITY MODEL

Aiming at the existing technical problems, the utility model provides an autonomous robot for walking babies, which comprises a hand push handle, a vertical connecting rod matched and connected with the hand push handle, a child seat and a child handrail, and further comprises a mobile base, wherein the child seat is arranged above the mobile base; the lower part of the child armrest is arranged on the movable base through a first fixed support, and the first fixed support is also accommodated and assembled with a first camera, so that the visual angle of the first camera covers the peripheral side of the advancing direction of the movable base; the lower part of the vertical connecting rod is arranged at the rear end of the child seat through a second fixing support, and a second camera is arranged in the middle of the vertical connecting rod, so that the visual angle of the second camera covers the child seat and the peripheral environment; wherein, remove the integrated visual positioning of base and build the drawing module to there is the cable to be connected with first camera and second camera. Compared with the prior art, this technical scheme pulls the functional module integration to the children's shallow of children's handcart with unmanned aerial vehicle to utilize the camera cooperation visual positioning of the different position on the robot of independently strolling baby and build the drawing module and accomplish location navigation work, trail the guardian according to the image information that the camera was gathered with the realization mobile base and do not walk the robot of independently strolling baby accessible. Reducing the nursing cost of parents.

Further, robot of independently sauntering baby still includes drive wheel and the universal wheel of setting in children's seat below, and the left and right sides at the removal base is installed to the drive wheel, and the front end at the removal base is installed through rotatable support to the universal wheel. And the robot for walking the baby automatically is supported to freely turn.

Furthermore, two protective belts are led out from the same position of the vertical connecting rod respectively and are used for fixing the child on the child seat through cross-type locking on two sides of the child seat. The safety of the child in the moving process of the robot for walking the child automatically is ensured.

Further, the viewing angle center line of the second camera and the viewing angle center line of the first camera form an angle of 60 degrees. The applicability of the robot for walking the baby automatically to track the sensing visual angle of the guardian in real time is enhanced.

Further, the acquired image data within the elevation coverage of the second camera is used to encode into a child's active point cloud dataset.

Further, image information within the range of 360 degrees shot by the first camera is encoded into an obstacle point cloud data set.

Drawings

Fig. 1 is the embodiment of the present invention provides a structural schematic diagram of an autonomous robot walking for children.

Reference numerals:

101. a vertical connecting rod with a camera 1011; 102. pushing the handle by hand; 103. a drive wheel; 104. a child seat; 105. a child armrest with a camera 1051; 106. a universal wheel; 107. and moving the base.

Detailed Description

The technical solution in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. To further illustrate the embodiments, the present invention provides the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the embodiments. With these references, one of ordinary skill in the art will appreciate other possible embodiments and advantages of the present invention. Elements in the figures are not drawn to scale and like reference numerals are generally used to indicate like elements.

The utility model provides an autonomous robot for walking a baby, as shown in fig. 1, comprising a hand push handle 102, a vertical connecting rod 101 connected with the hand push handle 102 in a matching way, a child seat 104, a child handrail 105 and a mobile base 107; the child seat 104 is mounted above the mobile base 107, and the child seat 104 and the mobile base 107 are a combined body of plastic and metal of the entire vehicle. The middle position of the child armrest 105 is horizontal, such design can enable both hands of a child to hold the child armrest 105 well and grasp the balance force of the child armrest, the lower portion of the child armrest 105 is mounted on the moving base 107 through a first fixing bracket (not shown in the figure), the first fixing bracket is also accommodated and assembled with a first camera 1051 and fixed through a hand nut screwing device (not marked in the figure), the view angle of the first camera 1051 covers the peripheral side of the advancing direction of the moving base 107, and the depression angle of the first camera 1051 can be used for detecting obstacles or the track of pedestrians on the peripheral side in the advancing direction of the moving base 107. The lower part of vertical connecting rod 101 passes through the second fixed bolster and installs the rear end at children's seat 104, the middle part of vertical connecting rod 101 is provided with second camera 1011, second camera 1011 set up the height and be greater than the height of riding the children at children's seat 104, it is fixed also through hand screw nut screwing device (not sign in the picture), children's seat 104 and peripheral environment are covered to second camera 1011's visual angle, can acquire the moving image of the children of sitting on children's seat 104 at least, and second camera 1011's elevation angle covers guardian or pedestrian's face image that the robot of independently walking a child was accompanied. Nut screwing device twists nut, position circle and lead screw including the main hand, the lead screw passes assembly screw on position circle, the camera in proper order and twists the nut spiro union with the main hand, and its shape all has certain tapering, can effectually prevent that the camera from rocking back and forth at the fixed bolster, can be firmly fasten these both together. In addition, a visual positioning and mapping module is integrated inside the mobile base 107 and is in cable connection with the first camera 1051 and the second camera 1052, a chip for navigation positioning and instant map construction and a peripheral circuit module are built in the visual positioning and mapping module, and are used for acquiring images of the first camera 1051 and the second camera 1052, performing image processing on the images, and extracting a two-dimensional or three-dimensional point cloud data set in the processed images to complete map construction. Compare with chinese utility model patent CN107215376B, this embodiment is integrated to the children's shallow with unmanned aerial vehicle pull children's handcart's functional module on, and utilize independently walk the robot on the camera cooperation visual positioning of different position with build the drawing module and accomplish location navigation work to realize that the mobile base pulls independently to walk the guardian without hindrance ground tracking of baby robot according to the image information that the camera gathered. The cost of parents for purchasing the child handcart is reduced.

As shown in fig. 1, the robot for walking the baby autonomously further comprises a driving wheel 103 and a universal wheel 106 which are arranged below a child seat 104, the driving wheel 103 is arranged on the left side and the right side of a movable base 107, the wheel track of the driving wheel on the left side and the wheel track of the driving wheel on the right side of the movable base 107 are widened, the overturning prevention is facilitated, the safety factor and the stability of a vehicle body are increased scientifically, the distance between the widened rear wheels is as long as 55cm, and the rollover angle is prevented safely as high as 15 degrees. The mobile base 107 comprises a driving motor, and is used for driving the driving wheel 103 to drive the robot walking outside the baby to move autonomously according to a preset path; universal wheel 106 is installed at the front end of removal base 107 through rotatable support (not shown in the figure), supports autonomic child robot freely turns to, and 360 degrees universal wheel 106 helps autonomic child robot easily pass through low barrier, and the manipulation is nimble, is applicable to multiple road surface.

As shown in fig. 1, two protection belts (not shown) are respectively led out from the same position of the vertical connecting rod 101, and the two protection belts are used for fixing a child on the child seat 104 by cross-latching on two sides of the child seat 104. The safety of children in the moving process of the robot for walking the baby automatically is guaranteed, and particularly the children riding on the child seat 104 are prevented from falling off in the braking process of the driving wheel 103.

Still need trail the guardian in real time at automatic child process of sauntering, need autonomic child robot of sauntering removes along reliable navigation route through constructing the map in real time, guarantee children's safety, let the guardian more relieved, so, the environment image that the angle of elevation of second camera 1011 was absorb and the environment image of 360 within ranges that first camera 1051 was absorbed, the code is a cloud data set, remap to in the grid that visual positioning and drawing module set up, these grids contain and occupy, idle, unknown three kinds of states, whether there is the object in order to express this check.

Since the information of the image captured by the elevation angle of the second camera 1011 and the image captured by the first camera 1051 in the 360 ° range is very rich, the difficulty of detecting the loop back in this embodiment is reduced. Therefore, the child's active point cloud dataset is encoded from the acquired image data within the elevation coverage of the second camera. The speed of image processing is improved. The obstacle point cloud data set is formed by encoding image information within a range of 360 degrees shot by the first camera. The speed of image processing is improved. Preferably, the viewing angle center line of the second camera and the viewing angle center line of the first camera form an angle of 60 degrees, so that the elevation angle of the second camera and the depression angle of the first camera are effectively covered, and the applicability of the autonomous walking doll robot for tracking the sensing viewing angle of the guardian in real time is enhanced.

The above embodiments are only for illustrating the technical conception and the features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to implement the present invention, which cannot limit the protection scope of the present invention. All changes and modifications that come within the spirit of the invention are desired to be protected.

Claims

1. An autonomous baby walking robot comprises a hand push handle, a vertical connecting rod matched and connected with the hand push handle, a child seat and a child handrail, and is characterized by further comprising a moving base, wherein the child seat is installed above the moving base; the lower part of the child armrest is arranged on the movable base through a first fixed support, and the first fixed support is also accommodated and assembled with a first camera, so that the visual angle of the first camera covers the peripheral side of the advancing direction of the movable base;

the lower part of the vertical connecting rod is arranged at the rear end of the child seat through a second fixing support, and a second camera is arranged in the middle of the vertical connecting rod, so that the visual angle of the second camera covers the child seat and the peripheral environment;

wherein, remove the integrated visual positioning of base and build the drawing module to there is the cable to be connected with first camera and second camera.

2. The robot for walking baby autonomously as recited in claim 1, further comprising a driving wheel and a universal wheel disposed under the child seat, wherein the driving wheel is disposed on the left and right sides of the movable base, and the universal wheel is disposed at the front end of the movable base through a rotatable bracket.

3. The robot for walking a baby autonomously as recited in claim 1, wherein two protective belts are respectively led out from the vertical connecting rod at the same position, and the two protective belts are used for fixing the child on the child seat through cross-type locking at two sides of the child seat.

4. The robot of claim 1, wherein the viewing angle centerline of the second camera is at an angle of 60 degrees to the viewing angle centerline of the first camera.

5. The robot of claim 4, wherein the acquired image data within the elevation coverage of the second camera is used to encode a moving point cloud dataset for the child.

6. The robot of claim 4, wherein the image information captured by the first camera over a 360 ° range is encoded into a cloud data set of obstacle points.