CN214356211U - Diversified intelligence is from independently following four-wheel perambulator - Google Patents
Diversified intelligence is from independently following four-wheel perambulator Download PDFInfo
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- CN214356211U CN214356211U CN202120280396.5U CN202120280396U CN214356211U CN 214356211 U CN214356211 U CN 214356211U CN 202120280396 U CN202120280396 U CN 202120280396U CN 214356211 U CN214356211 U CN 214356211U
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Abstract
The utility model relates to a diversified intelligence is from moving along four-wheel baby carriage, include: the automatic follow-up device comprises a baby carriage structure main body, and an automatic follow-up electric control module and an automatic follow-up distance measuring module which are arranged on the baby carriage structure main body; the baby carriage structure body comprises a frame, a differential moving mechanism and a pair of universal wheels are mounted at the bottom of the frame, a baby seat, a storage module and a hand push handle are further mounted on the frame, the baby seat can realize sitting or lying of a baby, and the storage module can contain sundries; the autonomous following distance measurement module can measure the distance between the baby carriage and a person to be followed, the measured data are transmitted to the autonomous following electric control module, the autonomous following electric control module controls the driving mechanism to work, the rotating speeds of the pair of wheel-shaped rotating bodies are respectively adjusted through the pair of driving mechanisms to realize the advancing, retreating, turning and stopping states of the baby carriage, and the person to be followed is followed at any position of the periphery of the baby carriage. The utility model discloses a perambulator can diversified independently follow.
Description
Technical Field
The utility model belongs to the technical field of the perambulator, especially, relate to a diversified intelligence is from master following four-wheel perambulator.
Background
The baby carriage is the most common children's article in life, is the necessity of newborn family, and people have higher and higher requirements for the quality of the baby carriage. Today many devices are walking on the intelligent road, which is also the main development direction of strollers. Although the existing baby stroller is not critical in comfort and practicability; but still not satisfied by the parents.
The baby carriage in the current market is poor in intelligence, particularly cannot be followed autonomously, the handling capacity of emergency situations is poor, the interactivity with children and parents is poor, the entertainment function is lacked, and the like. Especially, the prior baby carriage has no power assisting device and is difficult to push; in addition, when the child is pushed by the family, the baby is generally back to the parents, and the baby and the parents are difficult to interact and communicate face to face, so that the brand-new intelligent autonomous following baby carriage is absolutely imperative to be developed to meet the requirements of the baby carriage market, the multidirectional intelligent autonomous following baby carriage can provide high-quality leisure activities for young parents for nurturing the baby, and the research has very profound practical significance.
Disclosure of Invention
An object of the utility model is to provide a collect amusement, safety, education, function as an organic whole, can realize diversified perambulator of following independently, keeping away functions such as barrier, identification, especially have and independently follow the function, have more outstanding security and practicality.
The utility model provides a its technical problem take following technical scheme to realize:
the utility model provides a diversified intelligence is from dynamic following four-wheel baby carriage, includes: the automatic follow-up device comprises a baby carriage structure main body, and an automatic follow-up electric control module and an automatic follow-up distance measuring module which are arranged on the baby carriage structure main body;
the baby carriage structure body comprises a frame 7, a differential moving mechanism and a pair of universal wheels are mounted at the bottom of the frame 7, a baby seat 1, a storage module 2 and a hand push handle 8 are further mounted on the frame 7, the baby seat 1 can realize sitting or lying of a baby, and the storage module 2 can contain sundries;
the differential moving mechanism comprises a fixed mounting beam and a pair of wheel-shaped rotating bodies, the pair of wheel-shaped rotating bodies are coaxially mounted on two sides of the fixed mounting beam, the pair of wheel-shaped rotating bodies are respectively driven to rotate by a driving mechanism, the pair of driving mechanisms are respectively mounted on the fixed mounting beam, and the pair of universal wheels and the wheel-shaped rotating bodies are not coaxially mounted;
the automatic following distance measurement module can measure the distance between the baby carriage and a person to be followed, measured data are transmitted to the automatic following electric control module, the automatic following electric control module controls the driving mechanism to work, the forward, backward, turning and stopping states of the baby carriage are realized by respectively adjusting the rotating speed of the pair of wheel-shaped rotating bodies through the pair of driving mechanisms, and the person to be followed at any orientation position on the periphery of the baby carriage is realized.
Furthermore, a pair of wheel-shaped rotating bodies adopt wheel hub wheels, the driving mechanism comprises a pair of direct current servo motors, and the pair of direct current servo motors are connected to the pair of wheel-shaped rotating bodies through speed reducers respectively.
Furthermore, a pair of wheel-shaped rotating bodies adopt direct current servo hub motors, the driving mechanism comprises a pair of servo motor drivers, the servo motor drivers drive the direct current servo hub motors to rotate, and the differential control of two wheels can be realized by respectively changing the rotating speeds of the two direct current servo hub motors.
Furthermore, the autonomous following electrical control module comprises a power supply module, a control system, a gyroscope and a communication module, wherein the gyroscope is used for detecting the position and the motion state of the baby carriage; the power supply module supplies power to the control system and the gyroscope through the DC-DC module, and the autonomous following ranging module transmits measured data to the control system.
The handheld terminal is connected with the autonomous following electric control module through the communication module and can enable the autonomous following electric control module to work through issuing instructions.
Furthermore, an automatic obstacle avoidance module, a face recognition module, an intelligent voice module and an alarm module are further mounted on the baby carriage main body, and the automatic obstacle avoidance module, the face recognition module, the intelligent voice module and the alarm module are all connected with the control system through circuits; the automatic obstacle avoidance module can detect a front obstacle in the advancing process of the baby carriage and enable the baby carriage to stop; the face recognition module can perform face feature recognition; the intelligent voice module can realize voice control, voice interaction, voice recognition and entertainment services required by application; the control system can control the alarm module to alarm.
Furthermore, the autonomous following distance measurement module adopts any one of a UWB (ultra wide band), a laser radar, a visual image, an ultrasonic radar, a millimeter wave radar and an infrared radar to measure the distance between the baby carriage and a person to be followed.
A control method of a multidirectional intelligent autonomous following four-wheel baby carriage comprises the following steps:
acquiring the position and state information of the baby carriage and the position information of a follower;
according to the arrangement mode of the autonomous following ranging module and the selection of the autonomous following control quantity based on ranging, the following control quantity is determined according to a control algorithm, the forward, backward, turning and stopping states of the baby carriage are realized by respectively adjusting the rotating speeds of the pair of wheel-shaped rotating bodies through the pair of driving mechanisms, and the following of a person to be followed at any orientation position on the periphery of the baby carriage is realized.
The utility model has the advantages that:
1. the utility model realizes speed control and differential control of the two wheel-shaped rotating bodies by respectively changing the rotating speeds of the two wheel-shaped rotating bodies through a pair of driving mechanisms to respectively drive a pair of wheel-shaped rotating bodies, thereby realizing the forward, backward, turning and stopping of the baby carriage;
2. the utility model can measure the distance between the baby carriage and the follower by the autonomous following distance measuring module, and transmits the measured data to the autonomous following electrical control module, and the autonomous following electrical control module realizes the differential control of two wheels by respectively changing the rotating speed of the wheel-shaped rotating body, thereby achieving the synchronous following of the follower;
3. the utility model has the functions of automatic obstacle avoidance, face recognition and intelligent voice; the automatic obstacle avoidance system can lead the baby carriage to automatically stop when an obstacle in front is detected in motion; the face recognition system can send out an alarm signal when a stranger approaches the baby carriage so as to prevent the baby carriage from being injured; the intelligent voice function can provide service items such as music, story playing, online courses and the like.
Drawings
The technical solution of the present invention will be described in further detail with reference to the accompanying drawings and examples, but it should be understood that these drawings are designed for illustrative purposes only and thus are not intended to limit the scope of the present invention. Furthermore, unless otherwise indicated, the drawings are intended to be illustrative of the structural configurations described herein and are not necessarily drawn to scale.
Fig. 1 is a schematic structural view of a multidirectional intelligent autonomous following four-wheeled stroller provided in embodiment 1 of the present invention;
fig. 2 is a schematic structural view of a differential moving mechanism of a multi-directional intelligent autonomous following four-wheeled stroller according to embodiment 1 of the present invention;
fig. 3 is a schematic view of the layout structure of the autonomous following distance measuring module of the multi-directional intelligent autonomous following four-wheeled stroller according to embodiment 1 or 2 of the present invention;
fig. 4 is an electrical connection schematic diagram of the multi-directional intelligent autonomous following stroller according to embodiment 1 or 2 of the present invention;
description of the drawings: all the connections in fig. 4 only represent the association of a certain communication mode or the association between components, and are not actual circuit connection lines;
Detailed Description
First, it should be noted that the specific structures, features, advantages, etc. of the present invention will be described in detail below by way of example, but all the descriptions are only for illustrative purpose and should not be construed as forming any limitation to the present invention. Furthermore, any single feature described or implicit in any embodiment or any single feature shown or implicit in any drawing may still be combined or subtracted between any of the features (or equivalents thereof) to obtain still further embodiments of the invention that may not be directly mentioned herein. In addition, for the sake of simplicity, the same or similar features may be indicated in only one place in the same drawing.
Example 1
As shown in fig. 1-4, the present embodiment provides a multidirectional intelligent autonomous following four-wheeled stroller, including: the automatic follow-up device comprises a baby carriage structure main body, and an automatic follow-up electric control module and an automatic follow-up distance measuring module which are arranged on the baby carriage structure main body;
the baby carriage structure body comprises a frame 7, wherein a differential movement mechanism and a pair of universal wheels are mounted at the bottom of the frame 7, and as shown in fig. 1, the pair of universal wheels are respectively a first front wheel 4 and a second front wheel 13; the frame 7 is also provided with a baby seat 1, a containing module 2 and a hand push handle 8, the baby seat 1 can realize the sitting or lying of a baby, the containing module 2 can contain sundries, the baby seat 1 and the containing module 2 can be designed by self according to the realized functions, the specific structure does not have excessive requirements, and only the functions can be realized;
the differential moving mechanism comprises a fixed mounting beam 6 and a pair of wheel-shaped rotating bodies, the pair of wheel-shaped rotating bodies are coaxially mounted on two sides of the fixed mounting beam, as shown in fig. 1 and 2, the pair of wheel-shaped rotating bodies are respectively a first rear wheel 5 and a second rear wheel 12, the pair of wheel-shaped rotating bodies are respectively driven to rotate by a driving mechanism, the pair of driving mechanisms are respectively mounted on the fixed mounting beam, and the pair of universal wheels and the wheel-shaped rotating bodies are not coaxially mounted; the differential moving mechanism is fixedly connected with the frame 7 through a connecting piece 10, wherein the connecting piece 10 is fixedly connected with the fixed mounting beam 6, and the specific structure does not make special requirements;
the automatic following distance measurement module can measure the distance between the baby carriage and a person to be followed, measured data are transmitted to the automatic following electric control module, the automatic following electric control module controls the driving mechanism to work, the forward, backward, turning and stopping states of the baby carriage are realized by respectively adjusting the rotating speeds of a pair of wheel-shaped rotating bodies through a pair of driving mechanisms, and the person is followed at any orientation position on the periphery of the baby carriage.
In this embodiment, as shown in fig. 2, a pair of wheel-shaped rotating bodies adopts a wheel hub wheel, the driving mechanism includes a pair of dc servo motors, the pair of dc servo motors are respectively connected to a speed reducer, and the speed reducers are respectively connected to the first rear wheel 5 and the second rear wheel 12 through a coupling; in this embodiment, the first rear wheel 5 and the second rear wheel 12 are respectively driven by a first servo motor 9 and a second servo motor 3, it should be noted that the first servo motor 9 and the second servo motor 3 are respectively fixed on two sides of the fixed mounting beam 6, the first servo motor 9 and the second servo motor 3 are respectively connected with a speed reducer, the speed reducer (not shown in the figure) is respectively connected with a coupling (not shown in the figure), and the coupling is connected to the first rear wheel 5 and the second rear wheel 12; the fixed mounting beam 6 is fixedly connected with the frame 7 through a connecting piece 10; the functions of advancing, retreating, turning, parking and the like of the baby carriage are realized by adjusting the rotating speeds of the first servo motor 9 and the second servo motor 3;
in addition, it is also possible to consider: the pair of wheel-shaped rotating bodies adopt direct-current servo hub motors, the driving mechanism comprises a pair of servo motor drivers, the pair of servo motor drivers drive the pair of direct-current servo hub motors to rotate, and the differential control of two wheels can be realized by respectively changing the rotating speeds of the two direct-current servo hub motors; the differential rotation of the wheel-shaped rotating body can be realized in such a way, and a person skilled in the art can specifically install the wheel-shaped rotating body through specific conditions by adopting a specific installation structure, so that the detailed description is omitted.
Specifically, the autonomous following electrical control module comprises a power supply module, a control system, a gyroscope and a communication module, wherein the gyroscope is used for detecting the position and the motion state of the baby carriage and transmitting the detected information to the control system, so that the balance of the baby carriage in the advancing process is realized; the power supply module supplies power to the control system and the gyroscope through the DC-DC module, the autonomous following ranging module transmits measured data to the control system through the communication module, and the autonomous following electrical control module can be installed on the fixed installation beam 6.
The control system adopts any one of STM32, dendrobe, 51 series single chip microcomputer and small industrial personal computer.
The autonomous following distance measurement module is used for measuring the distance between the baby carriage and a person to be followed by adopting any one of a UWB (ultra wide band), a laser radar, a visual image, an ultrasonic radar, a millimeter wave radar and an infrared radar; in this embodiment, the distance measurement is implemented by using UWB technology, specifically: independently follow ranging module includes two UWB basic stations and a UWB label, two UWB basic station installs asymmetric position in perambulator structure main part, the UWB label is installed on handheld terminal, handheld terminal with by follower synchronous motion, handheld terminal pass through communication module with independently follow electrical control module and pass through communication module and connect for the distance can be sent between UWB label and two UWB basic stations independently follow electrical control module to can make through issuing the instruction independently follow electrical control module work.
Specifically, a Bluetooth wireless module can be arranged in the handheld terminal to communicate with the autonomous following electric control module; the terminal panel of the handheld terminal can be further provided with front, rear, left and right following setting keys, a hand-push power-assisted mode and a parking key, and the specific setting method belongs to the technical field and is not described herein.
In order to expand the multiple functions of the baby carriage, the following can be considered: the baby carriage structure main body is also provided with an automatic obstacle avoidance module, a face recognition module, an intelligent voice module and an alarm module; the automatic obstacle avoidance module, the face recognition module, the intelligent voice module and the alarm module are all in circuit connection with a control system in the autonomous following electrical control module, and the control system controls the automatic obstacle avoidance module, the face recognition module, the intelligent voice module and the alarm module to work; the automatic obstacle avoidance module can detect a front obstacle in the advancing process of the baby carriage and enable the baby carriage to stop; specifically, the automatic obstacle avoidance module is not limited to detect obstacles by adopting technologies such as an ultrasonic technology, an infrared technology, a machine vision (such as a camera) and the like, for example, a camera is installed in the front of the stroller structure main body, the camera shoots a scene of the stroller in the advancing direction and transmits acquired data to the autonomous following electrical control module, and when the autonomous following electrical control module detects that an obstacle exists in the front of the stroller, the autonomous following electrical control module controls wheels to stop moving and can control the alarm module to give an alarm; the face recognition module can also perform face feature recognition by adopting a camera, and when a stranger is recognized to approach, the control system can control the alarm module to give an alarm so as to meet field application; the intelligent voice module can be based on science news and news flying voice technology, adopts the existing science news and news flying integrated module, realizes the voice control, voice interaction and voice recognition functions required by application, and can provide service items such as music, story playing, online courses and the like.
It should be noted that, in the present embodiment, the algorithm of the differential following controller in the control system is designed as follows: the design of the side-following controller is explained by taking left-side following as an example, and as shown in fig. 3, a coordinate system O-xy is established by taking the center of the baby carriage as an origin; the negative direction of the x axis is defined as front, the positive direction of the x axis is defined as back, the negative direction of the y axis is defined as left, and the positive direction of the y axis is defined as right; assuming that two UWB base stations are respectively placed at the position of A, B points, A 'and B' are the other two end points of the rectangle with A, B as diagonal lines, and assuming that the UWB tag is located at the point C, the position is an equilibrium position, i.e. eh＝0，el0, then it can be easily obtained by using cosine law according to the length of three sides of the triangle ACB measured
Then
lBD＝lBCcos & lt CBA' (formula 2)
Assuming that the UWB tag is fixed on the followed person and moves in real time along with the movement of the followed person, when the UWB tag moves to the point C ', the lengths of three sides of the triangle AC' B can be respectively obtained, and the length can be easily obtained by adopting the cosine law
Then
lBD′＝lBC′cos C 'BA' (formula 4)
Then
el＝lBD′-lBD(formula 5)
By the same token
eh＝lC′D′-lCD(formula 6)
When the UWB tag moves to the point C', the displacement amounts generated in the xy direction relative to the point C are respectively el、ehSeparately constructing PID controllers
Wherein u isxControl quantity for making the baby carriage follow forward uyIn order to apply a differential control amount of the left and right rear wheels to the stroller to maintain the distance to the side to be followed, the moving speed of the stroller at the present time is assumed to be v0(measurable by a built-in encoder of a DC servo motor), Kp、Kd、KiProportional coefficient, differential coefficient and integral coefficient of the PID controller are respectively, and superscripts x and y represent coefficients of the PID controller in x and y directions; then, the speed applied to the left and right rear wheels is
By analogy, the controller with the right side surface following is easily designed.
Designing a front following controller: the design of the front-back following controller is explained by taking front-side following as an example, and as shown in fig. 3, a coordinate system O-xy is established by taking the center of the baby carriage as an origin; the negative direction of the x axis is defined as front, the positive direction of the x axis is defined as back, the negative direction of the y axis is defined as left, and the positive direction of the y axis is defined as right; let UWB tag be located at point F, which is equilibrium position, i.e. efh＝0，eflAssuming that the UWB tag is fixed to the follower and moves in real time with the movement of the follower, when the UWB tag moves to the point F', e is easily obtainedfh、eflA value of (d); then, when the UWB tag is moved to the point F', the displacement amounts generated in the xy direction with respect to the point F are respectively efl、efhSeparately constructing PID controllers
Wherein, muxControl quantity for the baby carriage to follow forward, muyIn order to apply a differential control amount of the left and right rear wheels to the stroller to maintain the left and right deviation from the right and left following, the moving speed of the stroller at the present time is assumed to be v0(measurable by the built-in encoder of the DC servomotor), kp、kd、kiProportional coefficient, differential coefficient and integral coefficient of the PID controller, and superscripts x and y represent coefficients in x and y directions, respectively, so that the speeds applied to the left and right rear wheels are
By analogy, the following controller is easy to design.
In addition,/[MNIs the distance between points M, N;
it should be noted that, the algorithm design of the differential following controller in the control system may adopt the PID control algorithm, and may also adopt the existing control algorithms such as optimal control, active disturbance rejection control, adaptive control, sliding mode control, rod-rod control, robust control, etc., and specific design algorithms are not described in detail.
Example 2
The control method for the multidirectional intelligent autonomous following four-wheeled baby carriage in the embodiment 1 comprises the following steps:
acquiring the position and state information of the baby carriage and the position information of a follower;
according to the arrangement mode of the autonomous following ranging module and the selection of the autonomous following control quantity based on ranging, the following control quantity is determined according to a control algorithm, the forward, backward, turning and stopping states of the baby carriage are realized by respectively adjusting the rotating speeds of the pair of wheel-shaped rotating bodies through the pair of driving mechanisms, and the following of a person to be followed at any orientation position on the periphery of the baby carriage is realized.
It should be noted that the control algorithm may adopt the PID control algorithm in embodiment 1, and may also adopt existing control algorithms such as optimal control, active disturbance rejection control, adaptive control, sliding mode control, rod-rod control, and robust control, and specific design algorithms are not described in detail.
The above embodiments are described in detail, but the above description is only for the preferred embodiments of the present invention, and should not be construed as limiting the scope of the present invention. All the equivalent changes and improvements made according to the application scope of the present invention should still fall within the patent coverage of the present invention.
Claims (7)
1. The utility model provides a diversified intelligence is from moving along four-wheel perambulator which characterized in that: the method comprises the following steps: the automatic follow-up device comprises a baby carriage structure main body, and an automatic follow-up electric control module and an automatic follow-up distance measuring module which are arranged on the baby carriage structure main body;
the baby carriage structure body comprises a frame, a differential moving mechanism and a pair of universal wheels are mounted at the bottom of the frame, a baby seat, a storage module and a hand push handle are further mounted on the frame, the baby seat can realize sitting or lying of a baby, and the storage module can contain sundries;
the differential moving mechanism comprises a fixed mounting beam and a pair of wheel-shaped rotating bodies, the pair of wheel-shaped rotating bodies are coaxially mounted on two sides of the fixed mounting beam, the pair of wheel-shaped rotating bodies are respectively driven to rotate by a driving mechanism, the pair of driving mechanisms are respectively mounted on the fixed mounting beam, and the pair of universal wheels and the wheel-shaped rotating bodies are not coaxially mounted;
the automatic following distance measurement module can measure the distance between the baby carriage and a person to be followed, measured data are transmitted to the automatic following electric control module, the automatic following electric control module controls the driving mechanism to work, the forward, backward, turning and stopping states of the baby carriage are realized by respectively adjusting the rotating speed of the pair of wheel-shaped rotating bodies through the pair of driving mechanisms, and the person to be followed at any orientation position on the periphery of the baby carriage is realized.
2. The multi-directional intelligent autonomous following four-wheeled stroller according to claim 1, wherein: the pair of wheel-shaped rotating bodies adopt wheel hub wheels, the driving mechanism comprises a pair of direct current servo motors, and the pair of direct current servo motors are connected to the pair of wheel-shaped rotating bodies through speed reducers respectively.
3. The multi-directional intelligent autonomous following four-wheeled stroller according to claim 1, wherein: the pair of wheel-shaped rotating bodies adopt direct-current servo hub motors, the driving mechanism comprises a pair of servo motor drivers, the servo motor drivers drive the direct-current servo hub motors to rotate, and differential control of two wheels can be realized by respectively changing the rotating speeds of the two direct-current servo hub motors.
4. The multi-directional intelligent autonomous following four-wheeled stroller according to claim 1, wherein: the autonomous following electrical control module comprises a power supply module, a control system, a gyroscope and a communication module, wherein the gyroscope is used for detecting the position and the motion state of the baby carriage; the power supply module supplies power to the control system and the gyroscope through the DC-DC module, and the autonomous following ranging module transmits measured data to the control system.
5. The multi-directional intelligent autonomous following four-wheeled stroller according to claim 4, wherein: the handheld terminal and the follower move synchronously, the handheld terminal is connected with the autonomous following electrical control module through the communication module and can enable the autonomous following electrical control module to work through issuing instructions.
6. The multi-directional intelligent autonomous following four-wheeled stroller according to claim 4, wherein: the baby carriage structure main body is also provided with an automatic obstacle avoidance module, a face recognition module, an intelligent voice module and an alarm module, and the automatic obstacle avoidance module, the face recognition module, the intelligent voice module and the alarm module are all connected with the control system circuit; the automatic obstacle avoidance module can detect a front obstacle in the advancing process of the baby carriage and enable the baby carriage to stop; the face recognition module can perform face feature recognition; the intelligent voice module can realize voice control, voice interaction, voice recognition and entertainment services required by application; the control system can control the alarm module to alarm.
7. The multi-directional intelligent autonomous following four-wheeled stroller according to claim 1, wherein: the autonomous following distance measurement module adopts any one of UWB, laser radar, visual image, ultrasonic radar, millimeter wave radar and infrared radar to measure the distance between the baby carriage and the person to be followed.
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