WO2020062595A1 - 用于婴儿车的安全控制方法及婴儿车 - Google Patents

用于婴儿车的安全控制方法及婴儿车 Download PDF

Info

Publication number
WO2020062595A1
WO2020062595A1 PCT/CN2018/120552 CN2018120552W WO2020062595A1 WO 2020062595 A1 WO2020062595 A1 WO 2020062595A1 CN 2018120552 W CN2018120552 W CN 2018120552W WO 2020062595 A1 WO2020062595 A1 WO 2020062595A1
Authority
WO
WIPO (PCT)
Prior art keywords
stroller
wireless communication
communication device
braking
state
Prior art date
Application number
PCT/CN2018/120552
Other languages
English (en)
French (fr)
Inventor
夏孙城
李自强
林兆雄
Original Assignee
上海阿柚信息科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201811115993.1A external-priority patent/CN109094637A/zh
Priority claimed from CN201811149218.8A external-priority patent/CN109238272B/zh
Priority claimed from CN201811149226.2A external-priority patent/CN109278841A/zh
Application filed by 上海阿柚信息科技有限公司 filed Critical 上海阿柚信息科技有限公司
Publication of WO2020062595A1 publication Critical patent/WO2020062595A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B7/00—Carriages for children; Perambulators, e.g. dolls' perambulators
    • B62B7/04—Carriages for children; Perambulators, e.g. dolls' perambulators having more than one wheel axis; Steering devices therefor
    • B62B7/06—Carriages for children; Perambulators, e.g. dolls' perambulators having more than one wheel axis; Steering devices therefor collapsible or foldable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B9/00—Accessories or details specially adapted for children's carriages or perambulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B9/00—Accessories or details specially adapted for children's carriages or perambulators
    • B62B9/08—Braking mechanisms; Locking devices against movement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M1/00—Substation equipment, e.g. for use by subscribers
    • H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
    • H04M1/725—Cordless telephones
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
    • H04W16/18—Network planning tools
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication

Definitions

  • the present application relates to the field of baby strollers, and in particular, to a safety control method for a baby stroller and a baby stroller.
  • the acceleration sensor in the stroller in the prior art is usually only used to detect the current acceleration of the car body and then calculate the car body speed, and issue an alarm or automatically perform a safe operation after the running speed of the baby carriage exceeds a safe range.
  • existing strollers do not provide targeted protection against dangerous situations in which the car body is in a tilted state, which seriously affects the safety factor of the baby.
  • the most common scenario is when the stroller is on a road with a certain slope (uphill) / Downhill), if the car body is out of the adult's control at this time, it will cause unbearable serious consequences.
  • a baby carriage in the related art usually uses a manual brake operation, that is, a parent pulls a mechanical brake switch at a rear wheel to set or release a brake state.
  • the existing stroller brake structures on the market generally use gear to engage the gears or engage the bumps into a fixed slot connected to the rear wheel axle. This method is more suitable for parents to use in a safe situation, that is, Park the stroller aside in a safe state to prevent it from moving around, which is not suitable for unexpected situations.
  • the present application provides a safety control method for a baby carriage, wherein the baby carriage includes a proximity sensing unit, a movement posture determination device, a brake control device, and a brake mechanism, and the safety control method includes:
  • the brake mechanism is controlled by the brake control device to perform automatic braking.
  • the current movement posture of the stroller is determined according to the following steps: measuring acceleration values of the object to be measured in multiple directions; and performing time-frequency domains on the acceleration values of the object to be measured in multiple directions. Data conversion to obtain the amplitude of the frequency domain data in each direction; and comparing the amplitude of the frequency domain data in each direction with a predetermined reference value in the corresponding direction, and determining the test to be performed according to the comparison result The state of the object.
  • the method further includes: measuring the acceleration values in the multiple directions when the object to be measured is in a horizontal state, and calculating each The average value of the acceleration values in the direction is used as the reference value for the inclination determination in the corresponding direction.
  • the method further includes: based on the grip state and the detection result of the motion posture, and a braking mode set by a user, through the braking control device The braking mechanism is controlled to perform automatic braking.
  • the braking mode includes a first braking mode in which automatic braking is turned off, a second braking mode in which automatic braking is performed according to the grip state, and execution is performed according to a detection result of the grip state and the motion posture.
  • Third brake mode with automatic braking is performed according to a detection result of the grip state and the motion posture.
  • the brake control device is configured to, in the third braking mode, when a detection result of the hand holding state is a human hand leaving, and a detection result of the movement posture is that the stroller has a tilted state or movement In at least one of the states, the baby carriage is controlled to perform automatic braking.
  • a motion posture determination device including:
  • An acceleration measuring device for measuring acceleration values of an object to be measured in multiple directions
  • a time-domain-frequency conversion device configured to perform time-domain-frequency domain data conversion on acceleration values of the object to be measured in multiple directions to obtain the amplitude of the frequency-domain data in each direction;
  • the comparison and determination device compares the amplitude of the frequency-domain data in each direction with a predetermined reference value in the corresponding direction, and determines the state of the object to be measured according to the comparison result.
  • the comparison determination device is configured to compare the amplitude of the DC component in the frequency-domain data in each direction with a predetermined determination determination value of the tilt in the corresponding direction. And determine the tilt state of the object to be measured based on the comparison result.
  • the comparison determination device is configured to calculate the sum of the amplitudes of the frequency-domain data in each direction, and determine the sum of the amplitudes with a predetermined movement in the corresponding direction.
  • the thresholds are compared, and it is determined that the measured object is in a moving state when the sum of the calculated amplitudes is greater than the motion determination threshold.
  • the comparison determination device is configured to calculate a ratio between a low frequency component in the frequency domain data in each direction and the sum of the amplitudes, and compare the ratio with a predetermined The acceleration determination thresholds in the corresponding directions are compared, and when the calculated ratio is greater than the acceleration determination threshold, it is determined that the object to be measured is in an acceleration or deceleration state, wherein the low-frequency component is an amplitude of a frequency point whose frequency is lower than 5 Hz. Sum of values.
  • the motion posture determination device is configured to measure acceleration values in a plurality of directions by the acceleration measurement device when the object to be measured is in a horizontal state, and calculate each direction by the comparison determination device. And use the average value as the reference value for tilt determination in the corresponding direction.
  • a stroller for use comprising:
  • a brake mechanism configured to perform automatic braking under the control of a brake control device
  • a proximity sensing unit configured to detect a user's hand holding state
  • a motion posture determination device configured to determine a current motion posture of the stroller
  • the brake control device is configured to control the braking mechanism to perform automatic braking based on a detection result of the grip state and the motion posture and a braking mode set by a user.
  • the braking mode includes a first braking mode in which automatic braking is turned off, a second braking mode in which automatic braking is performed only according to the grip state, and automatic braking is performed in accordance with a detection result of the grip state and the motion posture.
  • the third brake mode for braking includes a first braking mode in which automatic braking is turned off, a second braking mode in which automatic braking is performed only according to the grip state, and automatic braking is performed in accordance with a detection result of the grip state and the motion posture.
  • the brake control device is configured to, in the third braking mode, when a detection result of the grip state is that a human hand is away, and a detection result of the movement posture is that the stroller has a tilt state or a movement state Controlling at least one of the baby carriages to perform automatic braking.
  • the proximity sensing unit includes:
  • a capacitive proximity sensor for detecting whether an object approaches the proximity sensing unit
  • a temperature acquiring device configured to acquire a temperature at the proximity sensing unit
  • a compensation circuit for performing temperature compensation on the measured value of the proximity sensing unit according to the obtained temperature
  • the detection circuit is configured to determine a hand-held state based on a temperature-compensated measurement value of the proximity sensing unit.
  • the security control system of the present application further includes a first wireless communication device and a second wireless communication device, wherein the first wireless communication device is disposed at the proximity sensing unit, and the second wireless communication device is disposed at The exercise posture determination device is located at the place where the first wireless communication device and the second wireless communication device are wirelessly connected to each other.
  • the safety control system of the present application further includes a third wireless communication device disposed at the braking mechanism, and the third wireless communication device and the first wireless communication device are wirelessly connected to each other.
  • the first wireless communication device, the second wireless communication device, and the third wireless communication device include any component in the following group: a Bluetooth communication component, a 2.4G communication component, a Zigbee communication component, a 433M communication component, and a SUB1G communication component.
  • first wireless communication device the second wireless communication device, and the third wireless communication device include a BLE communication component.
  • the BLE communication component in the first wireless communication device is set to a master mode
  • the BLE communication component in the second and third wireless communication devices is set to a slave mode.
  • the second wireless communication device includes a dual-mode Bluetooth communication component.
  • the present application detects the state of the baby stroller's grip and the current movement posture of the baby stroller, and determines whether to perform automatic braking on the baby stroller according to the detection result, thereby solving the baby stroller in special circumstances, such as sudden In the event of an accident or when the stroller is in danger, the automatic braking cannot be performed. Therefore, the present application has the technical effect of being able to effectively protect the baby carriage and children in the baby carriage, thereby improving the safety factor of the baby carriage.
  • FIG. 1 is a schematic flowchart of a method for determining a motion posture according to an embodiment of the present application
  • FIG. 2 is a flowchart of a calibration process of a method for determining a motion posture according to an embodiment of the present application
  • FIG. 3 is a schematic structural diagram of an apparatus for determining a movement posture according to an embodiment of the present application.
  • FIG. 4 is an exemplary view showing that the exercise posture determination device is mounted on a trolley according to an embodiment of the present application
  • FIG. 5 is a rear view of the baby carriage according to the embodiment of the present application.
  • FIG. 6 is a block diagram of a structure for a baby carriage according to an embodiment of the present application.
  • FIG. 7 is a component view of a baby carriage for switching a braking mode according to an embodiment of the present application.
  • FIG. 8 is a schematic flowchart of a safety control method for a baby carriage according to an embodiment of the present application.
  • FIG. 9 is a structural block diagram of a baby carriage according to an embodiment of the present application.
  • FIG. 10 is a flowchart of Bluetooth networking of a baby carriage according to an embodiment of the present application.
  • install should be interpreted broadly.
  • it can be a fixed connection, a detachable connection, or a monolithic structure; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, or it can be two devices, components, or components. Internal connectivity.
  • install can be a fixed connection, a detachable connection, or a monolithic structure; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, or it can be two devices, components, or components. Internal connectivity.
  • the present application provides a method for determining a movement posture of a stroller.
  • the method includes:
  • Step S1 measuring acceleration values of the object to be measured in multiple directions.
  • the object to be measured is preferably a baby carriage.
  • the present application detects the acceleration value of the stroller through one or more acceleration sensors provided on the stroller.
  • the acceleration values of the stroller can be detected by a plurality of acceleration sensors provided on the stroller.
  • the acceleration value of the stroller in multiple directions.
  • the application first reads the measurement values of the acceleration sensors on the stroller on the x, y, and z axes and stores them in the queues xQueue, yQueue, and zQueue stored in the registers, respectively.
  • the length of each queue is set to n (in some examples, n is 128). Whenever a new measurement value arrives, the queue is shifted. The earliest measurement value is removed from the tail of the queue, and the new measurement value is added. To the head of the team, the new measured value is taken as the acceleration value in multiple directions.
  • step S2 time-frequency-domain data conversion is performed on the acceleration value of the object to be measured in multiple directions to obtain the amplitude of the frequency-domain data in each direction.
  • the present application after measuring the acceleration measurement values in each direction, the present application performs time-frequency domain conversion processing on the values stored in the queues xQueue, yQueue, and zQueue respectively stored in the register.
  • the present application uses a discrete Fourier transform (DFT, Discrete Fourier Transform) for processing. More preferably, in some examples, the present application Fast Fourier Transform Processing (FFT, Fast Fourier Transformation) is used to process the values in the queues xQueue, yQueue, zQueue in the register.
  • DFT discrete Fourier transform
  • FFT Fast Fourier Transform Processing
  • the sampled signal in the time domain can be converted into the frequency domain to facilitate the analysis of the signal characteristics.
  • step S3 the present application compares the amplitude of the frequency domain data in each direction with a predetermined reference value in the corresponding direction, and determines the state of the object to be measured according to the comparison result.
  • the amplitude of each frequency point is calculated on the normalized data, and based on the calculated amplitude of the data in the frequency domain and a predetermined reference value.
  • the calculated amplitude value of the data in the frequency domain can be compared with a predetermined reference value in the corresponding direction, for example, the acceleration sensor in the directions of the x, y, and z axes described above.
  • the present application determines the tilt posture and movement state of the stroller according to the specific comparison results.
  • step S3 in the method for determining a motion posture "compares the amplitude of the frequency domain data in each direction with a predetermined reference value in the corresponding direction, and determines it according to the comparison result.
  • the state of the object to be measured “includes:
  • the amplitude of the DC component in the frequency domain data in each direction is compared with a predetermined tilt determination reference value in the corresponding direction, and the tilt state of the object to be measured is determined according to the comparison result.
  • a DC component is obtained after the discrete Fourier transform (the first value in the DFT result, and the frequency is the amplitude at zero).
  • the value of the DC component reflects the average value of the acceleration sensor measurement.
  • the difference between the DC component and a predetermined tilt determination reference value in the corresponding direction reflects the tilt of the object to be measured in each direction.
  • the tilt determination reference value is a reference value measured when the object to be measured is in a horizontal stationary state, which will be described in detail later with reference to FIG. 2.
  • step S3 in the method for determining a motion posture "compares the amplitude of the frequency domain data in each direction with a predetermined reference value in the corresponding direction, and determines the object to be measured according to the comparison result.
  • "Status" includes:
  • the above sum of amplitudes is the value obtained by calculating the sum of the amplitudes of all frequency points in the case of time-frequency domain conversion using discrete Fourier transform; in addition, in the case of using other Fourier transform methods, the The sum of the amplitudes may correspond to the integral of the amplitude curve in the frequency range.
  • the acceleration sensor itself has measurement noise, and after the DFT transformation, each frequency point has a smaller amplitude, and the sum of the amplitudes is small, and when the object to be measured (such as the hand mentioned in the background technology) When pushing a baby stroller), the sum of the amplitudes of various frequency points increases due to uneven roads and bumps.
  • the average value of the sum of the amplitudes of the frequency-domain data obtained in the stationary state may be used as the above-mentioned motion determination threshold and stored in the memory. When the sum of the amplitude of the frequency domain data obtained in real time is greater than the motion determination threshold, it can be determined that the object to be measured is in a moving state, and it can also reflect conditions such as uneven road surfaces.
  • the method for determining a motion posture further includes:
  • the low frequency ratio can reflect the low frequency ratio and the acceleration of the object to be measured. Slowly changing conditions, where the low frequency account is relatively high, indicating that the object under test is accelerating or decelerating.
  • the above acceleration determination threshold is a low frequency ratio value measured according to actual conditions. When the low frequency ratio obtained in real time is higher than the threshold value, it can be determined that the object to be measured is accelerating or decelerating. In other words, when the low frequency ratio is higher than At the threshold, it can be determined that the object to be measured has an alarming acceleration.
  • the method further includes:
  • acceleration values in a plurality of directions are measured, an average value of the acceleration values in each direction is calculated, and the average value is used as a reference value for inclination determination in a corresponding direction.
  • n is the number of sensor measurement values required for calibration, which can be taken as 1024 in some examples;
  • step (2) Compare xDiff, yDiff, zDiff respectively with the preset maximum change threshold T. If there is a difference exceeding T, the calibration fails, and step (2) is performed again.
  • the maximum change threshold T is a value set according to the measurement noise of the acceleration sensor, which is twice the measurement noise. If at least one of xDiff, yDiff, and zDiff exceeds this value, it indicates that the current object to be measured is in an unstable state and should be Reposition the level and calibrate;
  • a motion posture determination device 10 is also provided.
  • the movement attitude determination device 10 includes: an acceleration measurement device 20 for measuring acceleration values of an object to be measured in multiple directions; and a time-frequency domain conversion device 30 for detecting the object to be measured.
  • the acceleration value of the object in multiple directions is converted in time-frequency domain data to obtain the amplitude of the frequency-domain data in each direction; and the comparison and determination device 40 compares the amplitude of the frequency-domain data in each direction with The reference values in the corresponding directions determined in advance are compared, and the state of the object to be measured is determined according to the result of the comparison.
  • the acceleration measurement device 20 includes a 3-axis acceleration sensor or a 6-axis acceleration sensor, and is configured to measure acceleration values in each axis.
  • the time-frequency domain conversion device 30 includes a digital signal processor (DSP, Digital Signal Processor), which is configured to perform discrete Fourier transform (DFT) processing or perform fast Fourier transform (FFT) processing.
  • DSP Digital Signal Processor
  • FFT fast Fourier transform
  • any circuit configuration capable of performing continuous Fourier transform processing is suitable for use as the time-frequency domain conversion device 30 described above.
  • the above comparison determination device 40 includes a comparator circuit capable of comparing the output data of the acceleration measurement device 20 or the time-frequency domain conversion device 30 with a reference value stored in advance, and outputting an indication of the object to be measured The signal of the tilt attitude or movement status.
  • the comparison determination device 40 is configured to compare the magnitude of the DC component in the frequency domain data in each direction with a predetermined determination determination value of the tilt in the corresponding direction, and according to the comparison result Determine the tilt status of the object to be measured.
  • the comparison and determination device 40 is configured to calculate the sum of the amplitudes of the frequency-domain data in each direction, compare the sum of the amplitudes with a predetermined motion determination threshold in the corresponding direction, and when When the calculated amplitude sum is greater than the motion determination threshold, it is determined that the object to be measured is in a moving state.
  • the comparison and determination device 40 is configured to calculate a ratio of the low-frequency component in the frequency-domain data in each direction to the sum of the amplitudes, and determine the ratio to a predetermined acceleration in the corresponding direction. Compare the thresholds, and determine that the measured object is in an accelerated or decelerated state when the calculated ratio is greater than the acceleration determination threshold; in some embodiments, the low-frequency component is the amplitude of a frequency point with a frequency lower than 5 Hz Sum.
  • the exercise posture determination device 10 is configured to measure acceleration values in a plurality of directions by the acceleration measurement device when the object to be measured is in a horizontal state, and calculate by the comparison determination device The average value of the acceleration value in each direction is used as the reference value of the tilt determination in the corresponding direction.
  • the exercise posture determination device 10 is fixed on a trolley.
  • the object to be measured may be a stroller, and the movement posture determination device 10 according to the present application is fixed on the stroller.
  • the present application provides a safety control system 100 for a stroller.
  • the safety control system 100 may be disposed in a stroller.
  • the safety control system 100 in the stroller includes: The brake mechanism 110, the proximity sensing unit 120, the motion attitude determination device 10, the brake control device 140, and the proximity sensing unit 120.
  • the brake mechanism 110 is configured to perform automatic braking under the control of a brake control device. Specifically, the braking mechanism 110 is used to implement a braking function of the stroller, and is disposed on a wheel of the stroller. In some embodiments, the braking mechanism 110 may be disposed at a rear wheel set of the stroller (as shown in FIG. 5), so as to realize that the stroller keeps the body stable when braking. In some embodiments, the braking mechanism 110 may further include a movement speed detection module, so as to detect whether the stroller is in a moving state and the speed of the current movement; further, a magnet module and a Hall sensor may be used to constitute the movement Speed detection module.
  • the proximity sensing unit 120 is configured to detect a user's hand holding state.
  • the proximity sensing unit 120 includes a proximity sensing sensor, such as a capacitive proximity sensing sensor, and the proximity sensing unit 12 may be mounted on a handle of a stroller or any other position suitable for holding (see FIG. 5). ⁇ ).
  • the proximity sensing unit 120 is used to detect whether an object (such as a human hand) is holding or approaching the stroller, and sends a handhold state signal indicating the handhold or approaching state to the brake control device.
  • the proximity sensing unit 120 may include a wireless transmission module for transmitting the handhold state signal to the brake control device through wireless transmission.
  • the proximity sensing unit further includes: a temperature acquiring device for acquiring the temperature at the proximity sensing unit; compensation A circuit for performing temperature compensation on a measured value of the proximity sensing unit according to the obtained temperature; and a detection circuit for determining a hand holding state based on the temperature compensated measurement value of the proximity sensing unit.
  • the exercise posture determination device 10 is configured to determine a current exercise posture of the stroller. Specifically, the current motion posture of the stroller may be determined according to the motion posture determination method described in some embodiments above. Optionally, the current posture of the stroller may be determined by the posture determination device 10 provided in the embodiment of the present invention. Alternatively, the movement posture of the stroller may also be determined by the movement posture determination method provided in the embodiment of the present invention.
  • the exercise posture determining device 10 is a component for determining a current exercise posture of the stroller, and may be disposed at a lower portion of the stroller (as shown in FIG. 5).
  • the movement posture determining device includes: an acceleration sensor for measuring acceleration values of the stroller in multiple directions; and a time-domain-frequency domain conversion circuit for detecting the stroller in multiple directions.
  • the time-frequency data conversion is performed on the acceleration values in each direction to obtain the amplitude of the frequency-domain data in each direction; and the comparator circuit is configured to compare the amplitude of the frequency-domain data in each direction with a predetermined corresponding value.
  • the reference values in the directions are compared, and the current movement posture of the stroller is determined according to the result of the comparison.
  • the acceleration sensor may be a 3-axis acceleration sensor or a 6-axis acceleration sensor, and is configured to measure acceleration values in each axis.
  • the time-frequency domain conversion circuit includes a digital signal processor (DSP) configured to be able to perform discrete Fourier transform (DFT) processing or fast Fourier transform (FFT) processing.
  • DSP digital signal processor
  • FFT fast Fourier transform
  • any circuit configuration capable of performing continuous Fourier transform processing is suitable for use as the above-mentioned time-frequency domain conversion circuit.
  • the above comparator circuit can compare the output data of the time-frequency domain conversion circuit with a pre-stored reference value, and output a signal indicating the tilt attitude or movement state of the object to be measured.
  • the comparator circuit is configured to compare the magnitude of the DC component in the frequency-domain data in each direction with a predetermined tilt determination reference value in the corresponding direction, and determine according to the result of the comparison. The tilt state of the object to be measured.
  • the comparator circuit is configured to obtain the sum of the amplitudes of the frequency-domain data in each direction, compare the sum of the amplitudes with a predetermined motion determination threshold in the corresponding direction, and when calculating When the obtained amplitude sum is greater than the motion determination threshold, it is determined that the object to be measured is in a moving state.
  • the brake control device 140 is configured to control the brake mechanism to perform automatic braking based on a detection result of the grip state and the movement posture. If it is detected that the user is not holding the stroller, for example, the user's hand leaves the stroller, or leaves the preset grip position of the stroller, and the stroller is in a moving posture, it means that the stroller is not in In a safe motion state, the brake control device controls the brake mechanism to perform automatic braking.
  • the brake control device 140 is configured to control the brake mechanism to perform automatic braking based on a detection result of the grip state and the motion posture and a braking mode set by a user.
  • the braking mode set by the user may include, but is not limited to, a first braking mode in which automatic braking is turned off, a second braking mode in which automatic braking is performed according to the grip state, and according to the grip state and position The third braking mode of the automatic braking is performed based on the detection result of the movement posture.
  • the above braking modes include a first braking mode in which automatic braking is turned off, a second braking mode in which automatic braking is performed only according to the grip state, and a first braking mode in which automatic braking is performed according to the grip state and the detection result of the motion posture.
  • Three brake modes include a first braking mode in which automatic braking is turned off, a second braking mode in which automatic braking is performed only according to the grip state, and a first braking mode in which automatic braking is performed according to the grip state and the detection result of the motion posture.
  • the brake mode can be switched by the user.
  • the second braking mode is an automatic braking mode. In the second braking mode, only the baby carriage is held in a hand state. When it is detected that the hand is placed on the handle of the baby carriage or other appropriate position, the brake is released, and when it is detected that the hand leaves the hand Brake the brake; the third brake mode is the intelligent protection mode. In this mode, if the surrounding environment is judged to be unsafe, it will automatically brake, and it will not automatically brake during normal use, which can improve the user experience.
  • this application will detect the following abnormal conditions (unsafe conditions): slope detection, if the hand leaves the handlebar and the stroller is on the slope, it is determined that the stroller is tilted.
  • the brake control device 140 controls the execution of the brakes (to prevent landslides and slides on the escalator); motion detection, on a flat ground, if the hand is released and the body is still moving, it is determined that the stroller is in a moving state, For example, the rapid braking of a high-speed rail or the subway, or the sudden release of a hand when the vehicle is rapidly pushed, can cause this situation.
  • the brake control device 140 controls and executes the braking.
  • the brake control device 140 is based on the brake mode set by the user, whether it is currently in the state of holding a handle, whether the body of the stroller is tilted, whether it is in motion, whether the speed is too fast, etc. To determine the corresponding braking action.
  • the user switches by a button provided on the body of the stroller;
  • the user connects the brake control device 140 through an APP on a smart device (for example, a mobile phone, an IPAD, etc.), and switches the brake mode through the APP on the smart device.
  • a smart device for example, a mobile phone, an IPAD, etc.
  • a brake mode switching button is provided on the handle of the stroller.
  • the brake mode can be switched by pressing the button “Brake Mode” on the right side, and there are 4 LED lights next to the button. , Which are “APP”, “Off”, “Automatic”, and “Smart”. Among them, the “APP” LED light indicates that there is a mobile APP connected to the brake control device 140, and the brake mode can be set in the APP.
  • the “OFF” LED light indicates that the electronic brake is off (that is, the aforementioned first brake mode), and the “Auto” LED The light is on to indicate that it is currently in the automatic braking mode (ie, the aforementioned second braking mode), and the “smart” LED light is on to indicate that it is currently in its intelligent protection mode (ie, the aforementioned third braking mode).
  • Electronic brake off mode In this mode, the electronic brake function is off, you can use the manual brake function of the traditional cart; further, you can enable the movement speed detection function, and an alarm will be generated if the movement speed is too fast (voice prompts and warning lights) .
  • the proximity sensing unit detects that someone is holding the handle and sends the detection result to the brake control device 140 through wireless transmission.
  • the brake control device 140 controls the brake mechanism 110 to release the brake. At this time, the cart can be pushed normally. At the same time, if the movement speed is too fast, an alarm (voice prompt and warning light) will be generated.
  • the proximity sensing unit detects that the human hand is away, it sends the detection result to the brake control device 140 through wireless transmission.
  • the brake control device 140 controls the brake mechanism 110 to execute the brake and brake the stroller.
  • Intelligent protection mode When the proximity sensing unit detects someone holding a handle, it is consistent with the automatic braking mode, and the stroller can be directly pushed.
  • the brake control device 140 controls the brake mechanism 110 to maintain the brake release state, and detects whether the current stroller is on a slope and whether there is movement. If it is on a slope or the stroller is still moving If at least one is met, the brake operation will be performed, and the stroller will be braked. If any of the conditions are not met, the brake will not be executed. This mode can avoid frequent braking and unlocking due to loose users during the implementation process, which can provide a better user experience.
  • the left button is the power button, and long press to turn off and short press to turn on.
  • the four LEDs on the left play the role of power display, and the number next to it means the current remaining battery percentage.
  • the present application also provides a safety control method for a stroller.
  • the method includes: step S21, detecting a user's hand holding state by a proximity sensing unit, and step S22, determining by a motion posture determining device The current motion posture of the stroller, and step S23, based on the detection results of the handholding state and the motion posture, the brake mechanism is controlled by the brake control device to perform automatic braking.
  • the hand-holding state of the user is detected by the proximity sensing unit, that is, the application detects whether the user's hand is located at a preset position of the stroller through the sensing unit.
  • detecting the hand-holding state may be detecting the user Whether the user's hand is held in a preset position of the stroller, preferably, detecting whether the user's hand is held on the handlebar (armrest) of the stroller, and further, detecting whether the user's hand is held on the handlebar of the stroller Preset position.
  • the proximity sensing unit includes a capacitive proximity sensor, and the capacitive proximity sensor can be installed on a handle of the stroller or any other position suitable for holding.
  • the capacitive proximity sensor can detect whether there is an object (such as a human hand) holding or approaching the stroller.
  • an object such as a human hand
  • the capacitive proximity sensor detects the baby
  • the handlebar (armrest) of the car is held by the hand, and the grip status signal is sent to the controller for further processing.
  • step S22 the present application determines the current motion posture of the stroller through the motion posture determination device, and the current motion posture of the stroller can be determined by the following embodiments:
  • the present application may be determined whether the stroller is currently in a posture of accelerating motion, and then whether the stroller is currently in a posture of motion. Further, the present application detects the acceleration value of the stroller through one or more acceleration sensors provided on the stroller, so as to determine whether the stroller is currently in an accelerated motion posture according to the acceleration value. Furthermore, the present application can detect acceleration values of the stroller in multiple directions through multiple acceleration sensors provided on the stroller, so as to determine whether the stroller is currently accelerating according to the multiple acceleration values. Movement gesture.
  • the current motion posture of the stroller may be determined by the motion posture determination device 10 described above in the present application.
  • the acceleration measurement device 20 described above is used to measure a stroller such as a stroller. Acceleration values in multiple directions, using the time-frequency domain conversion device 30 described above, perform time-frequency domain data conversion on the acceleration values of the stroller in multiple directions to obtain the The amplitude of the frequency domain data, and the comparison and determination device 40 described above is used to compare the amplitude of the frequency domain data in each direction with a predetermined reference value in the corresponding direction, and determine the The movement state of the stroller is described.
  • the current motion posture of the stroller may be determined by the motion posture determination method described above in this application, for example, the method for determining the motion posture of the stroller shown in FIG. 1, specifically,
  • the method for determining the movement posture of the stroller may include: step S1, measuring acceleration values of an object to be measured, such as a stroller in multiple directions; and step S2, performing acceleration values of the stroller in multiple directions Domain-to-frequency domain data conversion to obtain the amplitude of the frequency-domain data in each direction. And step S3, comparing the amplitude of the frequency domain data in each direction with a predetermined reference value in the corresponding direction, and determining the movement state of the stroller according to the result of the comparison.
  • step S23 based on the detection results of the handholding state and the movement posture, the brake mechanism is controlled by the brake control device to perform automatic braking.
  • the brake control device controls the brake mechanism to perform automatic braking.
  • the stroller when it is detected that the user is not holding the stroller and the stroller is in a preset motion posture, or the movement posture of the stroller meets a preset condition, the stroller is automatically controlled to execute
  • the braking mode can be set by the user, that is, the user can set the situation in advance (when it is detected that the user is not holding the stroller and the stroller is in a preset motion posture, or the stroller If the movement attitude of the vehicle satisfies the preset conditions), whether to perform automatic braking.
  • controlling the brake mechanism to perform automatic braking through the brake control device includes: based on the detection results of the grip state and exercise posture and the brake mode set by the user, controlling the brake through the brake control device
  • the mechanism performs automatic braking, that is, if the user sets in advance that it is detected that the user is not holding the stroller and the stroller is in a preset motion posture, or that the stroller's motion posture meets a preset condition If it is necessary to perform automatic braking, then in this case, the automatic control of the stroller is controlled.
  • the stroller is in a preset motion posture Or, if the movement posture of the stroller meets the preset conditions, it is not necessary to perform automatic braking, and in this case, the stroller is not controlled to perform automatic braking.
  • the step S21 of detecting a user's hand holding state by the proximity sensing unit further includes: obtaining the temperature at the proximity sensing unit in the present application.
  • a temperature acquiring device such as a thermometer or a temperature sensor, may be used to acquire the temperature near the sensing unit.
  • the present application performs temperature compensation on the measured value of the proximity sensing unit according to the obtained temperature.
  • the application may use the compensation circuit described above to perform temperature compensation on the measurement value of the proximity sensing unit according to the obtained temperature.
  • the present application determines the handholding state based on the temperature-compensated measurement value of the proximity sensing unit.
  • the detection circuit described above may be used to determine the handholding state based on the temperature-compensated measurement value of the proximity sensing unit.
  • the step S22 of determining the current motion posture of the stroller by the motion posture determination device further includes: measuring acceleration values of the stroller in multiple directions; and measuring the stroller in multiple directions. Time-frequency domain data conversion to obtain the amplitude of the frequency-domain data in each direction; and compare the amplitude of the frequency-domain data in each direction with a predetermined reference value in the corresponding direction And determine the current posture of the stroller based on the results of the comparison.
  • the safety control device for a baby carriage of the present application further includes a first wireless communication device, a second wireless communication device, and a third wireless communication device, wherein the first wireless communication device is disposed on the proximity sensor.
  • a second wireless communication device is disposed at the movement posture determination device, and the first wireless communication device and the second wireless communication device are wirelessly connected to each other, and the third wireless communication device is disposed at the braking mechanism. .
  • the stroller of the present application further includes a handlebar, a front wheel and a rear wheel provided on the vehicle body, and a front wheel control module 1 provided on the front wheel position, provided on the handlebar or a hand
  • the handlebar module 2 in the middle and the main control module 3 disposed between the two rear wheels.
  • the front wheel control module 1 includes a third wireless communication device 11, a headlight device 12 and a front wheel orientation device 13.
  • the third wireless communication device 11 is wirelessly connected to the first wireless communication device 21 in the handle module 2.
  • the headlamp device 12 and the front wheel orientation device 13 are electrically connected to the third wireless communication device, respectively.
  • the front wheel orientation device 13 is used to control the direction of the front wheel of the stroller.
  • the handle module 2 includes a first wireless communication device 21, a proximity sensor 22, a temperature / humidity sensor 23, an air quality sensor 24, and a button / LED lamp 25.
  • the first wireless communication device 21 is wirelessly connected to the second wireless communication device 31 in the main control module 3.
  • the proximity sensor 22 is electrically connected to the first wireless communication device 21, and is configured to detect whether the handle of the stroller is held, and send the detected holding signal to the control via the first wireless communication device 21.
  • Device can be judged whether the handle of the stroller is held by detecting whether there is an object approaching on the handlebar or whether there is induced pressure on the handlebar, so that the induction signal can be sequentially transmitted through the first wireless communication device 21 and the second wireless communication.
  • the device 31 is sent to the controller 32.
  • the temperature / humidity sensor 23 is electrically connected to the first wireless communication device 21, and is configured to detect the ambient temperature and / or humidity, and transmit the detected environmental temperature and / or humidity signals via the first wireless communication device and the second
  • the wireless communication device sends to the controller 32, and the controller 32 performs subsequent processing according to the temperature and / or humidity signal, for example, displays the signal or the temperature and / or humidity value in the temperature and / or humidity signal is greater than
  • the alarm threshold is reached, an alarm message is provided to the user.
  • the air quality sensor 24 is electrically connected to the first wireless communication device 21 for detecting the ambient air quality, and sends the detected air quality signal to the control via the first wireless communication device 21 and the second wireless communication device 31.
  • the controller 32 performs subsequent processing according to the air quality signal, such as displaying an APM value representing air quality or providing an alarm message to a user when the APM value is greater than an alarm threshold.
  • the button / LED lamp 25 is electrically connected to the first wireless communication device, and is used to feed back user button information to the controller 32 via the first wireless communication device, and different LED lights are used according to control signals sent by the controller 32. 25 for display.
  • the main control module 3 includes a second wireless communication device 31, a controller 32, a braking device 33, an inclination sensor 34, and a speed sensor 35.
  • the inclination sensor 34 may be a six-axis sensor.
  • the six-axis sensor includes a three-axis gyroscope and a three-axis accelerometer, and can detect the inclination and abnormal movement of the stroller (for example, when the instant acceleration of the stroller is greater than a threshold, It can be considered that there is abnormal movement of the stroller), the inclination sensor 34 is electrically connected to the controller, so as to send the detected inclination and / or acceleration value to the controller.
  • the brake device 33 is electrically connected to the controller 32.
  • the controller 32 does not receive the holding signal, it indicates that the handle of the stroller is not held, and the controller 32 according to the tilt Degree to determine whether to send a brake signal to the brake device 33, preferably, the controller determines whether to send a brake signal to the brake device 33 to stop the baby carriage according to the inclination and the above-mentioned abnormal movement. move.
  • the controller 32 sends a control signal to the front wheel control module 13 via the third wireless communication device 11 to control the orientation of the front wheel orientation device.
  • the speed sensor 35 is electrically connected to the controller 32 for detecting a speed signal of the stroller, and the controller 32 performs subsequent processing according to the speed signal, such as displaying the signal or When the vehicle speed value in the vehicle speed signal is greater than the alarm threshold, an alarm message is provided to the user to remind the user that the current baby carriage is overspeeding.
  • the first wireless communication device, the second wireless communication device, and the third wireless communication device include: a Bluetooth communication module, a 2.4G communication module, a Zigbee communication module, a 433M communication module, and a SUB1G communication module.
  • the first wireless communication device, the second wireless communication device, and the third wireless communication device may include a BLE (Bluetooth Low Energy) communication module.
  • BLE communication module in the first wireless communication device is set to the master mode BLE
  • the BLE communication modules in the second wireless communication device and the third wireless communication device are set to the slave mode BLE.
  • the second wireless communication device further includes a dual-mode Bluetooth communication module, which is in communication connection with the peripheral device 4 (for example, a mobile device such as a user's cell phone or a desktop device such as a desktop or a server).
  • the peripheral device 4 for example, a mobile device such as a user's cell phone or a desktop device such as a desktop or a server.
  • This application adopts the BLE master-slave solution, which can be a master-slave multi-slave network, which constitutes a star network.
  • the network can be expanded (for example, the first master-secondary slave to the first master-three slave Etc.);
  • the stroller function is relatively simple (for example, only using the intelligent brake function), it can also be a master-slave method to form a point-to-point transmission method.
  • the networking scheme of the present application is not limited to the use of BLE.
  • the scheme can also be implemented by using a private protocol of 2.4G (for example, a 2.4G chip nRF24L01 from NORDIC).
  • 2.4G for example, a 2.4G chip nRF24L01 from NORDIC.
  • the MAC address used during pairing is replaced by the chip's unique identification code.
  • the handlebar module is located on the handlebar of the stroller to implement the functions of detection, environmental detection and system human-computer interaction.
  • BLE Master
  • Master Master mode
  • proximity sensors are used to detect whether someone is holding the handle, that is, to carry out detection
  • temperature / humidity sensors It is used to detect the temperature and humidity of the environment
  • the air quality sensor is used to detect the quality of the ambient air
  • the button / LED light is used to implement the control and status display of each module of the stroller, that is, the system human-computer interaction.
  • the main control module is located between the two rear wheels of the stroller, and is used to implement the functions of stroller slope detection, abnormal motion detection, mobile phone APP interaction, music playback, and intelligent braking.
  • the main control module includes: BLE (slave), as a slave (slave mode), to connect with the handle module for data transmission; a dual-mode Bluetooth module, which is used to connect with the mobile phone and receive control signals and audio data from the mobile phone.
  • An audio module processes the received audio data and plays audio; a speed sensor is used to detect the pushing speed of the stroller; a six-axis sensor is used to detect whether the stroller is currently on a slope and Whether there is abnormal movement; the braking device determines whether to execute the brake according to the information of whether there is a handshake detected by the handlebar module and the detection result of the six-axis sensor. If no one holds the handlebar and the cart is on a slope or there is The brake will be executed for abnormal movement, otherwise the brake will be cancelled. This is the intelligent brake function.
  • the front wheel control module is located between the two front wheels of the stroller, and is used to implement the control of warning lights and headlights and the intelligent orientation of the front wheels.
  • On the front wheel control module are: BLE (slave), as a Slave and handle module for data transmission; safety lights, installed at the front wheel of the cart, turning on the safety lights at night to improve safety; front wheel orientation Device for switching the front wheel between directional and universal and realizing the function of intelligent orientation.
  • the warning light switch and the front wheel directional control switch are both located in the handle module. By operating the keys in the handle module and transmitting through BLE (slave), the two can be turned on and off.
  • this figure shows the networking pairing steps of the stroller system.
  • a baby stroller's handle module, main control module, and front wheel control module need to be networked. Otherwise, when two baby strollers (A, B) are nearby, it is easy to produce a handle module similar to A. The situation to the master module of B.
  • the pairing is performed at the factory without user operation. The pairing process is:
  • Step1 Triggered by a button on the main control module, the BLE (master) initiates a pairing request and broadcasts the pairing request information to the outside.
  • Step2 Scan the BLE (slave) on the module to the BLE (master) that is requesting pairing, identify it as BLE (master) according to the broadcast information of BLE (master), and save its MAC address and identification together in the flash For subsequent connections.
  • the MAC address of BLE is unique and can be saved as pairing information for identification of subsequent connections.
  • Step3 The BLE (slave) on the module sends a pairing confirmation message to the BLE (master), and the BLE (master) saves the BLE (slave) MAC address to the flash for subsequent connections.
  • Step4 Triggered by a button on the front wheel control module, BLE (slave) initiates a pairing request, and repeats steps 1-3. If there are other modules, repeat the above steps to complete the pairing networking.
  • the BLE (master) on the module is the master
  • the BLE on the other modules is the slave. All the slaves and the master are connected to form a star network.
  • the information transmission between the master and the slave can be performed directly.
  • the information transmission between the slave and the slave is passed from BLE (slave) to BLE (master), and then forwarded by BLE (master) to another BLE (slave). Based on this, the information of the stroller is transmitted as follows:
  • the handle module When the handle is gripped, the handle module detects it, and the BLE (master) sends the result to the BLE (slave) of the master control module to perform the brake release; when the hand leaves the handle, the handle module sends the detection result through the BLE (master) The BLE (slave) to the master control module, after which the master control module judges whether the cart is on a slope or has abnormal movement according to the six-axis detection result, if it is, executes the brake, and returns the brake execution result to the BLE (master).
  • Safety lights and intelligent orientation Controlled by function keys on the handle, control information is transmitted to the BLE (slave) of the front wheel control module via BLE (master).
  • Smart brake switch Controlled by the mode switch key on the handle, and transmitting control information to the BLE (slave) on the master control module through BLE (master) to realize the switch of smart brake.
  • BLE slave
  • BLE master
  • the handle When the current system is powered on, press and hold the power button, the handle sends a shutdown command to the BLE (slave) on the main control module and the BLE (slave) on the front wheel control module via BLE (master), and then shuts it down. Only the BLE part of the control module and the front wheel control module is in the slow broadcast state (actually broadcasts once every 500ms), so that the power consumption of the two is extremely low. After that, the BLE connection is disconnected and the module is turned off by hand.
  • the handlebar module When the current system is in the shutdown state, long press the power button on the handlebar module, the handlebar module is turned on, and then the handlebar BLE (master) starts scanning.
  • the BLE (slave) of the main control module and the BLE of the front wheel control module are scanned (Slave), establish a connection with them separately, after that the main control module and front wheel control module are turned on, and the system is turned on.
  • This module is a Bluetooth dual-mode module, which includes audio Bluetooth and BLE. Audio Bluetooth is used to connect with the mobile phone, receive the audio information transmitted by the mobile phone, and play it. BLE can be connected with the mobile phone, used to receive the control signal of the mobile phone, and return the cart information to the mobile phone. Through the connection of the mobile phone, the cart network can be connected to the Internet. The information transfer between the mobile phone and the network is as follows:
  • Safety lights and intelligent orientation Controlled by mobile phone APP, the mobile phone is connected to the cart through the BT module, and transmits the control information to the main control module.
  • the main control module transmits the control information to the BLE (master) on the handle module through BLE (slave). , The module forwards the information to the BLE (slave) on the front wheel control module.
  • Intelligent brake switch controlled by mobile phone APP, the mobile phone is connected to the cart through the BT module, and transmits control information to the main control module to realize the switch of intelligent brake.
  • Cart status display and network storage controlled by mobile APP, the mobile phone is connected to the cart via the BT module. All cart data, including temperature and humidity, air quality, mileage, and real-time cart speed, can be transmitted to the main control via this network. The module is finally transmitted to the mobile phone for display by the BT module on the main control module, and is transferred to the cloud for data statistics and analysis via the mobile phone network.
  • This application uses a wireless networking method to connect the electronic module of the stroller through a wireless network to achieve information transmission between the electronic modules, eliminating the need for complicated wiring (including but not limited to BLE, the 2.4G private protocol described in the article This networking mode can also be implemented.
  • BLE the 2.4G private protocol described in the article
  • This networking mode can also be implemented.
  • 433M the electronic functions are simple and only point-to-point connection is required, 433M, SUB1G technology can be used).
  • the Bluetooth networking method of the present application is not limited to the master-slave pairing method, and the BLE on each module can form a network through Bluetooth MESH to achieve information transmission.
  • inclination sensors are usually used to perform accurate measurements.
  • some inclination sensors which integrates the MCU, accelerometer, analog-to-digital conversion circuit, and communication unit on a very small circuit board, it can obtain the vertical axis of gravity and the sensitive axis of the acceleration sensor under static or quasi-static conditions.
  • the included angle ie, the tilt angle
  • this type of tilt sensor cannot accurately measure the tilt state of an object under dynamic conditions without the introduction of a gyro instrument.
  • Embodiments of the present invention can achieve more accurate measurement.
  • the stroller generally includes a vehicle body and wheels arranged at the front and rear of the bottom of the vehicle body, and a brake mechanism is generally provided at the rear wheel, so that the brake operation is performed when the stroller needs to be stopped.
  • the solution of the embodiment of the present invention can better distinguish the user's usage preferences and the specific characteristics of the ground environment in which the stroller is located, providing a satisfactory use experience.
  • the embodiment of the present invention effectively overcomes the problem of single function.
  • a small number of baby carriages have added some electronic functions, such as temperature and humidity detection, alarm devices, etc.
  • each electronic component is distributed in different positions of the baby carriage, and power and data are transmitted through the wire connection to the assembly belt
  • power and data are transmitted through the wire connection to the assembly belt
  • the modules are directly connected in a wired manner, this brings unreliability to the whole, such as when the stroller is folded or unfolded, it is easy to break the data line, causing inconvenience to the user.
  • the structure of the stroller is relatively complicated, it needs to have various mobile connection functions such as folding and detachable.
  • the embodiment of the present invention effectively overcomes the fact that after adding electronic components to the stroller, the various components are connected by wires to make the stroller Structural design is more complicated, assembly and after-sales maintenance are more difficult, which greatly reduces production efficiency and raises maintenance costs.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Chemical & Material Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Carriages For Children, Sleds, And Other Hand-Operated Vehicles (AREA)

Abstract

一种用于婴儿车的安全控制方法及婴儿车，该婴儿车包括：接近感测单元(120)、运动姿态确定装置(10)、刹车控制装置(140)和刹车机构(110)，安全控制方法包括：通过接近感测单元(120)检测用户的手握状态；通过运动姿态确定装置(10)确定婴儿车当前的运动姿态；以及基于手握状态和运动姿态的检测结果，通过刹车控制装置(140)控制刹车机构(110)执行自动刹车。

Description

用于婴儿车的安全控制方法及婴儿车 技术领域
本申请涉及婴儿车领域，特别的，涉及用于婴儿车的安全控制方法及婴儿车。
背景技术
现有技术中的婴儿车中的加速度传感器通常仅用于检测车体的当前加速度并进而计算车体速度，并且在婴儿车的运行速度超出安全范围之后发出警报或者自动执行安全操作。然而，现有的婴儿车没有对车体处于倾斜状态的危险情况做出针对性防护，由此严重影响婴儿的安全系数，最为常见的场景就是当婴儿车处于具有一定坡度的路面时(上坡/下坡)，如果此时车体脱离成人的控制，会造成难以承受的严重后果。
相关技术中的婴儿车通常使用手动刹车操作，即家长在后轮处的机械式刹车开关处进行扳动，以设定或者解除刹车状态。市面上现有的婴儿车刹车结构一般是通过脚踩的方式使齿轮啮合或是使凸块卡进与后轮轴相连的固定槽位，这种方式比较适合家长在安全的情况下使用，即处于一个安全的状态时将婴儿车停靠一旁，防止其走动，而不适合突发状况。
发明内容
针对上述问题，本申请提供一种用于婴儿车的安全控制方法，其中，所述婴儿车包括：接近感测单元、运动姿态确定装置、刹车控制装置和刹车机构，所述安全控制方法包括：
通过所述接近感测单元检测用户的手握状态；
通过所述运动姿态确定装置确定所述婴儿车当前的运动姿态；以及
基于所述手握状态和所述运动姿态的检测结果，通过所述刹车控制装置控 制所述刹车机构执行自动刹车。
进一步地，所述婴儿车当前的运动姿态根据以下步骤来确定：测量待测物体在多个方向上的加速度值；对所述待测物体在多个方向上的加速度值进行时域-频域数据转换，得到每个方向上的频域数据的幅值；以及将每个方向上的频域数据的幅值与预先确定的相应方向上的基准值进行比较，并且根据比较的结果确定待测物体的状态。
进一步地，在所述测量待测物体在多个方向上的加速度值的步骤之前，所述方法还包括：在所述待测物体处于水平状态时测量多个方向上的加速度值，计算每个方向上的加速度值的平均值并将所述平均值用作相应方向上的倾斜判定基准值。
进一步地，在控制所述刹车机构执行自动刹车的步骤中，所述方法进一步包括：基于所述手握状态和所述运动姿态的检测结果以及用户设定的刹车模式，通过所述刹车控制装置控制所述刹车机构执行自动刹车。
进一步地，所述刹车模式包括：关闭自动刹车的第一刹车模式、根据所述手握状态执行自动刹车的第二刹车模式、以及根据所述手握状态和所述运动姿态的检测结果来执行自动刹车的第三刹车模式。
进一步地，所述刹车控制装置构造为在所述第三刹车模式下，当所述手握状态的检测结果为人手离开，并且所述运动姿态的检测结果为所述婴儿车具有倾斜状态或者运动状态中的至少一种时，控制所述婴儿车执行自动刹车。
根据本申请的另一方面，还提供了一种运动姿态确定装置，包括：
加速度测量装置，用于测量待测物体在多个方向上的加速度值；
时域-频域转换装置，用于对所述待测物体在多个方向上的加速度值进行时域-频域数据转换以得到每个方向上的频域数据的幅值；以及
比较判定装置，将每个方向上的频域数据的幅值与预先确定的相应方向上的基准值进行比较，并且根据比较的结果确定待测物体的状态。
进一步地，根据本申请的运动姿态确定装置，其中比较判定装置构造为将所述每个方向上的频域数据中的直流分量的幅值与预先确定的相应方向上的 倾斜判定基准值进行比较，并且根据比较的结果确定待测物体的倾斜状态。
进一步地，根据本申请的运动姿态确定装置，其中比较判定装置构造为计算所述每个方向上的频域数据的幅值总和，将所述幅值总和与预先确定的相应方向上的运动判定阈值进行比较，并且当计算得到的幅值总和大于所述运动判定阈值时确定所述待测物体处于运动状态。
进一步地，根据本申请的运动姿态确定装置，其中比较判定装置构造为计算所述每个方向上的频域数据中的低频分量与所述幅值总和的比值，将所述比值与预先确定的相应方向上的加速判定阈值进行比较，并且当计算得到的比值大于所述加速判定阈值时确定所述待测物体处于加速或减速状态，其中所述低频分量为频率低于5Hz的频率点的幅值之和。
进一步地，根据本申请的运动姿态确定装置构造为在所述待测物体处于水平状态时通过所述加速度测量装置测量多个方向上的加速度值，并且通过所述比较判定装置计算每个方向上的加速度值的平均值并将所述平均值用作相应方向上的倾斜判定基准值。
根据本申请的另一方面，还提供了一种用于婴儿车，其包括：
刹车机构，其构造为在刹车控制装置的控制下执行自动刹车；
接近感测单元，其构造为用于检测用户的手握状态；
运动姿态确定装置，其构造为用于确定所述婴儿车当前的运动姿态；以及
刹车控制装置，其构造为基于所述手握状态和所述运动姿态的检测结果以及用户设定的刹车模式，控制所述刹车机构执行自动刹车。
进一步地，该刹车模式包括关闭自动刹车的第一刹车模式，仅根据所述手握状态执行自动刹车的第二刹车模式，以及根据所述手握状态和所述运动姿态的检测结果来执行自动刹车的第三刹车模式。
进一步地，刹车控制装置构造为在所述第三刹车模式下，当所述手握状态的检测结果为人手离开，并且所述运动姿态的检测结果为所述婴儿车具有倾斜状态或者运动状态中的至少一者时，控制所述婴儿车执行自动刹车。
进一步地，接近感测单元包括：
电容式接近感应传感器，用于检测是否存在物体接近所述接近感测单元；
温度获取装置，用于获取所述接近感测单元处的温度；
补偿电路，用于根据所获得的温度对所述接近感测单元的测量值进行温度补偿；以及
检测电路，用于确定基于所述接近感测单元的温度补偿后的测量值确定手握状态。
进一步地，本申请的安全控制系统还包括第一无线通讯装置和第二无线通讯装置，其中所述第一无线通讯装置设置在所述接近感测单元处，所述第二无线通讯装置设置在所述运动姿态确定装置处，并且所述第一无线通讯装置与第二无线通讯装置彼此无线连接。
进一步地，本申请的安全控制系统还包括设置在所述刹车机构处的第三无线通讯装置，所述第三无线通讯装置与所述第一无线通讯装置彼此无线连接。
进一步地，第一无线通讯装置、第二无线通讯装置和第三无线通讯装置包括如下组中的任一组件：蓝牙通讯组件、2.4G通讯组件、Zigbee通讯组件、433M通讯组件和SUB1G通讯组件。
进一步地，第一无线通讯装置、第二无线通讯装置和第三无线通讯装置包括BLE通讯组件。
进一步地，第一无线通讯装置中的BLE通讯组件设置为主模式，所述第二无线通讯装置和第三无线通讯装置中的BLE通讯组件设置为从模式。
进一步地，第二无线通讯装置包括双模蓝牙通讯组件。
本申请通过对婴儿车的手握的状态以及婴儿车的当前运动的姿态进行检测，并且根据所述检测结果来确定是否对婴儿车执行自动刹车，从而解决了婴儿车在特殊情况下，例如突发情况或者婴儿车处于危险的情况下无法进行自动刹车的问题。因此，本申请具有能够对婴儿车以及婴儿车内的儿童进行有效防护从而提高婴儿车的安全系数的技术效果。
附图说明
构成本申请的一部分的附图用来提供对本申请的进一步理解，使得本申请的其它特征、目的和优点变得更明显。本申请的示意性实施例附图及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1是根据本申请实施例的运动姿态确定方法的示意性流程图；
图2是根据本申请实施例的运动姿态确定方法的校准处理的流程图；
图3是根据本申请实施例的运动姿态确定装置的结构示意图；
图4是示出了根据本申请实施例的运动姿态确定装置安装在手推车上的示例视图；
图5是根据本申请实施例的婴儿车的后视图；
图6是根据本申请实施例的用于婴儿车的构造框图；
图7是根据本申请实施例的婴儿车上用于切换刹车模式的部件视图；
图8是根据本申请实施例的用于婴儿车的安全控制方法的示意性流程图；
图9是根据本申请实施例的婴儿车的结构方框图；
图10是根据本申请实施例的婴儿车的蓝牙组网配对流程图。
具体实施方式
为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分的实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本申请保护的范围。
需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不 排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
在本申请中，术语“上”、“下”、“左”、“右”、“前”、“后”、“顶”、“底”、“内”、“外”、“中”、“竖直”、“水平”、“横向”、“纵向”等指示的方位或位置关系为基于附图所示的方位或位置关系。这些术语主要是为了更好地描述本申请及其实施例，并非用于限定所指示的装置、元件或组成部分必须具有特定方位，或以特定方位进行构造和操作。
并且，上述部分术语除了可以用于表示方位或位置关系以外，还可能用于表示其他含义，例如术语“上”在某些情况下也可能用于表示某种依附关系或连接关系。对于本领域普通技术人员而言，可以根据具体情况理解这些术语在本申请中的具体含义。
此外，术语“安装”、“设置”、“设有”、“连接”、“相连”、“套接”应做广义理解。例如，可以是固定连接，可拆卸连接，或整体式构造；可以是机械连接，或电连接；可以是直接相连，或者是通过中间媒介间接相连，又或者是两个装置、元件或组成部分之间内部的连通。对于本领域普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本申请。
如图1所示，本申请提供了一种确定婴儿车的运动姿态的方法，该方法包括：
步骤S1，测量待测物体在多个方向上的加速度值。其中，所述待测物体优选地为婴儿车。
在该步骤中，本申请通过设置在婴儿车上的一个或多个加速度传感器来检测所述婴儿车的加速度值，优选地，可以通过设置在婴儿车上的多个加速度传感器来分别检测所述婴儿车在多个方向上的加速度值。
在一些实施例中，在每个测量循环中，本申请首先读取婴儿车上的加速度 传感器在x，y，z轴上的测量值并分别存放在存储于寄存器中的队列xQueue、yQueue、zQueue中，每个队列的长度设为n(在一些实例中n取128)，每当有一个新的测量值到来，将队列进行移位，最早的测量值从队列尾部移出，新的测量值加到队首，将所述新的测量值作为多个方向上的加速度值。
步骤S2，对所述待测物体在多个方向上的加速度值进行时域-频域数据转换，得到每个方向上的频域数据的幅值。
具体的，在测量出每个方向上的加速的度测量值之后，本申请将分别存放在存储于寄存器中的队列xQueue、yQueue、zQueue中的值进行时域-频域转换处理。
优选地，在一些实施例中，为了便于应用单片机/微处理器进行计算处理，本申请使用离散傅里叶变换(DFT，Discrete Fourier Transform)进行处理，更优选地，在一些实例中，本申请使用快速傅里叶变换处理(FFT，Fast Fourier Transformation)对所述寄存器中的队列xQueue、yQueue、zQueue中的值进行处理。
通过离散傅里叶变换、使用整型算法进行处理，能够将时域的采样信号转化到频域，以便于对信号特征进行分析。
之后，在步骤S3，本申请将每个方向上的频域数据的幅值与预先确定的相应方向上的基准值进行比较，并且根据比较的结果确定待测物体的状态。
具体的，本申请在将经由上述的傅里叶变换结果进行标准化后，对标准化后的数据计算各个频率点的幅值，并且根据计算出的据频域数据的幅值与预先确定基准值进行比较，优选地，可以根据计算出的据频域数据的幅值与相应方向上，例如对应于上面所描述的加速度传感器在x，y，z轴上的方向上的预先确定的基准值进行比较。随后，本申请根据具体的比较结果来确定婴儿车的倾斜姿态和运动状态。
进一步的，在一些实施例中，该运动姿态确定方法中的步骤S3“将每个方向上的频域数据的幅值与预先确定的相应方向上的基准值进行比较，并且根据比较的结果确定待测物体的状态”包括：
将所述每个方向上的频域数据中的直流分量的幅值与预先确定的相应方向上的倾斜判定基准值进行比较，并且根据比较的结果确定待测物体的倾斜状态。
在一些实施例中，经过离散傅里叶变换后得到直流分量(DFT结果中的第一个值，频率为零点处的幅值)，该直流分量的值反映出加速度传感器测量值的平均值，该直流分量与对应方向的预先确定的倾斜判定基准值之差即反映待测物体向各个方向的倾斜情况。其中所述倾斜判定基准值是当待测物体处于水平静止状态下测量得到的基准值，后面将结合图2进行详细描述。
在一些实施例中，该运动姿态确定方法中的步骤S3“将每个方向上的频域数据的幅值与预先确定的相应方向上的基准值进行比较，并且根据比较的结果确定待测物体的状态”包括：
计算所述每个方向上的频域数据的幅值总和，将所述幅值总和与预先确定的相应方向上的运动判定阈值进行比较，并且当计算得到的幅值总和大于所述运动判定阈值时确定所述待测物体处于运动状态。
上述幅值总和是在使用离散傅里叶变换进行时域-频域转换的情况下，计算所有频率点的幅值之和所得的数值；另外在使用其他傅里叶变化方法的情况下，该幅值总和可以对应于频率范围内的幅值曲线的积分。
当待测物体处于静止状态时，加速度传感器本身具有测量噪声，DFT变换后各个频率点都有较小的幅值，幅值总和较小，而当待测物体(例如背景技术中提到的手推婴儿车)运动时，由于路面不平、颠簸等造成各个频率点的幅值总和增大。在一些实施例中可以将在静止状态下获得的频域数据的幅值总和的均值用作上述运动判定阈值，并存储在存储器中。当实时获得的频域数据幅值总和大于该运动判定阈值时，即可判定待测物体处于运动状态，并且还能够反映出路面不平整等情况。
在一些实施例中，该运动姿态确定方法还包括：
计算所述每个方向上的频域数据中的低频分量与所述幅值总和的比值，将所述比值与预先确定的相应方向上的加速判定阈值进行比较，并且当计算得到 的比值大于所述加速判定阈值时确定所述待测物体处于加速或减速状态。
计算每个方向上的频域数据中的低频分量与上述幅值总和之比，可以获得频域幅值中的低频占比，该低频占比能够反映出低频占比反映出待测物体的加速度缓慢变化情况，其中低频占比较高的情况表明待测物体处于加速或减速状态。上述加速判定阈值为根据实际情况测量得到的低频占比数值，当实时获得的低频占比高于该阈值时即可判定待测物体处于加速或减速状态，换句话说，当低频占比高于阈值时可以确定待测物体具有值得警惕的加速度。
在一些实施例中，根据该运动姿态确定方法，在所述测量待测物体在多个方向上的加速度值的步骤之前，该方法还包括：
在所述待测物体处于水平状态时测量多个方向上的加速度值，计算每个方向上的加速度值的平均值并将所述平均值用作相应方向上的倾斜判定基准值。
由于在将运动姿态确定装置安装到待测物体上时存在一定的安装误差，每一次安装时，加速度传感器各个坐标轴的方向都存在差异，因此需要在安装完成后将待测物体放置于水平的平台上对其进行校准，确定加速度传感器的初始状态。具体校准流程如图2所示，描述如下：
(1)校准按键触发校准开始；
(2)读取加速度传感器x、y、z轴的测量值，分别存放于缓存中，例如X轴的缓存BuffX[n]、Y轴的缓存BuffY[n]、Z轴的缓存BuffZ[n]中，其中n为校准所需读取的传感器测量值数量，在一些实例中可以取1024；
(3)判断读取是否结束，如果未结束，重复(2)进行读取，否则进行下一步；
(4)分别计算x、y、z轴测量值的最大值与最小值之差，例如，X轴的差xDiff、Y轴的差yDiff、Z轴的差zDiff
(5)分别将xDiff、yDiff、zDiff与预先设定好的最大变化阈值T进行比较，如果有一个差值超过T则校准失败，重新执行步骤(2)。其中最大变化阈值T为根据加速度传感器测量噪声设定的一个值，取测量噪声的2倍，如果xDiff、yDiff、zDiff中的至少一个超过该值，则表明当前待测物体处于不稳定 状态，应该重新放置水平并校准；
(6)计算x、y、z轴测量值的平均值，例如，X轴的平均值xAvg、Y轴的平均值yAvg、Z轴的平均值zAvg；
(7)将xAvg、yAvg、zAvg作为倾斜判定基准值保存起来，用于在测量时将实时获得的加速度值与对应方向的倾斜判定基准值进行比较以确定待测物体的倾斜姿态；
(8)校准结束。
根据本申请的另一方面，还提供了一种运动姿态确定装置10。如图3所示，该运动姿态确定装置10包括：加速度测量装置20，用于测量待测物体在多个方向上的加速度值；时域-频域转换装置30，用于对所述待测物体在多个方向上的加速度值进行时域-频域数据转换以得到每个方向上的频域数据的幅值；以及比较判定装置40，将每个方向上的频域数据的幅值与预先确定的相应方向上的基准值进行比较，并且根据比较的结果确定待测物体的状态。
在一些实施例中，该加速度测量装置20包括3轴加速度传感器或者6轴加速度传感器，用于测量各个轴向上的加速度数值。
在一些实施例中，该时域-频域转换装置30包括数字信号处理器(DSP，Digital Signal Processor)，该DSP构造为能够执行离散傅里叶变换(DFT)处理或者执行快速傅里叶变换(FFT)处理。可替代的，任何能够执行连续傅里叶变换处理的电路构造均适用于用作上述时域-频域转换装置30。
在一些实施例中，上述比较判定装置40包括比较器电路，其能够将加速度测量装置20或时域-频域转换装置30的输出数据与预先存储的基准值进行比较，并输出指示待测物体的倾斜姿态或运动状态的信号。
在一些实施例中，比较判定装置40构造为将所述每个方向上的频域数据中的直流分量的幅值与预先确定的相应方向上的倾斜判定基准值进行比较，并且根据比较的结果确定待测物体的倾斜状态。
在一些实施例中，比较判定装置40构造为计算所述每个方向上的频域数据的幅值总和，将所述幅值总和与预先确定的相应方向上的运动判定阈值进行 比较，并且当计算得到的幅值总和大于所述运动判定阈值时确定所述待测物体处于运动状态。
在一些实施例中，比较判定装置40构造为计算所述每个方向上的频域数据中的低频分量与所述幅值总和的比值，将所述比值与预先确定的相应方向上的加速判定阈值进行比较，并且当计算得到的比值大于所述加速判定阈值时确定所述待测物体处于加速或减速状态；在一些实施例中，所述低频分量为频率低于5Hz的频率点的幅值之和。
在一些实施例中，根据本申请的运动姿态确定装置10构造为在所述待测物体处于水平状态时通过所述加速度测量装置测量多个方向上的加速度值，并且通过所述比较判定装置计算每个方向上的加速度值的平均值并将所述平均值用作相应方向上的倾斜判定基准值。
在一些实施例中，该运动姿态确定装置10固定在手推车上。特别地该待测物体可以为手推婴儿车，根据本申请的运动姿态确定装置10固定在该手推婴儿车上。
如图4至图6所示，本申请提供了一种用于婴儿车的安全控制系统100，所述安全控制系统100可以设置在婴儿车中，所述婴儿车中的安全控制系统100包括：刹车机构110、接近感测单元120、运动姿态确定装置10、刹车控制装置140和接近感测单元120。
所述刹车机构110构造为在刹车控制装置的控制下执行自动刹车。具体的，所述刹车机构110用于实现婴儿车的刹车功能，并且设置在婴儿车的车轮上。在一些实施例中，所述刹车机构110可以设置在婴儿车的后轮组处(如图5所示)，以便实现婴儿车在刹车时保持车体稳定。在一些实施例中，所述刹车机构110还可以包括运动速度检测模块，以便检测婴儿车是否处于运动状态中以及当前运动的速度；进一步地，可以使用磁铁模组和霍尔传感器来构成该运动速度检测模块。
所述接近感测单元120构造为用于检测用户的手握状态。具体的，所述接近感测单元120包括接近感应传感器，例如电容式接近感应传感器，并且所述 接近感测单元12可以安装在婴儿车的把手或其他任意适合手握的位置(如图5所示)。该接近感测单元120用于检测是否有物体(例如人手)手握或者接近婴儿车，并将指示该手握或接近状态的手握状态信号发送至刹车控制装置。该接近感测单元120可以包括无线传输模块，以用于将手握状态信号通过无线传输的方式发送至刹车控制装置。
在一些实施例中，为了获得准确的接近感测结果、避免检测不到人手脱离婴儿车的危险情况，接近感测单元还包括：温度获取装置，用于获取接近感测单元处的温度；补偿电路，用于根据所获得的温度对接近感测单元的测量值进行温度补偿；以及检测电路，用于基于接近感测单元的温度补偿后的测量值确定手握状态。
所述运动姿态确定装置10构造为用于确定所述婴儿车当前的运动姿态。具体的，所述婴儿车的当前的运动姿态可以是根据上面的一些实施例中所描述的运动姿态确定方法来确定。可选地，可以通过本发明实施例提供的运动姿态确定装置10确定所述婴儿车当前的运动姿态。或者，也可以通过本发明实施例提供的运动姿态确定方法来确定婴儿车的运动姿态。
运动姿态确定装置10是用于确定婴儿车当前的运动姿态的组件，并且可以设置在在婴儿车的下部(如图5所示)。在一些实施例中，运动姿态确定装置包括：加速度传感器，用于测量所述婴儿车在多个方向上的加速度值；时域-频域转换电路，用于对所述婴儿车在多个方向上的加速度值进行时域-频域数据转换，得到每个方向上的频域数据的幅值；以及比较器电路，用于将每个方向上的频域数据的幅值与预先确定的相应方向上的基准值进行比较，并且根据比较的结果确定婴儿车当前的运动姿态。
在一些实施例中，该加速度传感器可以是3轴加速度传感器或者6轴加速度传感器，用于测量各个轴向上的加速度数值。
在一些实施例中，该时域-频域转换电路包括数字信号处理器(DSP)，该DSP构造为能够执行离散傅里叶变换(DFT)处理或者执行快速傅里叶变换(FFT)处理。或者可替代的，任何能够执行连续傅里叶变换处理的电路构造 均适用于用作上述时域-频域转换电路。
在一些实施例中，上述比较器电路能够将时域-频域转换电路的输出数据与预先存储的基准值进行比较，并输出指示待测物体的倾斜姿态或运动状态的信号。
在一些实施例中，比较器电路构造为将所述每个方向上的频域数据中的直流分量的幅值与预先确定的相应方向上的倾斜判定基准值进行比较，并且根据比较的结果确定待测物体的倾斜状态。
在一些实施例中，比较器电路构造为获得所述每个方向上的频域数据的幅值总和，将所述幅值总和与预先确定的相应方向上的运动判定阈值进行比较，并且当计算得到的幅值总和大于所述运动判定阈值时确定所述待测物体处于运动状态。
所述刹车控制装置140构造为基于所述手握状态和所述运动姿态的检测结果，控制所述刹车机构执行自动刹车。如果检测出用户未对所述婴儿车处于手握的状态，例如，用户的手离开婴儿车，或者离开婴儿车的预设手握位置，且婴儿车处于运动的姿态，则说明婴儿车处于不安全的运动状态，此时，通过刹车控制装置控制刹车机构执行自动刹车。
进一步的，所述刹车控制装置140构造为基于所述手握状态和所述运动姿态的检测结果以及用户设定的刹车模式，来控制所述刹车机构执行自动刹车。具体的，所述用户设定的刹车模式可以包括但不限于：关闭自动刹车的第一刹车模式、根据所述手握状态执行自动刹车的第二刹车模式、以及根据所述手握状态和所述运动姿态的检测结果来执行自动刹车的第三刹车模式。
上述刹车模式包括关闭自动刹车的第一刹车模式，仅根据所述手握状态执行自动刹车的第二刹车模式，以及根据所述手握状态和所述运动姿态的检测结果来执行自动刹车的第三刹车模式。
刹车模式可以由用户切换，总共有三种刹车模式。其中在第一刹车模式下，电子刹车功能关闭，没有自动刹车的功能，主要适用于不习惯使用自动刹车的人群，例如老人，因此可以关闭自动刹车，仍使用婴儿车自身的手动刹车功能。 第二刹车模式为自动刹车模式，在第二刹车模式下，仅判断婴儿车是否处于手握状态，当检测到手放置到婴儿车把手或者其他适当位置上时，刹车解刹，当检测到手离开手把，刹车刹住；第三刹车模式为智能防护模式，在这种模式下，如果判断周围环境不安全会自动刹车，正常使用时不会自动刹车，这样可以提升用户的体验。
针对第三刹车模式，具体的，本申请将检测如下异常情况(不安全的情况)：斜坡检测，如果手离开手把，并且婴儿车处于斜坡的情况下，则判定婴儿车处于倾斜状态，此时刹车控制装置140控制执行刹车(防止溜坡，以及自动扶梯上出现下滑等情况)；运动检测，在平地上，如果手松开，且车体还在运动，则判定婴儿车处于运动状态，例如高铁或地铁的急刹车、快速推行时突然的松手都会产生这种情况，此时刹车控制装置140控制执行刹车。
在婴儿车的日常应用场景中，刹车控制装置140根据用户所设定的刹车模式、当前是否处于手握把手状态、婴儿车车体是否处于倾斜状态、是否处于运动状态、运动速度是否过快等来确定相应的刹车动作。
上述三种刹车模式的两种示例切换方式如下：
(1)用户通过设置在婴儿车车体上的按钮切换；
(2)用户通过智能设备(例如手机，IPAD等)上的APP连接刹车控制装置140，并在该智能设备上通过APP切换刹车模式。
如图6和图7所示，在一个实施例中在婴儿车把手上设置了刹车模式切换按钮，通过按下右侧的按键“刹车模式”就可以切换刹车模式，按键旁边有4个LED灯，分别为“APP”、“关闭”、“自动”、“智能”。其中“APP”LED灯亮表示当前有手机APP连接刹车控制装置140，可以在APP中设置刹车模式，“关闭”LED灯亮表示当前处于电子刹车关闭模式(即前述第一刹车模式)，“自动”LED灯亮表明当前处于自动刹车模式(即前述第二刹车模式)，“智能”LED灯亮表明当前处于智能防护模式(即前述第三刹车模式)。
下面对一些实施例中的电子刹车关闭模式、自动刹车模式、智能防护模式的工作过程进行说明。
电子刹车关闭模式：此模式下电子刹车功能关闭，可以使用传统推车的手动刹车功能；进一步地，还可以使得运动速度检测功能开启，如果运动速度过快会产生报警(语音提示和警示灯)。
自动刹车模式：接近感测单元检测到有人手握把手，将检测结果通过无线传输的方式发送给刹车控制装置140，刹车控制装置140控制刹车机构110执行解刹，此时推车可以正常推行。同时，如果运动速度过快会产生报警(语音提示和警示灯)。当接近感测单元检测到人手离开后，将检测结果通过无线传输的方式发送给刹车控制装置140，刹车控制装置140控制刹车机构110执行刹车，将婴儿车刹住。
智能防护模式：接近感测单元检测到有人手握把手时，与自动刹车模式一致，婴儿车可以直接推行。当接近感测单元检测到人手离开后，刹车控制装置140控制刹车机构110保持解刹状态，并检测当前婴儿车是否处于斜坡以及是否有运动，如果处于斜坡或者婴儿车仍然在运动这两个条件满足至少一个就会执行刹车操作，将婴儿车刹住，如果任一条件均不符合则不会执行刹车。此模式可以避免推行过程中由于用户松手导致频繁刹车和解刹，能够提供更好的用户体验。
在如图7所示的实施例中，左侧按键是电源键，长按关机、短按开机。左侧的4个LED起到电量显示作用，其旁边的数字含义为电池当前剩余电量百分比。
如图8所示，本申请还提供了一种用于婴儿车的安全控制方法，该方法包括：步骤S21，通过接近感测单元检测用户的手握状态，步骤S22，通过运动姿态确定装置确定婴儿车当前的运动姿态，以及步骤S23，基于手握状态和运动姿态的检测结果，通过刹车控制装置控制刹车机构执行自动刹车。
下面结合具体实施例详细描述上述步骤S21至步骤S23。
在步骤S21中，通过接近感测单元检测用户的手握状态，也就是说，本申请通过感测单元检测用户的手是否位于婴儿车的预设位置，例如，检测手握状态可以是检测用户的手是否握在婴儿车的预设位置上，优选地，检测用户的手 是否握在婴儿车的手把(扶手)上，进一步地，检测用户的手是否握在婴儿车的手把上的预设位置。进一步的，所述接近感测单元包括电容式接近感应传感器，并且所述电容式接近感应传感器可以安装在婴儿车的把手或其他任意适合手握的位置。该电容式接近感应传感器可以检测是否有物体(例如人手)手握或者接近婴儿车，当用户的手握在婴儿车的手把(扶手)上时，所述电容式接近感应传感器感测到婴儿车的手把(扶手)被手把持，并且将该手握状态信号发送至控制器，以进行进一步的处理。
在步骤S22中，本申请通过运动姿态确定装置确定婴儿车当前的运动姿态，所述婴儿车的当前运动姿态可以由下面的实施例来确定：
作为本申请的一个实施例，可以确定婴儿车当前是否处于加速运动的姿态，进而确定婴儿车当前是否处于运动的姿态。进一步的，本申请通过设置在婴儿车上的一个或多个加速度传感器来检测所述婴儿车的加速度值，从而根据所述加速度值来确定婴儿车当前是否处于加速运动的姿态。更进一步的，本申请可以通过设置在婴儿车上的多个加速度传感器来分别检测所述婴儿车在多个方向上的加速度值，从而根据所述多个加速度值来确定婴儿车当前是否处于加速运动的姿态。
作为本申请的又一实施例，所述婴儿车当前的运动姿态可以通过本申请上面所描述的运动姿态确定装置10来进行确定，例如，利用上面所描述的加速度测量装置20来测量如婴儿车在多个方向上的加速度值、利用上面所描述的时域-频域转换装置30对所述婴儿车在多个方向上的加速度值进行时域-频域数据转换以得到每个方向上的频域数据的幅值，以及利用上面所描述的比较判定装置40将每个方向上的频域数据的幅值与预先确定的相应方向上的基准值进行比较，并且根据比较的结果来确定所述婴儿车的运动状态。
作为本申请的另一实施例，可以通过本申请上面所描述的运动姿态确定方法来确定婴儿车的当前运动姿态，例如，图1所示的确定婴儿车的运动姿态的方法，具体的，所述确定婴儿车的运动姿态的方法可以包括：步骤S1，测量待测物体，例如婴儿车在多个方向上的加速度值；步骤S2，对所述婴儿车在 多个方向上的加速度值进行时域-频域数据转换，得到每个方向上的频域数据的幅值。以及步骤S3，将每个方向上的频域数据的幅值与预先确定的相应方向上的基准值进行比较，并且根据比较的结果确定所述婴儿车的运动状态。
在确定了婴儿车当前的运动姿态之后，本申请继续执行步骤S23：基于手握状态和运动姿态的检测结果，通过刹车控制装置控制刹车机构执行自动刹车。
如果检测出用户未对所述婴儿车处于手握的状态，例如，用户的手离开婴儿车，或者离开婴儿车的预设手握位置，且婴儿车处于运动的姿态，则说明婴儿车处于不安全的运动状态，此时，通过刹车控制装置控制刹车机构执行自动刹车。
可选地，以上，当检测出用户未对所述婴儿车处于手握的状态，且婴儿车处于预设的运动姿态，或者，婴儿车的运动姿态满足预设条件，则自动控制婴儿车执行刹车的模式可以是用户可设置的，即，用户可以预先设置该种情况(当检测出用户未对所述婴儿车处于手握的状态，且婴儿车处于预设的运动姿态，或者，婴儿车的运动姿态满足预设条件)下，是否需要执行自动刹车。此时，基于手握状态和运动姿态的检测结果，通过刹车控制装置控制刹车机构执行自动刹车包括：基于手握状态和运动姿态的检测结果以及用户设定的刹车模式，通过刹车控制装置控制刹车机构执行自动刹车，也即，如果用户预先设置了在检测出用户未对所述婴儿车处于手握的状态，且婴儿车处于预设的运动姿态，或者，婴儿车的运动姿态满足预设条件的情况下需要执行自动刹车，则在这样的情况下控制婴儿车自动刹车，如果用户预先设置了在检测出用户未对所述婴儿车处于手握的状态，且婴儿车处于预设的运动姿态，或者，婴儿车的运动姿态满足预设条件的情况下不需要执行自动刹车，则在该种情况下不控制婴儿车执行自动刹车。
在一些实施例中，通过接近感测单元检测用户的手握状态的步骤S21进一步包括：本申请获得所述接近感测单元处的温度。具体的，本申请可以利用温度获取装置，例如温度计或者温度传感器来获取接近感测单元处的温度。此外，本申请根据所获得的温度对所述接近感测单元的测量值进行温度补偿。具体的， 本申请可以利用上面所描述的补偿电路根据所获得的温度对接近感测单元的测量值进行温度补偿。最后，本申请基于所述接近感测单元的温度补偿后的测量值确定手握状态。具体的，本申请可以利用上面所描述的检测电路基于接近感测单元的温度补偿后的测量值确定手握状态。
在一些实施例中，通过运动姿态确定装置确定所述婴儿车当前的运动姿态的步骤S22进一步包括：测量所述婴儿车在多个方向上的加速度值；对所述婴儿车在多个方向上的加速度值进行时域-频域数据转换，得到每个方向上的频域数据的幅值；以及将每个方向上的频域数据的幅值与预先确定的相应方向上的基准值进行比较，并且根据比较的结果确定婴儿车当前的运动姿态。
在一些实施例中，本申请的用于婴儿车的安全控制装置还包括第一无线通讯装置、第二无线通讯装置和第三无线通讯装置，其中，第一无线通讯装置设置在所述接近感测单元处，第二无线通讯装置设置在所述运动姿态确定装置处，并且第一无线通讯装置与第二无线通讯装置彼此无线连接，并且所述第三无线通讯装置设置在所述刹车机构处。
图9所示，本申请的婴儿车还包括车体设置在车体上的手把、前轮和后轮，以及设置在前轮位置处的前轮控制模块1、设置在手把上或者手把之中的手把模块2和设置在两个后轮之间的主控模块3。
所述前轮控制模块1包括：第三无线通讯装置11、前照灯装置12和前轮定向装置13。所述第三无线通讯装置11与手把模块2中的第一无线通讯装置21无线通讯连接。所述前照灯装置12和所述前轮定向装置13分别与所述第三无线通讯装置电连接，所述前轮定向装置13用于控制婴儿车前轮的方向。
所述手把模块2包括第一无线通讯装置21、接近传感器22、温度/湿度传感器23、空气质量传感器24和按键/LED灯25。所述第一无线通讯装置21与主控模块3中的第二无线通讯装置31无线通讯连接。所述接近传感器22与所述第一无线通讯装置21电连接，用于检测婴儿车的手把是否被把持，并且将检测到的把持信号经由所述第一无线通讯装置21发送至所述控制器。其中可以通过检测手把上是否有物体接近或者手把上是否有感应压力来判断所述婴 儿车的手把是否被把持，从而可以将感应信号依次经由第一无线通讯装置21和第二无线通讯装置31发送至所述控制器32。
所述温度/湿度传感器23与所述第一无线通讯装置21电连接，用于检测环境温度和/或湿度，并且将检测到的环境温度和/或湿度信号经由第一无线通讯装置和第二无线通讯装置发送至控制器32，所述控制器32根据该温度和/或湿度信号进行后续处理，例如将该信号进行显示或者在该温度和/或湿度信号中的温度和/或湿度值大于报警阈值时，向用户提供报警消息。
所述空气质量传感器24与所述第一无线通讯装置21电连接，用于检测环境空气质量，并且将检测到的空气质量信号经由第一无线通讯装置21和第二无线通讯装置31发送至控制器32，所述控制器32根据该空气质量信号进行后续处理，例如将代表空气质量的APM值进行显示或者在APM值大于报警阈值时，向用户提供报警消息。
所述按键/LED灯25与所述第一无线通讯装置电连接，用于将用户按键信息经由第一无线通讯装置反馈给控制器32，以及根据控制器32发送的控制信号由不同的LED灯25进行展示。
所述主控模块3包括第二无线通讯装置31、控制器32、刹车装置33、倾斜度传感器34、速度传感器35。所述倾斜度传感器34优选地可以为六轴传感器，该六轴传感器包括三轴陀螺仪和三轴加速计，可以检测婴儿车的倾斜度和异常运动(例如婴儿车的瞬时加速度大于阈值时，可以认为婴儿车存在异常运动)，所述倾斜度传感器34与所述控制器电连接，从而将检测到的倾斜度和/或加速度值发送至所述控制器。
所述刹车装置33与所述控制器32电连接，在所述控制器32未接收到所述把持信号的情况下，说明婴儿车的手把没人把持，所述控制器32根据所述倾斜度确定是否向所述刹车装置33发送刹车信号，优选地，所述控制器根据所述倾斜度以及上述的异常运动来确定是否向所述刹车装置33发送刹车信号，以使所述婴儿车止动。此外，所述控制器32经由所述第三无线通讯装置11向前轮控制模块13发送控制信号，从而控制所述前轮定向装置的定向。
另外，所述速度传感器35与所述控制器32电连接，用于检测所述婴儿车的车速信号，并且所述控制器32根据该车速信号进行后续处理，例如将该信号进行显示或者在该车速信号中的车速值大于报警阈值时，向用户提供报警消息，以提示用户当前的婴儿车超速。
进一步的，所述第一无线通讯装置、第二无线通讯装置和第三无线通讯装置包括：蓝牙通讯模块、2.4G通讯模块、Zigbee通讯模块、433M通讯模块和SUB1G通讯模块，更进一步的，所述第一无线通讯装置、第二无线通讯装置和第三无线通讯装置可以包括BLE(低功耗蓝牙)通讯模块。并且将所述第一无线通讯装置中的BLE通讯模块设定为主模式BLE，而所述第二无线通讯装置和第三无线通讯装置中的BLE通讯模块均设定为从模式BLE。
此外，在所述第二无线通讯装置中还包括双模蓝牙通讯模块，其与外设装置4(例如，用户的手机等移动设备或者台式机或服务器等台式设备)进行通讯连接。
本申请采用BLE主从方案，可以是一主多从，构成星型网络，当婴儿车中增加其他传感器模块，可以对网络进行扩展(例如将先用的一主二从扩展到一主三从等)；当婴儿车功能较简单(例如，只用智能刹车功能)，也可以是一主一从的方式，形成点对点的传输方式。
此外，本申请的组网方案不仅限于使用BLE，使用2.4G的私有协议也可以实现该方案(例如使用NORDIC公司的2.4G芯片nRF24L01)。当精简为一对一的连接时，可以使用433M，SUB1G等方式来实现。不采用BLE时，配对时使用的MAC地址由芯片的唯一标识码替代。
以各个无线通讯装置为BLE，并采用主BLE-从BLE的组网方式为例。
手把模块位于婴儿车的手把上，实现推行检测、环境检测和系统人机交互的功能。手把模块上有：BLE(主)，作为Master(主模式)与其他模块之间建立连接，进行数据传输；接近传感器，用于检测是否有人握住把手，即推行检测；温/湿度传感器，用于检测环境温湿度；空气质量传感器，用于检测环境空气质量；按键/LED灯，用于实现对婴儿车各模块的控制和状态显示，即 系统人机交互。
主控模块位于婴儿车的两个后轮之间，用于实现推车斜坡检测，异常运动检测，手机APP交互，音乐播放，智能刹车等功能。主控模块上有：BLE(从)，作为Slave(从模式)与手把模块进行连接，进行数据传输；双模蓝牙模块，用于和手机进行连接，接收手机的控制信号以及音频数据。音频模块(图中未示出)，对接收到的音频数据进行处理并进行播放音频；速度传感器，用于检测婴儿车的推行速度；六轴传感器，用于检测推车当前是否处于斜坡上以及是否有异常运动；刹车装置，根据手把模块检测到的是否有人手握手把的信息以及六轴传感器检测结果，决定是否执行刹车，如果无人手握住手把，且推车处于斜坡上或者有异常的运动就会执行刹车，否则取消刹车，此为智能刹车功能。
前轮控制模块位于婴儿车的两个前轮之间，用于实现警示灯和前照灯的控制以及前轮智能定向。前轮控制模块上有：BLE(从)，作为Slave与手把模块进行连接，进行数据传输；安全灯，安装于推车前轮处，夜间推行时打开安全灯可以提高安全性；前轮定向装置，用于实现前轮在定向与万向之间切换，实现智能定向功能。警示灯开关和前轮定向控制开关均处于把手模块中，通过操作把手模块中的按键，再通过BLE(从)进行传输，可以实现两者的开和关。
如图10所示，该图示出了婴儿车系统的组网配对步骤。
通常，一个婴儿车的手把模块、主控模块、前轮控制模块之间需要进行组网配对，否则两台婴儿车(A、B)在附近时，容易产生类似于A的手把模块连接到B的主控模块的情况。配对在出厂时进行，无需用户操作，配对流程为：
Step1：主控模块上通过按钮触发，BLE(主)发起配对请求，向外广播配对请求信息。
Step2：手把模块上的BLE(从)扫描到正在请求配对的BLE(主)，根据BLE(主)的广播信息将其标识为BLE(主)，并将其MAC地址和标识一起保存在flash中，以便后续的连接。(其中，BLE的MAC地址为唯一的，可以作为配对信息进行保存，以便后续连接的识别。)
Step3：手把模块上的BLE(从)发送配对确认信息给BLE(主)，BLE(主)保存BLE(从)的MAC地址到flash中，以便后续的连接。
Step4：前轮控制模块上通过按钮触发，BLE(从)发起配对请求，重复step1～3。如果还有其他模块，重复上述步骤，完成配对组网。
配对完成后，一台婴儿车各个模块之间可建立正常连接，与各个BLE的flash中保存的配对信息不符合的设备将被拒绝连接。
所述婴儿车内部组网内的信息传输方式以及实现的功能：
本申请将手把模块上的BLE(主)为Master，其他模块上的BLE作为从Slave，所有从与主之间连接构成星型网络。主与从之间的信息传输可以直接进行，从与从之间信息传输是由BLE(从)传给BLE(主)，再由BLE(主)转发给另一个BLE(从)。基于这一点，婴儿推车的信息传输如下：
智能刹车：手握把手时，把手模块检测到，BLE(主)将结果发送给主控模块的BLE(从)，执行解刹；手离开把手时，把手模块将检测结果通过BLE(主)发送给主控模块的BLE(从)，此后主控模块根据六轴检测结果，判断推车是否处于斜坡或者有异常运动，如果有则执行刹车，并将刹车执行结果返回给BLE(主)。
安全灯和智能定向：通过把手上的功能键控制，通过BLE(主)将控制信息传输给前轮控制模块的BLE(从)。
智能刹车开关：通过把手上的模式切换键控制，通过BLE(主)将控制信息传输给主控模块上的BLE(从)，实现智能刹车的开关。智能刹车关闭以后，可以使用传统脚刹。
系统开关机：
当前系统处于开机状态时，长按电源键，手把通过BLE(主)发送关机指令给主控模块上的BLE(从)和前轮控制模块上的BLE(从)，将其关机，此后主控模块和前轮控制模块只有BLE部分处于慢速广播状态(实际取每500ms向外广播一次)，使得两者的功耗极低，此后BLE连接断开，手把模块关机。当前系统处于关机状态时，长按手把模块上的电源键，手把模块开机， 此后手把BLE(主)开始扫描，当扫描到主控模块的BLE(从)和前轮控制模块的BLE(从)时，分别与之建立连接，此后主控模块和前轮控制模块开机，系统开机完成。
主控模块上有一个BT模块，该模块是一个蓝牙双模模块，包含音频蓝牙和BLE，其中音频蓝牙用于与手机连接，接收手机传输过来的音频信息，并播放。BLE可以与手机进行连接，用于接收手机的控制信号，返回推车信息给手机，通过手机的连接，可以将推车网络连接到互联网。手机与该网络之间的信息传递如下：
安全灯和智能定向：通过手机APP控制，手机通过BT模块连接推车，将控制信息传输给主控模块，主控模块通过BLE(从)将控制信息传输给手把模块上的BLE(主)，手把模块再将信息转发给前轮控制模块上的BLE(从)。
智能刹车开关：通过手机APP控制，手机通过BT模块连接推车，将控制信息传输给主控模块，实现智能刹车的开关。
推车状态显示与联网保存：通过手机APP控制，手机通过BT模块连接推车，所有推车数据，包括温湿度、空气质量、推行里程、实时推车速度等均可以经过该网络传输给主控模块，最终由主控模块上的BT模块传输给手机进行显示，并经过手机联网传到云端做数据统计与分析。
本申请使用无线组网的方式，将婴儿车电子模块通过无线网络连接起来，实现各个电子模块之间的信息传输，省去繁杂的连线(包括但不限于BLE，文中描述的2.4G私有协议也可以实现该组网方式，当电子功能较简单只需要点对点连接时，可以使用433M，SUB1G技术)。
此外，本申请的蓝牙组网方式不限于主从配对方式，各个模块上的BLE之间可以通过蓝牙MESH的方式组成网络，实现信息传输。
相比于在其他需要对物体的运动姿态和/或倾斜程度进行测量的应用场景中，通常使用倾角传感器等器件执行精确测量。以及，相比于一些倾角传感器把MCU、加速度计、模数转换电路、通讯单元全都集成在尺寸非常小的电路板上，能够获得静态条件或者准静态条件下的重力垂直轴与加速度传感器灵敏 轴之间的夹角(即倾斜角)，然而在不引入陀螺仪器件的情况下，这类倾角传感器对于动态条件下的物体倾斜状态无法做出准确测量。本发明实施例可以实现更准确的测量。
由于在检测模块中引入陀螺仪会导致较高的成本，不适用于不需要精确获取物体当前的倾斜角度、仅需要对倾斜状态做出动态判定的情况。本发明实施例可以解决由此带来的问题，有利于降低成本。
另外，婴儿车一般包括车体以及设置于车体底部前后的车轮，后轮处一般会设置刹车机构，从而在需要婴儿车停下来不动的时候，进行刹车操作。
相比于一些能够执行自动刹车操作的产品，本发明实施例的方案可以更好的区分用户的使用偏好、以及婴儿车所处地面环境的具体特征，提供令人满意的使用体验。
本发明实施例相比于传统结构的婴儿车，有效的克服了功能单一的问题。同时有效的克服了以下问题：少部分婴儿车加入了一些电子功能，例如温湿度检测，报警装置等，各个电子部件分布于婴儿车的不同位置，通过导线连接进行供电和数据传输，给装配带来了极大的困难，不利于成本的改善。另外，由于各个模块以有线方式直接地连接，这就给整个带来了不可靠性，比如在婴儿车折叠或展开时，容易将数据线折断，造成了用户的使用不便。
此外，由于婴儿车结构较为复杂，需要具有折叠，可拆卸等各种活动连接功能，本发明实施例有效的克服了在婴儿车中加入电子部件后，各个部件之间通过导线连接使得婴儿车的结构设计更加复杂，装配与售后维修更加困难，极大地降低了生产效率，提高维护成本的问题。
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (19)

  1. 一种用于婴儿车的安全控制方法，其中，所述婴儿车包括：接近感测单元、运动姿态确定装置、刹车控制装置和刹车机构，所述安全控制方法包括：
    通过所述接近感测单元检测用户的手握状态；
    通过所述运动姿态确定装置确定所述婴儿车当前的运动姿态；以及
    基于所述手握状态和所述运动姿态的检测结果，通过所述刹车控制装置控制所述刹车机构执行自动刹车。
  2. 根据权利要求1所述的安全控制方法，其中，所述婴儿车当前的运动姿态根据以下步骤来确定：
    测量待测物体在多个方向上的加速度值；
    对所述加速度值进行时域-频域数据转换，得到每个方向上的频域数据的幅值；以及
    将每个方向上的频域数据的幅值与预先确定的相应方向上的基准值进行比较；
    并且根据比较的结果确定待测物体的状态。
  3. 根据权利要求2所述的安全控制方法，其中，所述将每个方向上的频域数据的幅值与预先确定的相应方向上的基准值进行比较，并且根据比较的结果确定待测物体的状态的步骤包括：
    将所述每个方向上的频域数据中的直流分量的幅值与预先确定的相应方向上的倾斜判定基准值进行比较，并且根据比较的结果确定待测物体的倾斜状态。
  4. 根据权利要求2所述的安全控制方法，其中，所述将每个方向上的频域数据的幅值与预先确定的相应方向上的基准值进行比较，并且根据比较的结果确定待测物体的状态的步骤包括：
    计算所述每个方向上的频域数据的幅值总和，将所述幅值总和与预先确定的相应方向上的运动判定阈值进行比较，并且当所述幅值总和大于所述运动判定阈值时，确定所述待测物体处于运动状态。
  5. 根据权利要求4所述的安全控制方法，其中，确定所述婴儿车当前的运动姿态的步骤还包括：
    计算所述每个方向上的频域数据中的低频分量与所述幅值总和的比值，将所述比值与预先确定的相应方向上的加速判定阈值进行比较，并且当所述比值大于所述加速判定阈值时，确定所述待测物体处于加速或减速状态。
  6. 根据权利要求2所述的安全控制方法，其中，在所述测量待测物体在多个方向上的加速度值的步骤之前，所述方法还包括：
    在所述待测物体处于水平状态时测量多个方向上的加速度值，计算每个方向上的加速度值的平均值并将所述平均值用作相应方向上的倾斜判定基准值。
  7. 根据权利要求1所述的安全控制方法，其中，在控制所述刹车机构执行自动刹车的步骤中，所述方法进一步包括：
    基于所述手握状态和所述运动姿态的检测结果以及用户设定的刹车模式，通过所述刹车控制装置控制所述刹车机构执行自动刹车。
  8. 根据权利要求7所述的安全控制方法，其中，所述刹车模式包括：关闭自动刹车的第一刹车模式、根据所述手握状态执行自动刹车的第二刹车模式、以及根据所述手握状态和所述运动姿态的检测结果来执行自动刹车的第三刹车模式。
  9. 根据权利要求8所述的安全控制方法，其中，所述刹车控制装置构造为在所述第三刹车模式下，当所述手握状态的检测结果为人手离开，并且所述 运动姿态的检测结果为所述婴儿车具有倾斜状态或者运动状态中的至少一种时，控制所述婴儿车执行自动刹车。
  10. 一种婴儿车，包括：
    刹车机构，用于实现婴儿车的刹车；
    接近感测单元，构造为用于检测用户的手握状态；
    运动姿态确定装置，构造为用于确定所述婴儿车当前的运动姿态；
    刹车控制装置，构造为基于所述手握状态和所述运动姿态的检测结果，控制所述刹车机构执行自动刹车。
  11. 根据权利要求10所述的婴儿车，其中，所述运动姿态确定装置根据权利要求2所述的运动姿态确定方法确定所述婴儿车当前的运动姿态。
  12. 根据权利要求10所述的婴儿车，其中，所述刹车控制装置进一步的构造为，基于所述手握状态、所述运动姿态的检测结果以及用户设定的刹车模式，控制所述刹车机构执行自动刹车。
  13. 根据权利要求12所述的婴儿车，其中，所述刹车模式包括：关闭自动刹车的第一刹车模式、根据所述手握状态执行自动刹车的第二刹车模式、以及根据所述手握状态和所述运动姿态的检测结果来执行自动刹车的第三刹车模式。
  14. 根据权利要求13所述的婴儿车，其中，所述接近感测单元包括：
    电容式接近感应传感器，用于获取指示是否存在物体接近所述接近感测单元的测量值；
    温度获取装置，用于获取所述接近感测单元处的温度；
    补偿电路，用于根据所获得的温度对所述接近感测单元的测量值进行温度 补偿；以及
    检测电路，用于基于所述接近感测单元的温度补偿后的测量值确定手握状态。
  15. 根据权利要求10所述的婴儿车，还包括：第一无线通讯装置和第二无线通讯装置，其中，所述第一无线通讯装置设置在所述接近感测单元处，所述第二无线通讯装置设置在所述运动姿态确定装置处，并且所述第一无线通讯装置与第二无线通讯装置彼此无线连接；
    所述婴儿车还包括：设置在所述刹车机构处的第三无线通讯装置，所述第三无线通讯装置与所述第一无线通讯装置彼此无线连接。
  16. 根据权利要求15所述的婴儿车，其中，所述第一无线通讯装置、第二无线通讯装置和第三无线通讯装置包括如下组中的任一组件：蓝牙通讯组件、2.4G通讯组件、Zigbee通讯组件、433M通讯组件和SUB1G通讯组件。
  17. 根据权利要求15所述的婴儿车，其中，所述第一无线通讯装置、第二无线通讯装置和第三无线通讯装置包括BLE通讯组件。
  18. 根据权利要求17所述的婴儿车，其中，所述第一无线通讯装置设置为主模式BLE，所述第二无线通讯装置和第三无线通讯装置设置为从模式BLE。
  19. 根据权利要求18所述的婴儿车，其中，所述第二无线通讯装置包括双模蓝牙通讯组件。
PCT/CN2018/120552 2018-09-25 2018-12-12 用于婴儿车的安全控制方法及婴儿车 WO2020062595A1 (zh)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
CN201811115993.1A CN109094637A (zh) 2018-09-25 2018-09-25 智能婴儿车
CN201811115993.1 2018-09-25
CN201811149218.8A CN109238272B (zh) 2018-09-29 2018-09-29 运动姿态确定方法和运动姿态确定装置
CN201811149218.8 2018-09-29
CN201811149226.2A CN109278841A (zh) 2018-09-29 2018-09-29 用于婴儿车的安全控制方法和安全控制系统
CN201811149226.2 2018-09-29

Publications (1)

Publication Number Publication Date
WO2020062595A1 true WO2020062595A1 (zh) 2020-04-02

Family

ID=69949518

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/120552 WO2020062595A1 (zh) 2018-09-25 2018-12-12 用于婴儿车的安全控制方法及婴儿车

Country Status (1)

Country Link
WO (1) WO2020062595A1 (zh)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105292223A (zh) * 2015-10-21 2016-02-03 华南理工大学 一种折叠式婴儿车及折叠式电动婴儿车
KR20170106712A (ko) * 2016-03-14 2017-09-22 이준석 스마트 유모차

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105292223A (zh) * 2015-10-21 2016-02-03 华南理工大学 一种折叠式婴儿车及折叠式电动婴儿车
KR20170106712A (ko) * 2016-03-14 2017-09-22 이준석 스마트 유모차

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
FAN, XINYUE ET AL.: "Design and Realization of All-Electric Braking Test System Based on DSP", MEASUREMENT & CONTROL TECHNOLOGY, vol. 26, no. 3, 31 March 2007 (2007-03-31), pages 89 - 91, ISSN: 1000-8829 *
LI, TINGZHI ET AL.: "A smart accelerometer-based braking system for baby strollers", JOURNAL OF SUZHOU UNIVERSITY OF SCIENCE AND TECHNOLOGY, vol. 25, no. 4, 31 December 2012 (2012-12-31), pages 72 - 75, ISSN: 2096-3270 *
XU, SIHU ET AL.: "DSP (Mix- programming based on Code Composer Studio for the FFT Algorithm", INDUSTRIAL CONTROL TECHNOLOGY, 31 December 2015 (2015-12-31), pages 88 - 91, ISSN: 1606-5123 *

Similar Documents

Publication Publication Date Title
KR101796265B1 (ko) 스마트 유모차
CN203698529U (zh) 智能平衡车
CN108820126A (zh) 自行车手动控制装置和包括其在内的自行车电子系统
CN204374755U (zh) 电动自行车智能联网终端及电动自行车智能联网系统
CN103661771B (zh) 两轮平衡车的定速巡航方法
WO2013075561A1 (zh) 行车状态警示系统及其控制方法
CN104773238B (zh) 智能平衡车
JP2019524533A (ja) ベビーカーコンフォート装置、ベビーカー下部フレーム、ならびにベビーカー
CN205844815U (zh) 智能婴儿车
CN207550068U (zh) 一种车辆通过减速带的减速提醒装置
CN104085465A (zh) 电动独轮车转向灯系统
WO2020062595A1 (zh) 用于婴儿车的安全控制方法及婴儿车
CN209159789U (zh) 智能婴儿车
CN109278841A (zh) 用于婴儿车的安全控制方法和安全控制系统
WO2017219715A1 (zh) 一种电动平衡独轮滑板车
CN206141384U (zh) 具有温度监测的儿童安全座椅
CN105329122A (zh) 一种智能儿童安全座椅
CN206317916U (zh) 防盗车灯
CN203996583U (zh) 电动独轮车转向灯系统
CN205006155U (zh) 旅行箱包拉杆防盗系统
CN104706481A (zh) 基于头部摆动的智能轮椅操控系统
CN109094637A (zh) 智能婴儿车
CN205365279U (zh) 具有语音识别功能的电动平衡车
CN106357768B (zh) 基于云平台网络控制的多功能婴儿车
KR20140088055A (ko) 휴대용 단말 장치를 이용한 유아용 전동차 제어 시스템 및 이를 이용한 유아용 전동차 제어 방법

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18935343

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 24/06/2021)

122 Ep: pct application non-entry in european phase

Ref document number: 18935343

Country of ref document: EP

Kind code of ref document: A1