WO2021052238A1

WO2021052238A1 - Pushchair and control method therefor

Info

Publication number: WO2021052238A1
Application number: PCT/CN2020/114467
Authority: WO
Inventors: 李自强; 夏孙城; 浅野顺一; 陈伟基
Original assignee: 上海阿柚信息科技有限公司; 东莞康贝童车玩具有限公司
Priority date: 2019-09-17
Filing date: 2020-09-10
Publication date: 2021-03-25
Also published as: JP2022548369A; JP7287619B2; KR20220061237A; TW202112595A; TWI739590B

Abstract

A pushchair, comprising a handle and also comprising a sensor used for detecting whether the handle of the pushchair is being touched, and a brake control apparatus used for determining the road conditions when the sensor detects that the handle is not being touched, calculating a braking distance on the basis of the determined road conditions, braking after the pushchair advances the braking distance, and prompting after braking. Also provided are a pushchair control method and a non-volatile computer readable storage medium.

Description

Cart and its control method

Technical field

This application relates to the field of manual vehicles, and more specifically to a cart and a control method thereof.

Background technique

Strollers are a must for parents when traveling with their babies. The traditional baby stroller adopts the wheel and foot brake method. The user needs to hold the baby stroller to stop the baby stroller completely, step on the foot brake to make sure that the stroller stops moving, and then let go. You need to hold the stroller and lift the foot brake with your feet to move the stroller. In the case of stop-and-go, this method is very cumbersome to operate.

In order to solve the above-mentioned technical problems, a baby stroller with a hand brake has appeared in the prior art. For example, a utility model patent with the authorized announcement number CN 203805967 U discloses a baby stroller, which includes a frame and is fixed in the frame The seat, the front wheels and wheels installed on the lower end of the frame, and the handles installed on the frame. The wheels are equipped with a brake device. The brake device includes a brake assembly for controlling the rotation or stopping of the wheel and a brake assembly for driving the brake assembly. Working brake steel wire; the handle includes a lower handle fixedly installed on the frame and an upper handle hinged on the lower handle. An elastic device is provided at the hinged position of the upper handle and the lower handle, and the upper handle interacts with the lower handle through the elastic device. The handles are open to each other; the ends of the upper handles are connected with the ends of the brake steel wire, and the upper handle is pressed down with the lower handle to pull the brake steel wire to generate displacement, and the brake assembly is driven away from the wheel, and the wheel can rotate; loosen After the handle is put on, the upper handle is automatically reset, and the brake assembly is driven to clamp the wheel to stop the rotation of the wheel. The patent is safe and convenient to use. However, the baby stroller described in the above patent needs to use both hands to pull the handbrake when braking, which is inconvenient to operate and cumbersome in action. At the same time, if the user forgets to step on the brakes on a sloped road section, the baby stroller will slide, causing the baby stroller to roll over or crash, causing great harm to the baby in the car and posing a great safety hazard.

In addition, some baby strollers in the prior art use mechanical buttons to trigger the brakes. This method is complicated in structure and high in cost. It requires additional exterior components to damage the appearance of the entire vehicle; it is not waterproof and dustproof, and it is easy to damage the internal mechanism. , Thereby affecting the performance of the vehicle.

It can be seen that based on the shortcomings of the prior art, whether an improved stroller and its control method can be provided, which has a simple and reasonable structure design, can eliminate the safety hazards of the stroller, and has an automatic braking function, which has become a technology in the art Technical problems that people need to solve urgently.

Summary of the invention

One purpose of this application is to overcome the shortcomings of the prior art and provide a cart and a control method thereof that has a simple and reasonable design and can eliminate potential safety hazards. According to the cart provided by this application, the design is simple and reasonable. When used in application scenarios such as escalators, subway station platforms, roadsides, railway station platforms, etc., it can solve the problem of accidental flat-land sliding and slope sliding of the cart. Hazardous hazards, so that the safety performance of the cart is higher.

In order to achieve the above objectives, this application proposes the following technical solutions:

A cart, including a handle, and a sensor for detecting whether the handle of the cart is touched, and for judging the road condition when the sensor detects that the handle is not touched, calculating the braking distance according to the judged road condition, and moving the cart A brake control device that performs braking after the braking distance is reached, and prompts after braking.

A control method of a cart, the cart includes a sensor for detecting whether the handle of the cart is touched, the control method includes judging the road condition when the sensor detects that the handle is not touched, calculating the braking distance according to the road condition, Brake after the braking distance is advanced, and prompt after braking.

A non-volatile computer-readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by a processor, the above-mentioned cart control method is executed.

According to the control method, computer-readable storage medium, and cart provided by this application, the design is simple and reasonable, can eliminate potential safety hazards, and has considerable economic and safety benefits.

Description of the drawings

Fig. 1 is a schematic diagram of a control method of a baby stroller according to a first embodiment of the present application.

Fig. 2 is a schematic diagram of the button portion of the handle of the baby stroller according to the first embodiment of the present application.

Fig. 3 is a schematic view of the entire baby stroller according to the first embodiment of the present application.

Fig. 4 is a schematic diagram of a road condition judgment step in the control method in Fig. 1.

Figure 5 is a schematic diagram of the stroller braking when the road condition is flat.

Figure 6 is a schematic diagram of the stroller braking when the road is on a slope.

Fig. 7 is a schematic diagram of a step of calculating a braking distance on flat ground in the control method in Fig. 1.

Fig. 8 is another schematic diagram of the step of calculating the braking distance on flat ground in the control method in Fig. 1.

FIG. 9 is another schematic diagram of the step of calculating the braking distance during leveling in the control method in FIG. 1.

Fig. 10 is a schematic diagram of a step of calculating a braking distance on a slope in the control method in Fig. 1.

detailed description

In some embodiments, the stroller of the present application is a baby stroller, and the control method of the present application is a control method of the baby stroller.

In some embodiments, judging the road condition when the sensor detects that the handle is not touched includes calculating the angle between the cart and the ground based on the three-axis acceleration measurement value and the three-axis angular velocity measurement value. In some embodiments, when the sensor detects that the angle between the cart and the ground is less than a prescribed angle, it is determined that the road condition is flat. In some embodiments, when the sensor detects that the angle between the cart and the ground is greater than or equal to a prescribed angle, it is determined that the road condition is a slope.

In some embodiments, the road condition is judged to be flat, and calculating the braking distance according to the road condition includes: calculating the sensing distance of the handle, calculating the movement distance of the brake pin of the cart, calculating the arc length of the rear wheel of the cart, and Add the sensing distance, the movement distance of the brake lock needle and the arc length as the braking distance.

In some embodiments, the road condition is judged to be a slope, and calculating the braking distance according to the road condition includes: calculating the slope movement distance of the cart, and using the slope movement distance as the braking distance.

In some embodiments, the sensing distance is the sensing response time of the handle multiplied by the moving speed of the cart. In some embodiments, the movement distance is the movement time of the brake pin multiplied by the movement speed of the cart. In some embodiments, the arc length distance is between one-half to one-third of the circumference of the rear wheel. In some embodiments, the slope movement distance is the square of the sum of the response time of the handle and the movement time of the brake pin of the cart multiplied by one-half of the acceleration of the cart.

In some embodiments, the cart of the present application further includes an induction magnet, which is located on the rear wheel of the cart. In some embodiments, the cart of the present application further includes a button for starting the control method described in the present application. In some embodiments, the cart of the present application further includes a prompt light for indicating whether the cart starts the control method described in the present application. In some embodiments, the cart further includes a battery for powering the brake device, buttons, and/or sensors. In some embodiments, the cart further includes a low battery indicator light for indicating whether the battery is low. In some embodiments, the prompting after braking is audio prompting.

The technical solutions of the embodiments of the present application will be clearly and completely described below in conjunction with the drawings of the present application.

The first embodiment of the present application is a control method of a baby stroller.

Fig. 1 is a schematic diagram of a control method of a baby stroller according to a first embodiment of the present application. FIG. 2 is a schematic diagram of the button portion of the handle 16 of the baby stroller according to the first embodiment of the present application. Fig. 3 is a schematic view of the entire baby stroller according to the first embodiment of the present application. As shown in FIG. 1, the control method 100 includes: a smart brake activation step 110, a touch detection step 120, a road condition judgment step 130, a braking distance calculation step 140, a braking step 150, and a prompt step 160.

As shown in Figure 3, the stroller includes a body body 13, front wheels 15, rear wheels 14, and handles 16, as well as sensors and brake control devices not shown. The front side of the body body 13 is provided with front LED lights. 19. As shown in FIG. 2, there are two buttons on the handle 16, the left button is the smart brake mode switch button, and the right button is the front LED light switch button. Both buttons are equipped with indicator lights and are powered by rechargeable batteries and AAA batteries respectively. When the charge of the rechargeable battery is low, the light on the button on the left lights up in red. When the power of the AAA battery is low, the light on the button on the right lights up red. The front LED light switch button on the right side is used to control the on/off of the front LED light 19 on the front side of the stroller, and will not be described in detail here. In addition, the handle 16 is also provided with a handle LED light strip. As shown in FIG. 2, the handle LED light strip extends in the horizontal direction to almost occupy the entire handle 16 and surrounds the two buttons inside. In the smart brake activation step 110, the smart brake mode is activated by long pressing the button on the left side. Specifically, press and hold the button on the left until the light on the button lights up blue to activate the smart brake mode. In this embodiment, although rechargeable batteries are used to supply power to the brake control device and front LED lights, and AAA batteries are used to supply power to the sensors and the handle LED light strips, it is not limited to this power supply method, and other various power supply methods It can also be applied to this embodiment. In this embodiment, although the indicator light on the smart brake mode switch button lights up red when the rechargeable battery is low, the indicator light on the front LED light switch button lights up red when the AAA battery is low. When the smart brake mode is activated, the reminder light on the smart brake mode switch button lights up in blue, but it is not limited to this reminder method. Other reminder methods, such as reminder lights in other colors, or not reminder lights. It is also applicable to this embodiment to give a voice prompt. In this embodiment, although the front LED lamp switching button is provided on the handle 16, it is not limited to this, and this button may not be provided.

The sensor of the stroller shown in FIG. 3 will light up the handle when the handle 16 is touched. At this time, the handle LED strip will light up in blue, and will go out after a few seconds. In the touch detection step 120, the sensor detects whether the handle 16 is touched. If it is detected that the handle 16 is not touched, then a road condition determination step 130 is performed.

In the road condition judging step 130, the road condition is judged, for example, it is judged whether the road condition is flat or slope. Of course, the road condition to be judged is not limited to this, and it may be other road conditions. The calculation of the angle between the stroller and the ground will be described with reference to FIG. 4.

As shown in Fig. 4, firstly, the three-axis acceleration measurement value and the three-axis angular velocity measurement value of the six-axis sensor are read, and the measurement value is filtered to improve the accuracy. Then, the acceleration measurement value is used to calculate the change value ΔA _{acc of the} current angle relative to the last angle measurement, and the angular velocity measurement value integration is used to calculate the change value ΔA _{gyro of the} current angle relative to the last angle measurement. Then, according to the changes of the acceleration value and the angular velocity value, calculate the acceleration value weight W _acc and the angular velocity value weight W _gyro , where W _acc +W _gyro =1, through the calculation formula ΔA=W _acc ×ΔA _acc +W _gyro ×ΔA _gyro , The angle change calculated by the acceleration value and the angular velocity value is weighted and averaged to obtain the angle change value ΔA. Finally, according to the previous angle value A _n-1 and the current value of the angular change [Delta] A to give the current calculated value of the angle _{_{A n, A n = ΔA +}} A n-1. A _n is equal to the value of the angle with the ground stroller angle θ. Through this calculation method based on the six-axis sensor, the accuracy of the calculated angle θ is higher.

When the sensor detects that the angle θ between the stroller and the ground is less than the prescribed angle, it is judged that the road condition is flat, and when the sensor detects that the angle θ between the stroller and the ground is greater than or equal to the prescribed angle, it is judged that the road condition is a slope. The predetermined angle may be 3°, for example, but is not limited to this, and may be other angles.

Figure 5 is a schematic diagram of the stroller braking when the road condition is flat. Figure 6 is a schematic diagram of the stroller braking when the road is on a slope. FIG. 7 is a schematic diagram of the step 140 of calculating the braking distance on flat ground in the control method 100 in FIG. 1. FIG. 8 is another schematic diagram of the step 140 of calculating the braking distance on flat ground in the control method 100 in FIG. 1. FIG. 9 is another schematic diagram of the step 140 of calculating the braking distance on flat ground in the control method 100 in FIG. 1.

In the braking distance calculation step 140, the corresponding braking distance is calculated according to the determined road conditions. Specifically, for example, it is determined in step 130 is determined road when the road is flat, the handle sensing calculated distance L _1, the rear brake lock pin 14 calculates the moving distance L _2, the rear wheel 14 is calculated rolling arc a long distance L _3, The handle sensing distance L _1, the brake lock needle movement distance L ₂ and the arc _{length distance L 3} are added together as the first braking distance L. The handle sensing distance L ₁ is, for example, _{the distance obtained by multiplying the handle sensing time t 1} by the moving speed v of the stroller. The brake pin movement distance L ₂ _{is, for example, a distance obtained by multiplying the movement time t 2} of the brake pin provided on the rear wheel 14 by the movement speed v of the stroller. As shown in FIGS. 8 and 9, the arc length L ₃ is the arc length of the rolling of the rear wheel 14 after the sensor detects that the level of the induction magnet 12 provided on the rear wheel 14 changes three times. The calculation principle of the arc length distance L ₃ will be described below based on the drawings. As shown, induction magnet 12 away from sensor 11, 7, the sensor 11 outputs a low level, away from the induction magnet near the sensor 11, e.g. between _2, the sensor 11 outputs a high level 12 at points P ₁ and the point P, The sensing magnet 12 moves from a position far away from the sensor 11 toward the direction close to the sensor 11, and then moves away from the sensor 11 after reaching the position closest to the sensor 11, for example, moves in the direction U of the magnet. In the process, the level E of the sensor 11 changes from low→high→low. As shown in Figures 8 and 9, suppose that the rear wheel is divided into six fan-shaped

areas

1, 2, 3, 4, 5, and 6 in Figures 8 and 9, and the three induction magnets 12 are roughly separated by 120°. The sensor 11 is evenly distributed on the rear wheel 14. The sensor 11 moves around the center of the rear wheel. For each induction magnet 12, there is a process of approaching and then moving away. Therefore, there will be two level changes when passing through each induction magnet. 11 One round of the rear wheel, a total of 6 levels changes. When the rear wheel is divided into six fan-shaped

areas

1, 2, 3, 4, 5, and 6 as shown in Figures 8 and 9, the level E will be changed every time the sensor 11 crosses the boundary of the two fan-shaped areas when it moves. Change 1 time. Specifically, the sensor 11 recognizes the level change 3 times when braking, the arc a long distance L ₃ is, for ^{_{_{^{example, 1/3 πD≤L 3 ≤ 1}}}} /2 πD, where D is the diameter of the rear wheel 14. For example, when the wheel diameter D is 150mm and the wheel circumference C is 471.24mm, according to the above calculation method, _{the value of L 3} ranges from 157.08mm to 235.62mm. The moving speed v of the stroller is generally 4.0-5.0km/h. At this time, for example, when the handle sensing time t ₁ is 0.02 s, the movement time t ₂ of the brake lock needle is 0.25 s, and the moving speed v of the stroller is 4.0 km/h, that is, 1.1 m/s, it can be known from the above calculation method Since the first braking distance L=L ₁ +L ₂ +L ₃ , the value range of the first braking distance L at this time is 454.08mm-532.62mm.

FIG. 10 is a schematic diagram of the step 140 of calculating the braking distance on a slope in the braking control method in FIG. 1. For example, when it is determined that the road condition is a slope in the road condition judgment step 130, the slope movement distance, that is, the distance between the initial position X ₁ and the braking position X ₂ is calculated, and the slope movement distance is regarded as the second braking distance L′. As shown in Figure 10, the angle between the stroller and the ground is θ, the acceleration of the stroller a=g sinθ, where g is the constant of gravity, and the moving time of the stroller t=t ₁ +t ₂ , ignoring friction In the case of force, the second braking distance L′= ¹ / ₂ at ² . For example, when the moving time t is 0.32s and the angle θ is 12°, according to the above calculation method, the value of the second braking distance L′ is approximately 104 mm.

In the braking step 150, braking is performed after the stroller has advanced the braking distance according to the calculated braking distance. Specifically, for example, as shown in FIG. 5, when it is determined that the road condition is flat, based on the calculated first braking distance L, after the first braking distance L that the stroller has advanced in the braking step 150 Braking, as shown in Figure 6, when the road condition is judged to be a slope, according to the calculated second braking distance L', in the braking step 150, the stroller will brake after the second braking distance L'has advanced. The braking distance L is greater than the second braking distance L'. The first braking distance L is, for example, preferably 450 to 550 mm, and more preferably 500 mm. The second braking distance L'is, for example, preferably 75-145 mm, and more preferably 80 mm.

In the prompting step 160, after braking, an audio prompt is performed to indicate that the braking has been performed. For example, after braking, a click can be heard to confirm that the brake has been braked.

As described above, with the stroller of the first embodiment, when the hand leaves the handle of the stroller, the stroller will automatically brake as long as the stroller advances a certain distance, thereby ensuring that the stroller does not slide too long. The distance between the baby stroller and the baby is dangerous. The design is simple and reasonable, and can eliminate the safety hazards of the baby stroller.

In some embodiments, each unit mentioned in the implementation of the present application may be a logic unit. Physically, a logical unit can be a physical unit, it can also be a part of a physical unit, or it can be implemented as a combination of multiple physical units. The physical implementation of these logical units is not the most important one. These logical units The combination of the realized functions is the key to solving the technical problems proposed in this application. In addition, in order to highlight the innovative part of this application, the above-mentioned device implementations of this application do not introduce units that are not closely related to solving the technical problems proposed by this application. This does not mean that there are no other devices in the above-mentioned device implementations. unit.

In one embodiment, the aforementioned brake control device includes an intelligent brake activation module, a road condition judgment module, a braking distance calculation module, a brake module, and a prompt module, which can be used to implement the aforementioned intelligent brake activation step 110, road condition judgment step 130, and braking. Distance calculation step 140, braking step 150, and prompt step 160.

In one embodiment, the aforementioned brake control device includes a processor and a memory connected through a system bus. Among them, the processor of the brake control device is used to provide calculation and control capabilities. The memory of the brake control device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and computer readable instructions. The internal memory provides an environment for the operation of the operating system and computer-readable instructions in the non-volatile storage medium. The network interface of the brake control device is used to communicate with external sensors. When the computer readable instruction is executed by the processor, the above-mentioned smart brake activation step 110, road condition determination step 130, braking distance calculation step 140, braking step 150, and prompt step 160 are realized, for example, the above-mentioned smart brake activation module, road condition The judgment module, the braking distance calculation module, the braking module, and the prompting module implement the smart braking activation step 110, the road condition judgment step 130, the braking distance calculation step 140, the braking step 150, and the prompt step 160 described above.

It should be noted that in the claims and specification of this patent, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or Imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes those that are not explicitly listed Other elements of, or also include elements inherent to this process, method, article or equipment. If there are no more restrictions, the element defined by the sentence "includes one" does not exclude the existence of other same elements in the process, method, article or device that includes the element.

Although the present application has been illustrated and described by referring to certain preferred embodiments of the present application, those of ordinary skill in the art should understand that various changes can be made in form and details without departing from the present invention. The spirit and scope of the application.

Claims

A cart, including a handle, and further including:

A sensor for detecting whether the handle is touched; and

Brake control device for:

Judging the road condition when the sensor detects that the handle is not touched;

Calculate the braking distance according to the judged road conditions;

Braking after the cart has advanced the braking distance; and

Prompt after the braking.
A method for controlling a cart, the cart including a sensor for detecting whether the handle of the cart is touched, the method including:

Judging the road condition when the sensor detects that the handle is not touched;

Calculate the braking distance according to the road conditions;

Braking after the cart has advanced the braking distance; and

Prompt after the braking.
The cart according to claim 1 or the control method according to claim 2, wherein the judging the road condition when the sensor detects that the handle is not touched comprises:

Calculate the angle between the cart and the ground based on the three-axis acceleration measurement value and the three-axis angular velocity measurement value; and

When the sensor detects that the angle between the cart and the ground is less than a prescribed angle, it is determined that the road condition is level; and/or

When the sensor detects that the angle between the cart and the ground is greater than or equal to the prescribed angle, it is determined that the road condition is a slope.
The cart or control method according to any one of claims 1 to 3, wherein when the road condition is judged to be flat, the calculating the braking distance according to the road condition comprises:

Calculating the sensing distance of the handle;

Calculate the moving distance of the brake lock pin of the cart;

Calculate the arc length of the rolling of the rear wheel of the cart; and

The sensing distance, the movement distance of the brake lock pin, and the arc length distance are added together as the braking distance.
The cart or control method according to any one of claims 1 to 3, wherein when the road condition is judged to be a slope, the calculating the braking distance according to the road condition comprises:

Calculate the slope movement distance of the cart; and

Use the slope movement distance as the braking distance.
The cart or control method according to claim 4, wherein

The sensing distance is the sensing response time of the handle multiplied by the moving speed of the cart; and/or

The moving distance of the brake lock pin is the moving time of the brake lock pin multiplied by the moving speed of the cart; and/or

The arc length distance is between one-half to one-third of the circumference of the rear wheel.
The cart or control method according to claim 5, wherein

The slope movement distance is the square of the sum of the induction response time of the handle and the movement time of the brake pin of the cart multiplied by one half of the acceleration of the cart.
The cart or control method according to any one of claims 1 and 3 to 7, wherein

The cart also includes an induction magnet, which is located on the rear wheel of the cart;

The cart further includes a button for activating the smart brake mode of the cart; and/or

The cart further includes a prompt light for indicating whether the smart brake mode of the cart is activated; and/or

The cart further includes a battery for powering the brake device, the button and/or the sensor; and/or

The cart also includes a low battery indicator light for indicating whether the battery is low; and/or

The prompting after the braking is performed by audio.
The stroller according to any one of claims 1 and 3 to 8, or the control method according to any one of claims 2 to 8, wherein the stroller is a baby stroller.
One or more non-volatile computer-readable storage media storing computer-readable instructions, wherein the computer-readable instructions execute any one of claims 2 to 9 when run by one or as a processor Control Method.