Automatic following baby carriage

Abstract

The invention relates to an automatic following baby carriage, and belongs to the technical field of baby carriages. The driving mechanism is used for driving the baby carriage body to move and rotate; the following belt is placed on the baby carriage body and can be worn by a target object; the number of the infrared emitters is two, and the infrared emitters are symmetrically installed on the outer side of the following belt. The infrared receiver is rotationally connected to the front end of the baby carriage body and used for receiving the infrared signals transmitted by the infrared transmitter; and the following system is in communication connection with the driving mechanism and the infrared receiver and is used for controlling the driving mechanism to act according to the infrared signal, so that the baby carriage body moves along with the target object. The method has the beneficial effect of improving the user experience and the interactivity with the baby.

Description

Technical Field

[0001] The present application relates to the technical field of baby strollers, and in particular to an automatically following baby stroller. Background Art

[0002] A baby stroller is a kind of tool vehicle designed to facilitate outdoor activities for babies. There are various models. Generally, children aged 1 to 2 play with baby strollers. In today's society, pedestrians pushing baby strollers can be seen everywhere in communities and parks.

[0003] Currently, most baby strollers on the market require operators to push them manually to move. Therefore, after pushing for a long time, operators are prone to fatigue, resulting in a poor user experience and weak interaction between the operator and the baby. Summary of the invention

[0004] In order to improve the user experience and interactivity with the baby, the present application provides an automatic following baby stroller, which adopts the following technical solutions: An automatically following baby carriage, comprising: Baby stroller body; A driving mechanism, used for driving the baby carriage body to move and rotate; a follower belt, placed on the stroller body and capable of being worn by the target subject; Two infrared transmitters are provided and symmetrically installed on the outer side of the following belt; An infrared receiver, rotatably connected to the front end of the baby carriage body, for receiving the infrared signal emitted by the infrared transmitter; The following system is connected to the driving mechanism and the infrared receiver for controlling the driving mechanism to move according to the infrared signal so that the baby carriage body moves following the target object.

[0005] By adopting the above technical solution, the cooperation of the infrared transmitter and the infrared receiver, and the control of the driving mechanism by the following system, the baby stroller can automatically follow the target object (such as the parent) wearing the following belt and move; the target object does not need to push the baby stroller manually all the time, and can move more freely during walking, and both hands are freed. For example, the parent can conveniently take items and answer the phone while walking, which greatly improves the convenience of use; the following belt can be worn by the target object, and it is placed on the baby stroller body for easy access and placement, and the infrared receiver adopts a rotating connection method, which can better adapt to receiving infrared signals at different angles. The overall structure enables the baby stroller to flexibly realize the following function in various walking scenarios and different activity states of the target object, thereby improving the user experience and interactivity with the baby.

[0006] Optionally, the following system includes: The calibration module is used to initialize and calibrate the infrared transmitter and the infrared receiver after the target object wears the following belt, so as to adjust the following distance between the baby carriage body and the target object.

[0007] By adopting the above technical solution, through the calibration process, the appropriate following distance between the baby stroller body and the target object can be accurately set. For example, parents can adjust the distance to an ideal value that can ensure that the baby stroller follows smoothly without causing collisions with others or inconvenience in operation due to being too close or too far, according to the actual scene requirements (whether in a relatively open park or a relatively narrow indoor aisle, etc.), so that the following process is more in line with actual use requirements. In addition, different users may have different preferences for the following distance of the baby stroller. Some want the baby stroller to follow closely behind them so that they can be looked after at any time; others want to keep a slightly farther distance to get more room for activities. The calibration module provides such a personalized function, allowing each target object to flexibly adjust the following distance that best suits them according to their own habits and specific usage scenarios, thereby improving the satisfaction of the overall user experience. Furthermore, a suitable following distance helps to strike a balance between safety and convenience. On the one hand, the baby stroller will not easily collide with the target object due to a small distance, causing an accidental fall or other dangers; on the other hand, the target object will not find it difficult to control the baby stroller due to a large distance, or need to frequently look back and adjust. The distance adjustment function implemented by the calibration module balances these two points well, so that the baby stroller can ensure the safety of the baby when in use, and can also make it easy for the target object to use.

[0008] Optionally, the baby stroller further comprises: A first position sending module, installed on the infrared transmitter, for sending the target position of the target object in real time; A second position sending module, used to be installed on the infrared receiver, and used to send the following position of the baby carriage body in real time; The following system also includes: The position receiving module is used to receive the target position and the following position in real time.

[0009] By adopting the above technical solution, the first position sending module and the second position sending module can respectively send the target position of the target object and the following position of the stroller body in real time, and then receive them through the position receiving module in the following system. This allows both the target object (such as parents) and other relevant caregivers to know the specific position relationship between the stroller and the target object in real time and accurately.

[0010] Optionally, the following system further includes: A position processing module, used for constructing a plane rectangular coordinate system according to the initial following position after calibration, wherein the initial following position serves as the origin of the plane rectangular coordinate system; A moving range determination module, used to determine the moving range according to a preset moving diameter based on the plane rectangular coordinate system; The position processing module is further used to convert the target position into a target coordinate point of the target object and to convert the following position into a following coordinate point of the baby carriage body.

[0011] By adopting the above technical solution, in some specific places, such as children's play areas in shopping malls, leisure areas in parks, etc., managers can better plan space utilization according to the set range of movement. Knowing the approximate space occupied by each stroller and its corresponding target object facilitates the reasonable arrangement of more personnel and facility layouts, and avoids interference or inconvenience caused by the intersection of activity ranges between different users. In addition, users can flexibly adjust the pre-set moving diameter according to the different scenarios they are actually in, thereby changing the size of the moving range. For example, in an open outdoor square, the moving range can be appropriately expanded to allow the target object and the stroller to have a more relaxed activity space; while in indoor aisles with limited space, the moving range is reduced to ensure smooth passage. This flexibility enables the stroller to function well in a variety of different scenarios and meet diverse usage needs.

[0012] Optionally, the following system further includes: The following type selection module provides two following types: parallel following and front-to-back following; The instruction receiving module is used to receive a follow-up type determination instruction.

[0013] By adopting the above technical solution, the following type selection module provides two different following types: parallel following and front and back following, which greatly enriches the user's choice space. For example, in a wider outdoor venue, parents may prefer to choose parallel following, which is convenient for keeping an eye on the baby in the stroller at any time and can move synchronously with the stroller without interfering with each other's activities; while in narrow aisles, indoor spaces, etc., front and back following is more appropriate, which can make more efficient use of space and avoid obstructions to traffic caused by parallel movement, so that the use of the stroller can better adapt to different actual scenarios. When the user is in different stages of use or in different scene changes, the user can easily switch the following type by sending corresponding instructions and using the instruction receiving module. Selecting the appropriate following type according to the specific scenario can make the following process of the stroller smoother and more efficient.

[0014] Optionally, the following system further includes: A judgment module, used to judge whether the moving track of the target object changes during the front and back following; if not, further judge whether the following distance is expanded or reduced; A signal sending module is used to send a speed-up signal to the driving mechanism when the following distance is expanded, and the driving mechanism increases the moving speed of the baby carriage body in response to the speed-up signal; and is used to send a speed-down signal to the driving mechanism when the following distance is reduced, and the driving mechanism reduces the moving speed of the baby carriage body in response to the speed-down signal.

[0015] By adopting the above technical solution, the judgment module can accurately grasp the relative state between the baby carriage and the target object by judging the moving trajectory of the target object and the following distance. When following the front and back, once it is found that the moving trajectory of the target object has not changed but the following distance has changed, the signal sending module will send a speed-up or speed-down signal accordingly, and the driving mechanism will adjust the moving speed of the baby carriage body accordingly, so as to ensure that the baby carriage can always maintain a suitable following distance, closely and accurately follow behind the target object, and fit the moving rhythm of the target object to the greatest extent, making the entire following process more stable and orderly. When the following distance is unexpectedly enlarged, sending a speed-up signal in time to let the baby carriage speed up to follow can avoid the situation where the baby carriage is out of the control range of the target object due to the large distance, such as preventing the baby carriage from being separated by the crowd in places with a large flow of people, reducing the possibility of the baby facing unexpected risks; similarly, when the following distance is reduced, the speed reduction signal can prevent the baby carriage from colliding with the target object due to excessive speed, avoiding damage to the target object and the baby, and comprehensively ensuring safety during use. The user does not need to manually pay attention to and adjust the speed of the stroller during the process of following the target. The system controls the speed change through automatic judgment and signal transmission, which greatly frees the user's hands and allows the user to focus more on his or her own walking and observation of the surrounding environment, thus improving the overall convenience of use. With the synergy of the judgment module and the signal transmission module, the speed of the stroller can be dynamically and reasonably adjusted according to the following distance, avoiding frequent stops and starts due to speed mismatch, making the stroller more smooth and natural when following the target object. Whether it is moving at a constant speed or responding to the occasional speed change of the target object, it can better maintain a coherent following state, reduce interference with the passage of pedestrians around, and improve the overall walking efficiency.

[0016] Optionally, the following system further includes: A position adjustment module, which is used for obtaining the current target coordinate point of the target object after the determination module determines that the moving trajectory of the target object has changed, and determining the coordinate point that the baby carriage body should follow according to the current target coordinate point; and generating a first adjustment parameter according to the coordinate point that the baby carriage body should follow; The information sending module is used to send the first adjustment parameter to the driving mechanism, and the driving mechanism adjusts the position of the baby carriage body according to the first adjustment parameter.

[0017] By adopting the above technical solution, when the judgment module detects that the moving trajectory of the target object has changed, the position adjustment module can obtain the current target coordinate point of the target object in time, and determine the coordinate point of the baby carriage body that should be followed based on it. In this way, no matter whether the target object is turning, changing direction or making more complex route adjustments, the baby carriage can accurately adapt to the new moving trajectory of the target object according to the calculated coordinate point that should be followed, ensuring that it always follows the target object closely and maintains a reasonable following state, and will not deviate from the trajectory and fail to keep up. Accurately adjusting the position of the baby carriage body so that it maintains a suitable following relationship with the target object after the trajectory has changed can avoid some potential safety hazards. For example, when the target object suddenly turns, the baby carriage can keep up with the corresponding trajectory in time, and will not enter other dangerous areas (such as colliding with roadside facilities, etc.) due to failure to adjust in time. The baby carriage is always controlled within the controllable and safe following range of the target object, providing strong protection for the baby's travel safety.

[0018] Optionally, the baby stroller further comprises: An inertial sensor, mounted on the following belt, for obtaining a moving speed and a moving direction of a target object during parallel following; A data sending module, used for sending the moving speed and the moving direction; The following system also includes: The data receiving module is used to receive the moving speed and the moving direction, and the position adjustment module is used to generate a second adjustment parameter according to the moving speed and the moving direction; the information sending module is used to send the second adjustment parameter to the driving mechanism, and the driving mechanism adjusts the position of the stroller body according to the second adjustment parameter.

[0019] By adopting the above technical solution, the speed and direction of the target object may change at any time during the parallel following process. For example, when walking outdoors, you may speed up, slow down or change the walking direction for reasons such as avoiding pedestrians or appreciating the surrounding scenery. With the help of the coordinated work of modules such as inertial sensors, the drive mechanism can dynamically adjust the position of the baby stroller in time according to the second adjustment parameter, so that the baby stroller always keeps in sync with the target object, reducing the following deviation caused by inconsistent speed or direction, and greatly enhancing the stability during parallel following.

[0020] Optionally, the baby stroller further comprises: The alarm module is installed on the baby carriage body and sounds an alarm in response to the alarm signal; the signal sending module is used to send the alarm signal when the judgment module determines that the infrared receiver fails to receive the infrared signal.

[0021] By adopting the above technical solution, when the infrared receiver fails to receive the infrared signal, it means that there may be some situations that affect the normal following of the baby stroller, such as the infrared signal transmission between the target object and the baby stroller is blocked, the infrared transmitter or receiver fails, or the distance between the two exceeds the effective range and other abnormal conditions. The signal sending module sends an alarm signal in time, triggering the alarm module to alarm, so that the user can know the potential problem at the first time, so as to take corresponding measures to check and solve it quickly, avoiding more serious consequences due to failure to find the problem in time, such as the baby stroller out of control, etc., providing strong protection for the baby's travel safety.

[0022] Optionally, the baby stroller further comprises: A distance sensor is installed at the front end of the baby carriage body and is used to detect the distance between obstacles on both sides and the baby carriage body; the data sending module is used to send the distance; The following system also includes: The following automatic conversion module is used to determine whether the distance received by the data receiving module is less than a distance threshold when following in parallel, and if so, obtain the speed magnitude and direction angle according to the current position of the baby carriage body, the position to be at after the conversion from parallel following to front-to-back following, the current position of the target object and a pre-built conversion model, and generate a third adjustment parameter according to the speed magnitude and direction angle; The information sending module is used to send the third adjustment parameter to the driving mechanism, and the driving mechanism adjusts the baby carriage body according to the third adjustment parameter.

[0023] By adopting the above technical solution, the following automatic conversion module can keenly perceive the changes in the surrounding environment by judging whether the distance is less than the distance threshold, so that the following mode of the stroller can be flexibly adjusted according to the actual scene, better adapting to the use requirements of different spatial environments, and avoiding problems such as inconvenience in passage or collision due to insufficient space.

[0024] In summary, the present application has at least the following beneficial effects: 1. The purpose of setting up the infrared transmitter, infrared receiver, follow-up belt and follow-up system is that the cooperation between the infrared transmitter and the infrared receiver, and the control of the driving mechanism by the follow-up system, can enable the baby stroller to automatically follow the target object (such as the parent) wearing the follow-up belt; the target object does not need to push the baby stroller manually all the time, and can move more freely during walking, and both hands are freed. For example, the parent can conveniently take items and answer the phone while walking, which greatly improves the convenience of use; the follow-up belt can be worn by the target object, and it is placed on the baby stroller body for easy access and placement, and the infrared receiver adopts a rotating connection method, which can better adapt to receiving infrared signals at different angles. The overall structure enables the baby stroller to flexibly realize the following function in various walking scenarios and different activity states of the target object, thereby improving the user experience and interactivity with the baby.

[0025] 2. The purpose of setting the calibration module is to accurately set the appropriate following distance between the stroller body and the target object.

[0026] 3. The purpose of setting up the following type selection module and the command receiving module is that the following type selection module provides two different following types: parallel following and front and back following, which greatly enriches the user's choice space. For example, in a wider outdoor venue, parents may prefer to choose parallel following, which is convenient for keeping an eye on the baby in the stroller at any time and can move synchronously with the stroller without interfering with each other's activities; while in narrow aisles, indoor spaces, etc., front and back following is more appropriate, which can make more efficient use of space and avoid obstructions to traffic caused by parallel movement, so that the use of the stroller can better adapt to different actual scenarios. When the user is in different stages of use or in different scenes, the user can easily switch the following type by sending corresponding instructions and using the command receiving module. Selecting the appropriate following type according to the specific scenario can make the following process of the stroller smoother and more efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is the structural diagram of the system of this application; Figure 2 It is a schematic diagram of the status before and after this application; Figure 3 It is a schematic diagram of the state of parallel following of this application.

[0028] Explanation of the reference numerals: 100, stroller body; 101, infrared receiver; 102, second position sending module; 103, distance sensor; 104, alarm module; 110, bottom plate; 120, cabin; 130, follow belt; 131, infrared transmitter; 132, first position sending module; 133, inertial sensor; 134, data sending module; 200, driving mechanism; 210, driving motor; 220, rotating motor; 230, moving wheel; 240, universal wheel; 250, lifting cylinder; 300, host computer; 301, calibration module; 302, position receiving module; 303, position processing module; 304, moving range determination module; 305, following type selection module; 306, instruction receiving module; 307, judgment module; 308, signal sending module; 309, position adjustment module; 310, information sending module; 311, data receiving module; 312, following automatic conversion module. DETAILED DESCRIPTION

[0029] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the appended drawings of the embodiments of the present invention. Figure 1 -Attached Figure 3 , the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] The present application embodiment discloses an automatic following baby stroller. Figure 1 , the baby stroller may include a baby stroller body 100, a driving mechanism 200 and a following system. The baby stroller body 100 is rotatably connected to an infrared receiver 101, and is provided with a following belt 130, which can be understood as a waist belt and can be worn by a target object. Two infrared transmitters 131 are installed on the following belt 130, which are symmetrically arranged on the front and back of the following belt 130. The following system is integrated in the host computer 300, and the host computer 300 is installed on the baby stroller body 100. After the infrared receiver 101 receives the infrared signal emitted by the infrared transmitter 131, the following system controls the driving mechanism 200 to move according to the infrared signal fed back by the infrared receiver 101, so that the baby stroller body 100 moves following the target object.

[0031] Reference Figure 2 and Figure 3The driving mechanism 200 may include a driving motor 210, a rotating motor 220, a moving wheel 230, a universal wheel 240 and a lifting cylinder 250. The baby carriage body 100 is composed of a bottom plate 110 and a cabin 120. The lifting cylinder 250 is vertically mounted on the bottom plate 110, and the piston rod is connected to the cabin 120 to drive the cabin 120 to rise and fall, so that the infrared receiver 101 can adapt to target objects of different heights. The infrared receiver 101 is rotatably connected to the cabin 120.

[0032] The rotating motor 220 is mounted at the bottom of the front end of the base plate 110, and the moving wheel 230 is connected to the output shaft of the rotating motor 220 through the mounting frame. The driving motor 210 is mounted on the mounting frame, and the output shaft is coaxially fixedly connected to the moving wheel 230. The universal wheel 240 is mounted at the bottom of the rear end of the base plate 110 and is a driven wheel. The driving motor 210 and the rotating motor 220 work together to drive the baby carriage to move and rotate.

[0033] Reference Figure 1 The following system may include a calibration module 301, which is used to initialize and calibrate the infrared transmitter 131 and the infrared receiver 101 after the target object wears the following belt 130, so as to set the following distance between the stroller body 100 and the target object.

[0034] Specifically, the position of the infrared receiver 101 is adjusted, and after the adjustment, the calibration module 301 is turned on, and the parameters of the infrared transmitter 131 and the infrared receiver 101 are set through the calibration module 301 to set the initial following distance between the target object and the stroller body 100. The target object wears the following belt 130 and faces the stroller body 100, and then the following belt 130 is adjusted to adjust the position of the infrared transmitter 131 so that the infrared receiver 101 can receive the infrared signal. After the infrared receiver 101 receives the infrared signal, the target object turns its back to the stroller and moves until the distance between the target object and the stroller body 100 is the same as the initial following distance; the infrared transmitter 131 on the back of the following belt 130 and the infrared receiver 101 work normally.

[0035] In other embodiments, the infrared receiver 101 can be driven to rotate by a rotating mechanism, and the rotating mechanism is a conventional motor and gear matching mechanism, which will not be elaborated. During calibration, the target object can first wear the follow-up belt 130 and then move. After moving a certain distance, the rotating mechanism drives the infrared receiver 101 to rotate. When the infrared receiver 101 rotates, the calibration module 301 receives the infrared signal and determines the intensity of the infrared signal. After the infrared receiver 101 completes the rotation process of not receiving the infrared signal-receiving the infrared signal-losing the infrared signal, the calibration module 301 determines the angle of the infrared receiver 101 when the infrared signal intensity is the strongest, and the rotating mechanism adjusts the infrared receiver 101 to this angle. The calibration module 301 determines the distance between the target object and the stroller body 100 as the calibrated following distance based on the infrared signal at this time.

[0036] Furthermore, the baby stroller further includes a first position sending module 132 and a second position sending module 102. The first position sending module 132 is installed on the infrared transmitter 131, and is used to send the target position of the target object in real time. The second position sending module 102 is used to be installed on the infrared receiver 101, and is used to send the following position of the baby stroller body 100 in real time. The first position sending module 132 and the second position sending module 102 can be GPS positioning modules.

[0037] The follower system also includes: A position receiving module 302 is used to receive a target position and a follow-up position in real time; The position processing module 303 is used to construct a plane rectangular coordinate system according to the initial following position after calibration, and the initial following position is used as the origin of the plane rectangular coordinate system; The moving range determination module 304 is used to determine the moving range according to a preset moving diameter based on a plane rectangular coordinate system; the position processing module 303 is also used to convert the target position into a target coordinate point of the target object and convert the following position into a following coordinate point of the stroller body 100; in addition, the target object can modify the moving diameter in the moving range determination module 304; A following type selection module 305, used to provide two following types: parallel following and front-to-back following; The instruction receiving module 306 is used to receive a follow-up type determination instruction.

[0038] Specifically, after the calibration module 301 completes the calibration, the follow selection interface can be entered through the follow type selection module 305. The follow selection interface includes parallel follow and front and back follow. After clicking on the front and back follow, the instruction receiving module 306 receives the confirmation instruction of this type and enters the front and back follow processing procedure.

[0039] Furthermore, the following system also includes: The judging module 307 is used to judge whether the moving track of the target object changes during the front and back following; if not, further judge whether the following distance is expanded or reduced; The signal sending module 308 is used to send a speed-up signal to the driving mechanism 200 when the following distance increases, and the driving mechanism 200 increases the moving speed of the baby carriage body 100 in response to the speed-up signal, and to send a speed-down signal to the driving mechanism 200 when the following distance decreases, and the driving mechanism 200 decreases the moving speed of the baby carriage body 100 in response to the speed-down signal; The position adjustment module 309 is used to obtain the current target coordinate point of the target object after the determination module 307 determines that the moving trajectory of the target object has changed, and determine the coordinate point that the stroller body 100 should follow according to the current target coordinate point; and generate a first adjustment parameter according to the coordinate point that the stroller body 100 should follow; The information sending module 310 is used to send the first adjustment parameter to the driving mechanism 200, and the driving mechanism 200 adjusts the position of the baby carriage body 100 according to the first adjustment parameter.

[0040] Specifically, in one embodiment, speed and direction can be used for judgment; for example, the target coordinate point of the target object is from ( , ) changes to ( , ), the judgment module 307 can judge whether the moving track changes by calculating the velocity vector of the target object. The velocity vector includes two elements: velocity magnitude and direction.

[0041] First, the displacement of the target object in adjacent time intervals is calculated. The displacement can be calculated by the change of the target coordinate point, such as , speed size .

[0042] At the same time, the direction is determined by calculating the angle of change of the target coordinate point. For example, using the inverse tangent function To determine the direction of the target object's movement. If the speed and direction remain relatively stable over a period of time, it can be determined that the target object's movement trajectory has not changed.

[0043] In another embodiment, the infrared signal angle change can be used for judgment; for example, the infrared receiver 101 receives the infrared signal from the infrared transmitter 131, and when the target object moves, the angle of the infrared signal changes. The judgment module 307 can judge the moving trajectory of the target object based on the change in the angle of the infrared signal received by the infrared receiver 101. If the angle of the infrared signal continues to change at a fixed rate and direction, this may mean that the target object is moving in a circle or an arc; if the infrared signal angle remains basically unchanged, it may mean that the target object is moving in a straight line; and if the infrared signal angle suddenly changes irregularly, it is likely that the moving trajectory of the target object has changed, such as a sudden turn or change in walking direction.

[0044] When facing away from the stroller, when the judgment module 307 determines that the moving trajectory of the target object has not changed, the following distance between the target object and the stroller body 100 is judged again. If the following distance becomes larger, the driving mechanism 200 increases the moving speed of the stroller body 100 until the following distance is the same as the set following distance; if the following distance becomes smaller, the driving mechanism 200 reduces the moving speed of the stroller body 100 until the following distance is the same as the set following distance.

[0045] When facing the baby carriage, if the following distance becomes larger, the driving mechanism 200 reduces the moving speed of the baby carriage body 100 , and if the following distance becomes smaller, the driving mechanism 200 increases the moving speed of the baby carriage body 100 .

[0046] When the moving trajectory changes, in one embodiment, when in linear motion: if the moving trajectory of the target object changes from linear motion to another linear motion (for example, changes direction), the position adjustment module 309 can determine the following coordinate point of the stroller body 100 according to the new direction of the target object and the pre-set following distance.

[0047] Assume that the original motion direction of the target object in the plane rectangular coordinate system is along a straight line that is angled with the positive direction of the X axis, and the coordinate change rule is x= , y= ( , is the initial coordinate, is speed, t is time). When the target object changes direction, it is in the positive direction of the X axis. During angular movement, the position adjustment module 309 calculates the coordinate point where the baby carriage should be following according to the new angle and following distance.

[0048] Assume the current coordinates of the baby carriage are ( , ), the new one should be at the following coordinate point ( , ) can be calculated as follows: , d is the following distance, and the position of the baby carriage relative to the target object in the new direction is determined by the trigonometric function relationship.

[0049] When the target object starts to make circular motion, the position adjustment module 309 needs to consider the radius r of the circle and the coordinates of the center of the circle ( , ) and the relative position of the stroller and the target object (such as the angle difference ) to determine the coordinate point to be followed.

[0050] Assume that the target object is in ( , ) is the center and r is the radius of the circle, and its equation of motion is + = If the angular position of the target object is , the angle difference between the baby carriage and the target object is (This angle difference can be the relative position relationship determined during initialization or the previous following process), then the baby carriage should be at the following coordinate point ( , ) can be calculated as follows: , , where d is the following distance.

[0051] In another embodiment, the historical data and trajectory prediction can also be combined to determine. The position adjustment module 309 can store the previous movement trajectory data of the target object, including information such as coordinate point sequence, speed change, direction change, etc. When the movement trajectory of the target object changes, the subsequent movement trajectory of the target object is predicted by analyzing these historical data, for example, using polynomial fitting or machine learning algorithms (such as simple models such as linear regression and neural networks for short-term trajectory prediction).

[0052] For example, by searching for multiple coordinate points of the target object before ( , ), , ),...,( , ) to fit a quadratic polynomial y = a +bx+c, and fitting parameters a, b, c are obtained. When the moving trajectory of the target object changes, the next position of the target object is predicted according to the fitted curve equation, and the following coordinate point of the stroller body 100 is determined in combination with the following distance.

[0053] At the same time, the position adjustment module 309 can consider the instantaneous speed and acceleration information of the target object after it changes its trajectory. If the target object accelerates or decelerates when changing its trajectory, the position adjustment module 309 will adjust the calculation of the coordinate point that the baby stroller should follow according to the changes in speed and acceleration. For example, if the target object accelerates, the baby stroller needs to adjust its position faster to keep up with the target object. This speed change will be taken into account when calculating the coordinate point that should be followed, and a more appropriate position will be calculated in advance so that the baby stroller can reach the following position in time and maintain a suitable following state.

[0054] Furthermore, the baby stroller also includes an inertial sensor 133 and a data transmission module 134. The inertial sensor 133 is installed on the following belt 130, and is used to obtain the moving speed and moving direction of the target object during parallel following. The data transmission module 134 is used to send the moving speed and moving direction; the data transmission module 134 can be a Bluetooth module or other wireless transmission modules.

[0055] Follow-up systems can include: The data receiving module 311 is used to receive the moving speed and moving direction. The position adjustment module 309 generates a second adjustment parameter according to the moving speed and moving direction. The information sending module 310 sends the second adjustment parameter to the driving mechanism 200. The driving mechanism 200 adjusts the position of the stroller body 100 according to the second adjustment parameter.

[0056] Furthermore, the baby stroller also includes a distance sensor 103, which is installed at the front end of the baby stroller body 100 to detect the distance between obstacles on both sides and the baby stroller body 100, and sends it through the data sending module 134, and is received by the data receiving module 311 in the following system.

[0057] The follower system also includes: The following automatic conversion module 312 is used to determine whether the distance is less than the distance threshold during parallel following. If so, the speed and direction angle are obtained according to the current position of the stroller body 100, the position after converting from parallel following to front-to-back following, the current position of the target object and the pre-constructed conversion model, and a third adjustment parameter is generated according to the speed and direction angle; the information sending module 310 is used to send the third adjustment parameter to the driving mechanism 200, and the driving mechanism 200 adjusts the stroller body 100 according to the third adjustment parameter.

[0058] The first adjustment parameter, the second adjustment parameter and the third adjustment parameter all refer to converting the moving speed and moving direction of the baby carriage into the power and rotation time of the rotating motor 220 and the driving motor 210 respectively.

[0059] Specifically, the transformation model can adopt the quadratic Bezier curve formula, which is applied in the two-dimensional plane and expressed as = ; = .right and Take the derivative and you get the velocity vector. = ; = ; Speed = , direction angle =arctan Among them, the current position of the baby carriage is ( , ), the current position of the target object is ( , ), after switching from parallel following to front-to-back following, the stroller should be in position ( , ); t represents the time parameter.

[0060] In addition, the maximum steering angle constraint can be checked: the steering angle change between two adjacent points on the path is calculated, that is, - , make sure | |≤ ( is the maximum steering angle of the stroller). If this limit is exceeded, the steering angle can be reduced by adjusting the position of the target object. For example, when the steering angle is found to be too large, the target object moves closer to the direction of the line connecting the current position of the stroller and the position to be in, so as to make the curve smoother. A voice output device can be installed on the stroller body 100 to output the next position of the target object after converting it into a moving angle and a moving distance, so as to facilitate the movement of the target object to the next position.

[0061] Check the maximum acceleration constraint: You can set the speed Take the second derivative to get the acceleration , make sure | |≤ ( is the maximum acceleration of the stroller). If the acceleration exceeds the limit, the rate of change of the parameter t of the Bezier curve can be adjusted. For example, a more gentle change method can be adopted, such as changing the linear t change to an exponential or trigonometric function type change to make the speed change more gentle, thereby satisfying the acceleration constraint.

[0062] Furthermore, the baby stroller further comprises an alarm module 104, which may be an audible and visual alarm, mounted on the baby stroller body 100. The signal sending module 308 is used to send an alarm signal when the judging module 307 judges that the infrared receiver 101 fails to receive the infrared signal, and the alarm performs an alarm action in response to the alarm signal.

[0063] The implementation principle of this embodiment is: Take the cell as an example; adjust the position of the infrared receiver 101, and after the adjustment, open the calibration module 301, and set the parameters of the infrared transmitter 131 and the infrared receiver 101 through the calibration module 301 to set the initial following distance between the target object and the stroller body 100. Then the target object wears the following belt 130 and faces the stroller body 100, and then adjusts the following belt 130 to adjust the position of the infrared transmitter 131 so that the infrared receiver 101 can receive the infrared signal. After the infrared receiver 101 receives the infrared signal, the target object turns its back to the stroller and moves until the distance between the target object and the stroller body 100 is the same as the initial following distance; the infrared transmitter 131 and the infrared receiver 101 on the back of the following belt 130 work normally; the target object selects the following type through the following type selection module 305, for example, select For front and back following, the instruction receiving module 306 enters the front and back following processing procedure after receiving the front and back following type determination instruction; when the target object and the baby carriage move, the judgment module 307 judges whether the moving trajectory of the target object changes, if not, it further judges whether the following interval is expanded or reduced, if it is expanded, the signal sending module 308 sends a speed-up signal to the drive mechanism 200, and the drive mechanism 200 increases the moving speed of the baby carriage in response to the speed-up signal; if it is reduced, a speed-down signal is sent to the drive mechanism 200, and the drive mechanism 200 reduces the speed of the baby carriage in response to the speed-down signal.

[0064] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application in sequence. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. An automatic following baby stroller, characterized in that: include: Stroller body (100); A driving mechanism (200) for driving the baby carriage body (100) to move and rotate; A follower belt (130) placed on the stroller body (100) and capable of being worn by a target subject; Two infrared transmitters (131) are provided and symmetrically mounted on the outside of the following belt (130); An infrared receiver (101) rotatably connected to the front end of the baby carriage body (100) and used for receiving the infrared signal emitted by the infrared transmitter (131); A following system is connected in communication with the driving mechanism (200) and the infrared receiver (101), and is used to control the movement of the driving mechanism (200) according to the infrared signal, so that the baby carriage body (100) moves following the target object.

2. The automatic following baby stroller according to claim 1, characterized in that: The following system comprises: A calibration module (301) is used to initialize and calibrate the infrared transmitter (131) and the infrared receiver (101) after the target object wears the following belt (130), so as to adjust the following distance between the baby carriage body (100) and the target object.

3. The automatic following baby stroller according to claim 2, characterized in that: The baby stroller also includes: A first position sending module (132), installed on the infrared transmitter (131), and used for sending the target position of the target object in real time; A second position sending module (102) is used to be installed on the infrared receiver (101) and is used to send the following position of the baby carriage body (100) in real time; The following system also includes: The position receiving module (302) is used to receive the target position and the following position in real time.

4. The automatic following baby stroller according to claim 3, characterized in that: The following system also includes: A position processing module (303) is used to construct a plane rectangular coordinate system according to the initial following position after calibration, wherein the initial following position is used as the origin of the plane rectangular coordinate system; A movement range determination module (304), configured to determine the movement range according to a preset movement diameter and based on the plane rectangular coordinate system; The position processing module (303) is also used to convert the target position into a target coordinate point of the target object and to convert the following position into a following coordinate point of the baby carriage body (100).

5. The automatic following baby stroller according to claim 4, characterized in that: The following system also includes: A following type selection module (305) provides two following types: parallel following and front-to-back following; The instruction receiving module (306) is used to receive a follow-up type determination instruction.

6. The automatic following baby stroller according to claim 5, characterized in that: The following system also includes: A judgment module (307) is used to judge whether the moving track of the target object changes during the front and rear following; if not, further judge whether the following distance is expanded or reduced; The signal sending module (308) is used to send a speed-up signal to the driving mechanism (200) when the following distance increases, and the driving mechanism (200) increases the moving speed of the baby carriage body (100) in response to the speed-up signal; and to send a speed-down signal to the driving mechanism (200) when the following distance decreases, and the driving mechanism (200) reduces the moving speed of the baby carriage body (100) in response to the speed-down signal.

7. The automatic following baby stroller according to claim 6, characterized in that: The following system also includes: A position adjustment module (309) is used for obtaining the current target coordinate point of the target object after the judgment module (307) judges that the moving trajectory of the target object has changed, and following the current target coordinate point, determining the coordinate point that the baby carriage body (100) should follow; and generating a first adjustment parameter according to the coordinate point that the baby carriage body (100) should follow; An information sending module (310) is used to send the first adjustment parameter to the driving mechanism (200), and the driving mechanism (200) adjusts the position of the baby carriage body (100) according to the first adjustment parameter.

8. The automatic following baby stroller according to claim 7, characterized in that: The baby stroller also includes: An inertial sensor (133) is mounted on the following belt (130) and is used to obtain the moving speed and moving direction of the target object during parallel following; A data sending module (134) is used to send the moving speed and the moving direction; the following system also includes: The data receiving module (311) is used to receive the moving speed and the moving direction, and the position adjustment module (309) is used to generate a second adjustment parameter according to the moving speed and the moving direction; the information sending module (310) is used to send the second adjustment parameter to the driving mechanism (200), and the driving mechanism (200) adjusts the position of the baby carriage body (100) according to the second adjustment parameter.

9. The automatic following baby stroller according to claim 6, characterized in that: The baby stroller also includes: The alarm module (104) is installed on the baby carriage body (100) and generates an alarm in response to the alarm signal; the signal sending module (308) is used to send the alarm signal when the judgment module (307) determines that the infrared receiver (101) fails to receive the infrared signal.

10. The automatic following baby stroller according to claim 8, characterized in that: The baby stroller also includes: A distance sensor (103) is installed at the front end of the baby carriage body (100) and is used to detect the distance between obstacles on both sides and the baby carriage body (100); the data transmission module (134) is used to transmit the distance; The following system also includes: The following automatic conversion module (312) is used to determine whether the distance received by the data receiving module (311) is less than a distance threshold when following in parallel, and if so, obtain the speed magnitude and direction angle according to the current position of the baby carriage body (100), the position to be at after the conversion from parallel following to front-to-back following, the current position of the target object, and a pre-constructed conversion model, and generate a third adjustment parameter according to the speed magnitude and direction angle; The information sending module (310) is used to send the third adjustment parameter to the driving mechanism (200), and the driving mechanism (200) adjusts the baby carriage body (100) according to the third adjustment parameter.

Images