An automatic following baby carriage

Abstract

The application relates to an automatic-following baby carriage, belonging to the technical field of baby carriages, which comprises a baby carriage body, a driving mechanism for driving the baby carriage body to move and rotate, a following belt placed on the baby carriage body and capable of being worn by a target object, two infrared emitters symmetrically installed on the outer side of the following belt, an infrared receiver rotationally connected to the front end of the baby carriage body and used for receiving infrared signals emitted by the infrared emitters, and a following system in communication connection with the driving mechanism and the infrared receiver and used for controlling the driving mechanism to move according to the infrared signals so that the baby carriage body follows the target object to move. The application has the beneficial effects of improving the experience of users and the interaction with babies.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of baby strollers, in particular to an automatic following baby stroller. BACKGROUND

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

[0003] At present, most baby strollers on the market need to be manually pushed by the operator, so the operator is prone to fatigue after a long pushing time, resulting in poor user experience and weak interaction between the operator and the baby. SUMMARY

[0004] In order to improve the user experience and interaction with the baby, the present application provides an automatic following baby stroller, which adopts the following technical solutions:

[0005] An automatic following baby stroller comprises:

[0006] a baby stroller body;

[0007] a driving mechanism for driving the baby stroller body to move and rotate;

[0008] a following belt placed on the baby stroller body and capable of being worn by a target object;

[0009] two infrared emitters symmetrically installed on the outside of the following belt;

[0010] an infrared receiver rotatably connected to the front end of the baby stroller body for receiving the infrared signals emitted by the infrared emitters;

[0011] a following system in communication connection with the driving mechanism and the infrared receiver for controlling the driving mechanism to act according to the infrared signals so that the baby stroller body follows the target object to move.

[0012] By adopting the above technical solutions, the cooperation of the infrared emitter and the infrared receiver and the control of the following system on the driving mechanism enable the stroller to automatically follow the target object (such as a parent) wearing the following belt to move; the target object does not need to manually push the stroller all the time, and can move more freely during walking, so that the hands are freed, for example, the parent can conveniently take an article, answer a phone and the like while walking, and the convenience of use is greatly improved; the following belt can be worn by the target object, is placed on the stroller body for convenient taking and placing, and the infrared receiver is in a rotary connection mode, which can better adapt to receiving infrared signals at different angles, and the overall structure enables the stroller to more flexibly realize the following function in various walking scenes and different activity states of the target object, thus improving the experience of the user and the interactivity with the baby.

[0013] Optionally, the following system comprises:

[0014] The calibration module is configured to, after the target object wears the following belt, initialize and calibrate the infrared emitter and the infrared receiver to adjust the following distance between the stroller body and the target object.

[0015] By adopting the above technical solutions, through the calibration process, the appropriate following distance between the stroller body and the target object can be accurately set, for example, the parent can adjust the distance to an ideal value according to the actual scene requirement (whether in a relatively open park or a relatively narrow indoor corridor and the like), so that the stroller can be smoothly followed, and problems such as collision with others or inconvenience in operation due to too close or too far distance are avoided, so that the following process is more in line with the actual use requirement. Different users may have different preferences for the following distance of the stroller, some hope that the stroller closely follows behind, so as to be convenient for looking after at any time, and some hope to keep a slightly far distance to obtain a larger activity space. The calibration module provides such a personalized function, so that each target object can flexibly adjust the most suitable following distance according to the own habit and the specific use scene, and the satisfaction degree of the overall use experience is improved. In addition, the appropriate following distance helps to balance safety and convenience, on the one hand, the stroller is not easy to collide with the target object due to too small distance, and accidents such as falling down are caused; on the other hand, the target object is not difficult to control the stroller, or needs to frequently look back to check and adjust due to too large distance; the distance adjustment function realized by the calibration module well balances the two points, so that the stroller can guarantee the safety of the baby and be easy to use for the target object when in use.

[0016] Optionally, the stroller further comprises:

[0017] The first position sending module is installed on the infrared emitter and is configured to send the target position of the target object in real time.

[0018] A second position sending module is arranged on the infrared receiver and is configured to send the following position of the stroller body in real time.

[0019] The following system further comprises:

[0020] A position receiving module is configured to receive the target position and the following position in real time.

[0021] By using the above technical solutions, 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 the position receiving module in the following system receives the target position and the following position, so that the target object (such as a parent) or other caregivers can know the specific position relationship between the stroller and the target object in real time and accurately.

[0022] Optionally, the following system further comprises:

[0023] A position processing module is configured to construct a plane rectangular coordinate system according to the calibrated initial following position, and the initial following position is used as the origin of the plane rectangular coordinate system.

[0024] A moving range determining module is configured to determine a moving range based on the plane rectangular coordinate system according to a pre-set moving diameter.

[0025] The position processing module is further configured 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.

[0026] By using the above technical solutions, managers can better plan the space utilization in some specific places, such as a children's playground in a shopping mall, a leisure area in a park, and the like, according to the pre-set moving range. Knowing the approximate space range occupied by each stroller and the corresponding target object facilitates reasonable arrangement of more personnel and facility layout, and avoids interference or inconvenience between different users due to the overlapping of activity ranges. In addition, the user can flexibly adjust the pre-set moving diameter according to the actual different scenarios, and thus change 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; and in a limited indoor aisle, the moving range is reduced to ensure smooth passage. Such flexibility enables the stroller to better play its function in a variety of different scenarios and meet diversified use requirements.

[0027] Optionally, the following system further comprises:

[0028] A following type selecting module provides two following types, i.e., parallel following and front-back following.

[0029] The instruction receiving module is configured to receive a following type determination instruction.

[0030] By adopting the above technical solutions, the following type selection module provides two different following types, i.e., parallel following and front-back following, which greatly enriches the selection space of the user. For example, in a relatively wide outdoor site, parents can be more inclined to select parallel following, which is convenient for looking after the baby in the stroller at any time and can synchronize the movement of the stroller, and the activities of the parents and the baby do not interfere with each other. In a narrow passageway, indoor space, etc., front-back following is more appropriate, which can more efficiently utilize the space, avoid the obstruction of passing caused by parallel, and make the use of the stroller better adapt to different actual scenes. The user can conveniently switch the following type by sending a corresponding instruction through the instruction receiving module in different use stages or when being in different scene changes. Selecting a proper following type according to a specific scene can make the following process of the stroller more smooth and efficient.

[0031] Optionally, the following system further comprises:

[0032] The judgment module is configured to judge whether the moving track of the target object changes when the front-back following is performed; if not, further judge whether the following distance is enlarged or reduced;

[0033] The signal sending module is configured to send a speed-up signal to the driving mechanism when the following distance is enlarged, and the driving mechanism increases the moving speed of the stroller body in response to the speed-up signal, and 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 stroller body in response to the speed-down signal.

[0034] By adopting the technical scheme, the judgment module can accurately master the relative state between the stroller and the target object by judging the moving track of the target object and the following distance. In the front and rear following, once it is found that the moving track of the target object does not change but the following distance changes, the signal sending module will correspondingly send a speed-up or speed-down signal, and the driving mechanism will adjust the moving speed of the stroller body accordingly, so as to ensure that the stroller can always maintain a suitable following distance, closely and accurately follow behind the target object, and maximally match the marching rhythm of the target object, so that the whole following process is more stable and orderly. When the following distance is unexpectedly enlarged, the speed-up signal is sent in time to make the stroller speed up to follow, which can avoid the situation that the stroller is separated from the target object due to too large distance, such as preventing the stroller from being separated by the crowd in a place with more people, and reduces the possibility that the baby faces an unexpected risk. Similarly, when the following distance is shortened, the speed-down signal can prevent the stroller from colliding with the target object due to too high speed, and avoid causing harm to the target object and the baby, thereby comprehensively ensuring the safety in the use process. The user does not need to manually pay attention to and adjust the speed of the stroller at all times during the front and rear following process, the system controls the speed change through automatic judgment and signal sending, which greatly liberates the hands of the user, so that the user can pay more attention to the observation of the surrounding environment and the like, and improves the overall convenience of use. With the cooperation of the judgment module and the signal sending module, the speed of the stroller can be dynamically and reasonably adjusted according to the following distance, which avoids the situation that the stroller frequently stops and starts due to speed mismatch, so that the stroller is more smooth and natural when following the target object, and can better maintain a coherent following state whether the target object is marching at a constant speed or occasionally changes the speed, reduces the interference to the surrounding pedestrians, and improves the overall marching efficiency.

[0035] Optionally, the following system further comprises:

[0036] The position adjusting module is configured to, after the judgment module judges that the moving track of the target object changes, acquire a current target coordinate point of the target object, and determine a should-follow coordinate point of the stroller body according to the current target coordinate point; and generate a first adjustment parameter according to the should-follow coordinate point.

[0037] The information sending module is configured to send the first adjustment parameter to the driving mechanism, and the driving mechanism adjusts the position of the stroller body according to the first adjustment parameter.

[0038] By adopting the technical scheme, when the judgment module detects that the moving track of the target object changes, the position adjusting module can acquire the current target coordinate point of the target object in time, and determine the should-follow coordinate point of the baby carriage body according to the current target coordinate point. In this way, no matter whether the target object turns, changes direction or makes more complex route adjustment, the baby carriage can accurately adapt to the new moving track of the target object according to the should-follow coordinate point calculated, and ensure that the target object is always followed and a reasonable following state is maintained, so that the situation that the baby carriage deviates from the track and cannot follow the target object is avoided. The position of the baby carriage body is accurately adjusted, so that the baby carriage body maintains a suitable following relationship with the target object after the track changes, potential safety hazards are avoided, for example, when the target object suddenly turns, the baby carriage can follow the corresponding track in time, and cannot enter other dangerous areas (such as colliding with roadside facilities) due to untimely adjustment, so that the baby carriage is always controlled in a controllable and safe following range of the target object, and strong guarantee is provided for the travel safety of the baby.

[0039] Optionally, the baby carriage further comprises:

[0040] an inertial sensor mounted on the following belt, used to acquire the moving speed and moving direction of the target object when parallel following is performed;

[0041] a data sending module used to send the moving speed and the moving direction;

[0042] The following system further comprises:

[0043] a data receiving module used to receive the moving speed and the moving direction, the position adjusting module is used to generate a second adjustment parameter according to the moving speed and the moving direction, and 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 baby carriage body according to the second adjustment parameter.

[0044] By adopting the technical scheme, during the parallel following, the speed and direction of the target object can change at any time, for example, when walking outdoors, the speed can be accelerated, decelerated or the walking direction can be changed due to reasons such as avoiding pedestrians and appreciating the surrounding scenery. With the cooperative work of the inertial sensor and other modules, the driving mechanism can dynamically adjust the position of the baby carriage in time according to the second adjustment parameter, so that the baby carriage always keeps synchronization with the target object, reduces the following deviation caused by the inconsistent speed or direction, and greatly enhances the stability during parallel following.

[0045] Optionally, the baby carriage further comprises:

[0046] An alarm module is installed on the stroller body and gives an alarm in response to the alarm signal; the signal sending module sends the alarm signal when the judgment module determines that the infrared receiver fails to receive the infrared signal.

[0047] By using the above technical solution, when the infrared receiver fails to receive the infrared signal, it means that some conditions that affect the normal following of the stroller may occur, such as the transmission of the infrared signal between the target object and the stroller being blocked, the infrared transmitter or receiver being faulty, or the distance between the two exceeding the effective range. The signal sending module sends the alarm signal in time to trigger the alarm module to give an alarm, so that the user can know about the potential problem at the first time and take appropriate measures to check and solve it in time, thereby avoiding more serious consequences such as the stroller being out of control, and providing strong protection for the travel safety of the baby.

[0048] Optionally, the stroller further comprises:

[0049] A distance sensor is installed at the front end of the stroller body to detect the distance between the obstacles on both sides and the stroller body; and the data sending module sends the distance.

[0050] The following system further comprises:

[0051] A 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, to obtain the speed and direction angle according to the current position of the stroller body, the position after conversion from parallel following to front-back following, the current position of the target object, and a conversion model constructed in advance, and to generate a third adjustment parameter according to the speed and direction angle.

[0052] The information sending module sends the third adjustment parameter to the driving mechanism, and the driving mechanism adjusts the stroller body according to the third adjustment parameter.

[0053] By using the above technical solution, the following automatic conversion module can sensitively perceive the changes in the surrounding environment by determining 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 space environments and avoiding the problems of inconvenience or collision due to insufficient space.

[0054] In summary, the present application has at least the following beneficial effects:

[0055] 1. The purpose of setting up an infrared transmitter, infrared receiver, follow strap, and follow system is that the infrared transmitter and receiver work together, and the follow system controls the drive mechanism, enabling the stroller to automatically follow the target object (such as a parent) wearing the follow strap. The target object does not need to manually push the stroller continuously, allowing for more freedom of movement during walking and freeing up their hands. For example, the parent can conveniently pick up items or answer the phone while walking, greatly improving ease of use. The follow strap can be worn by the target object and is placed on the stroller body for easy access and placement. Furthermore, the infrared receiver adopts a rotating connection method, which can better adapt to different angles to receive infrared signals. The overall structure allows the stroller to flexibly achieve the follow function in various walking scenarios and different activity states of the target object, thus improving the user experience and interaction with the baby.

[0056] 2. The purpose of setting the calibration module is to accurately set the appropriate following distance between the stroller body and the target object.

[0057] 3. The purpose of setting up the follow-type selection module and the command receiving module is to provide two different follow-type options: parallel follow and front-and-back follow, greatly enriching the user's choices. For example, in a relatively spacious outdoor area, parents may prefer parallel follow, which makes it easier to keep an eye on the baby in the stroller and allows them to move in sync with the stroller without interfering with each other's activities. In narrow aisles or indoor spaces, front-and-back follow is more suitable, making more efficient use of space and avoiding obstruction of passage caused by parallel movement, thus better adapting the stroller to different practical scenarios. Users can easily switch the follow-type by sending corresponding commands through the command receiving module when using the stroller at different stages or in different scenarios. Selecting the appropriate follow-type according to the specific scenario makes the stroller's following process smoother and more efficient. Attached Figure Description

[0058] Figure 1 This is a system structure block diagram of this application;

[0059] Figure 2 This is a schematic diagram illustrating the states that precede and follow this application;

[0060] Figure 3 This is a schematic diagram of the parallel following state of this application.

[0061] Explanation of reference signs: 100, stroller body; 101, infrared receiver; 102, second position sending module; 103, distance sensor; 104, alarm module; 110, bottom plate; 120, cabin body; 130, following belt; 131, infrared emitter; 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, upper 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

[0062] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the following will combine the accompanying drawings to further describe the embodiments of the present application in detail. Figure 1 -attached Figure 3 The technical solutions in the embodiments of the present application are described clearly and completely, obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0063] The embodiments of the present application disclose a stroller capable of automatic following. Referring to Figure 1 The stroller can include a stroller body 100, a driving mechanism 200 and a following system. The stroller body 100 is rotationally connected with an infrared receiver 101, and a following belt 130 is placed thereon, which can be understood as a waistband and can be worn by a target object. Two infrared emitters 131 are installed on the following belt 130, and are symmetrically arranged on the front and back of the following belt 130, respectively. The following system is integrated in an upper computer 300, and the upper computer 300 is installed on the stroller body 100. After the infrared receiver 101 receives the infrared signal emitted by the infrared emitter 131, the following system controls the driving mechanism 200 to act according to the infrared signal fed back by the infrared receiver 101, so that the stroller body 100 follows the target object to move.

[0064] Referring to Figure 2 and Figure 3The driving mechanism 200 can include a driving motor 210, a rotating motor 220, a moving wheel 230, a universal wheel 240 and a lifting cylinder 250. The stroller body 100 is composed of a bottom plate 110 and a cabin 120, the lifting cylinder 250 is vertically installed on the bottom plate 110, and the piston rod is connected with the cabin 120 to drive the lifting of the cabin 120, so that the infrared receiver 101 can adapt to different target objects. The infrared receiver 101 is rotatably connected to the cabin 120.

[0065] The rotating motor 220 is installed at the bottom of the front end of the bottom plate 110, and the moving wheel 230 is connected with the output shaft of the rotating motor 220 through a mounting bracket. The driving motor 210 is installed on the mounting bracket, and the output shaft is coaxially fixedly connected with the moving wheel 230. The universal wheel 240 is installed at the bottom of the rear end of the bottom plate 110, and is a driven wheel. The driving motor 210 and the rotating motor 220 jointly act to drive the movement and rotation of the stroller.

[0066] Referring to Figure 1 The following system can include a calibration module 301, which is used to initialize and calibrate the infrared emitter 131 and the infrared receiver 101 after the target object wears the following band 130, so as to set the following distance between the stroller body 100 and the target object.

[0067] Specifically, the position of the infrared receiver 101 is adjusted, after the adjustment, the calibration module 301 is opened, and the parameters of the infrared emitter 131 and the infrared receiver 101 are set through the calibration module 301, so as to set the initial following distance between the target object and the stroller body 100. The target object wears the following band 130 and faces the stroller body 100, and then adjusts the following band 130, adjusts the position of the infrared emitter 131, so that the infrared receiver 101 can receive the infrared signal, after the infrared receiver 101 receives the infrared signal, the target object faces away from the stroller, moves until the distance between the target object and the stroller body 100 is the same as the initial following distance; the infrared emitter 131 and the infrared receiver 101 on the back of the following band 130 work normally.

[0068] In other embodiments, the infrared receiver 101 can be driven to rotate by a rotating mechanism, which is a conventional motor or a gear matching mechanism, and will not be described in detail. During calibration, the target object can first wear the following 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 judges the strength of the infrared signal. After the infrared receiver 101 completes the rotation process of no receiving infrared signal-receiving infrared signal-infrared signal loss, the calibration module 301 determines the angle of the infrared receiver 101 when the infrared signal strength is the strongest. The rotating mechanism adjusts the infrared receiver 101 to the angle, and the calibration module 301 determines the distance between the target object and the stroller body 100 as the calibrated following distance according to the infrared signal at this time.

[0069] Further, the stroller further comprises a first position sending module 132 and a second position sending module 102. The first position sending module 132 is installed on the infrared emitter 131 and is used to send the target position of the target object in real time. The second position sending module 102 is installed on the infrared receiver 101 and is used to send the following position of the stroller body 100 in real time. The first position sending module 132 and the second position sending module 102 can be GPS positioning modules.

[0070] The following system further comprises:

[0071] A position receiving module 302, which is used to receive the target position and the following position in real time;

[0072] A position processing module 303, which is used to construct a plane rectangular coordinate system according to the calibrated initial following position, and the initial following position is used as the origin of the plane rectangular coordinate system;

[0073] A moving range determining module 304, which is used to determine the moving range based on the plane rectangular coordinate system according to a pre-set moving diameter; the position processing module 303 is further 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 determining module 304;

[0074] A following type selecting module 305, which is used to provide two following types of parallel following and front-back following;

[0075] An instruction receiving module 306, which is used to receive a following type determining instruction.

[0076] Specifically, after the calibration module 301 completes the calibration, the follow selection interface can be accessed through the follow type selection module 305. The follow selection interface includes parallel follow and forward / backward follow. After clicking forward / backward follow, the instruction receiving module 306 receives the confirmation instruction for this type and enters the forward / backward follow processing procedure.

[0077] Furthermore, the follow system also includes:

[0078] The judgment module 307 is used to determine whether the movement trajectory of the target object has changed when following it forward or backward; if not, it further determines whether the following distance has increased or decreased.

[0079] The signal transmitting module 308 is used to send an acceleration signal to the drive mechanism 200 when the following distance increases, so that the drive mechanism 200 increases the moving speed of the stroller body 100 in response to the acceleration signal, and to send a deceleration signal to the drive mechanism 200 when the following distance decreases, so that the drive mechanism 200 decreases the moving speed of the stroller body 100 in response to the deceleration signal.

[0080] The position adjustment module 309 is used to obtain the current target coordinate point of the target object after the judgment module 307 determines that the movement trajectory of the target object has changed, and to determine the following coordinate point of the stroller body 100 based on the current target coordinate point; and to generate the first adjustment parameter based on the following coordinate point.

[0081] The information sending module 310 is used to send the first adjustment parameter to the drive mechanism 200, and the drive mechanism 200 adjusts the position of the stroller body 100 according to the first adjustment parameter.

[0082] Specifically, in one embodiment, speed and direction can be used for determination; for example, the target coordinates of the target object are determined from ( , ) changed to ( , The judgment module 307 can determine whether the movement trajectory has changed by calculating the velocity vector of the target object. The velocity vector includes two elements: velocity magnitude and direction.

[0083] First, calculate the displacement of the target object within adjacent time intervals. The displacement can be calculated by the changes in the target's coordinate points, such as... speed magnitude .

[0084] Simultaneously, the direction is determined by calculating the angle of change of the target coordinate point. For example, using the arctangent function. This determines the direction of the target object's movement. If the speed and direction remain relatively stable over a period of time, then it can be determined that the target object's trajectory has not changed.

[0085] In another embodiment, the movement trajectory of the target object can be determined by changes in the angle of the infrared signal. For example, the infrared receiver 101 receives an infrared signal from the infrared transmitter 131, and the angle of the infrared signal changes as the target object moves. The determination module 307 can determine the movement trajectory of the target object based on the changes in the angle of the infrared signal received by the infrared receiver 101. If the angle of the infrared signal changes continuously at a fixed rate and direction, it may mean that the target object is making circular or arc-shaped movements; if the angle of the infrared signal remains basically unchanged, it may indicate that the target object is making straight-line movements; and if the angle of the infrared signal suddenly changes irregularly, it is very likely that the movement trajectory of the target object has changed, such as suddenly turning or changing its direction of travel.

[0086] When the target object is facing away from the stroller, if the judgment module 307 determines that the movement trajectory of the target object has not changed, the following distance between the target object and the stroller body 100 is then judged. If the following distance increases, the drive mechanism 200 increases the movement speed of the stroller body 100 until the following distance is the same as the set following distance; if the following distance decreases, the drive mechanism 200 decreases the movement speed of the stroller body 100 until the following distance is the same as the set following distance.

[0087] When facing the stroller, if the following distance increases, the drive mechanism 200 reduces the moving speed of the stroller body 100; if the following distance decreases, the drive mechanism 200 increases the moving speed of the stroller body 100.

[0088] When the movement trajectory changes, in one embodiment, during linear movement: if the movement trajectory of the target object changes from linear movement to another linear movement (e.g., changing direction), the position adjustment module 309 can determine the following coordinate point of the stroller body 100 based on the new direction of the target object and the preset following distance.

[0089] Assuming the target object's initial direction of motion in a Cartesian coordinate system is a straight line at an angle to the positive X-axis, and the coordinate change follows the rule x = y= ( , As the initial coordinates, (where t is velocity and t is time). When the target object changes direction, it forms an angle with the positive X-axis. During angular movement, the position adjustment module 309 calculates the stroller's following coordinate point based on the new angle and following distance.

[0090] Let the current coordinates of the stroller be ( , The new one should follow the coordinate point ( , It can be calculated in the following ways: , d represents the following distance, which is determined by trigonometric functions to establish the stroller's position relative to the target object in the new direction.

[0091] During circular motion: When the target object begins to perform circular motion, the position adjustment module 309 needs to consider the radius r of the circle and the coordinates of the center ( , And the relative positional relationship between the stroller and the target object (such as angular difference) This determines the coordinate point to be followed.

[0092] Assuming the target object is in ( , The motion of a circle with center r and radius r on a circle is given by the equation of motion as follows: + = If the angular position of the target object is The angle difference between the stroller and the target object is (This angle difference can be a relative positional relationship determined during initialization or the previous following process), then the stroller should be at the following coordinate point ( , It can be calculated in the following ways: , , where d is the following distance.

[0093] In another embodiment, historical data and trajectory prediction can be combined for determination. The position adjustment module 309 can store previous movement trajectory data of the target object, including information such as coordinate point sequences, speed changes, and direction changes. When the movement trajectory of the target object changes, the subsequent movement trajectory of the target object can be predicted by analyzing this historical data, for example, by using multinomial fitting or machine learning algorithms (such as simple models like linear regression and neural networks for short-term trajectory prediction).

[0094] For example, by using multiple coordinate points preceding the target object ( , (), , ), ..., ( , Perform a quadratic polynomial fitting of y=a +bx+c, we obtain the fitting parameters a, b, and c. When the target object's movement trajectory changes, we predict the target object's next position based on the fitted curve equation, and then determine the following coordinate point of the stroller body 100 by combining the following distance.

[0095] Meanwhile, the position adjustment module 309 can consider the instantaneous speed and acceleration information of the target object after changing the trajectory. If the target object accelerates or decelerates when changing the trajectory, the position adjustment module 309 will adjust the calculation of the stroller to follow the coordinate point according to the change of speed and acceleration. For example, if the target object accelerates, the stroller needs to adjust the position faster to follow the target object, and the change of speed will be considered when calculating the coordinate point to be followed, and a more appropriate position will be calculated in advance, so that the stroller can reach the following position in time and maintain a proper following state.

[0096] Further, the stroller further comprises an inertial sensor 133 and a data sending 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 when parallel following. The data sending module 134 is used to send the moving speed and moving direction. The data sending module 134 can be a Bluetooth module or other wireless transmission module.

[0097] The following system can comprise:

[0098] 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.

[0099] Further, the stroller further comprises a distance sensor 103 installed at the front end of the stroller body 100, which is used to detect the distance between the obstacles on both sides and the stroller body 100, and sends the distance through the data sending module 134. The data receiving module 311 in the following system receives the distance.

[0100] The following system further comprises:

[0101] The following automatic conversion module 312 is used to judge whether the distance is less than the distance threshold value when parallel following. If yes, the speed size and direction angle are obtained according to the current position of the stroller body 100, the position after converting from parallel following to front-back following, the current position of the target object and the pre-constructed conversion model. The third adjustment parameter is generated according to the speed size and direction angle. The information sending module 310 is used to send the third adjustment parameter to the driving mechanism 200. The driving mechanism 200 adjusts the stroller body 100 according to the third adjustment parameter.

[0102] The first adjustment parameter, the second adjustment parameter and the third adjustment parameter all refer to the conversion of the moving speed and moving direction of the stroller into the power and rotation time of the rotation motor 220 and the driving motor 210.

[0103] Specifically, the conversion model can adopt a quadratic Bezier curve formula, and the coordinates in a two-dimensional plane are represented as = ; = . The velocity vector is obtained by derivation of and . = ; = ; the speed size = , and the direction angle =arctan . Wherein, the current position of the stroller is ( , ), the current position of the target object is ( , ), and the stroller should be at the position ( , ) after conversion from parallel following to front-back following; t represents a time parameter.

[0104] In addition, the maximum steering angle constraint can be checked: the steering angle change between adjacent two points on the path, i.e. - , is calculated to ensure that |≤ ( 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 it is found that the steering angle is too large, the target object is moved towards the direction of the line connecting the current position of the stroller and the position where the stroller should be, so as to make the curve smoother. A voice output device can be installed on the stroller body 100 to output the moving angle and moving distance of the target object to the next position after the conversion, so as to facilitate the movement of the target object to the next position.

[0105] The maximum acceleration constraint is checked: the second-order derivative of the velocity is calculated to obtain the acceleration , and it is ensured that |≤ ( 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 mode is adopted, such as changing the linear t change to an exponential or trigonometric function type change, so that the speed change is more gentle, thereby satisfying the acceleration constraint.

[0106] Further, the stroller further comprises an alarm module 104, which can be an audible and light alarm, installed on the stroller body 100. The signal sending module 308 is configured 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 executes an alarm action in response to the alarm signal.

[0107] The implementation principle of the embodiment is as follows:

[0108] Take a cell as an example; adjust the position of the infrared receiver 101, and after adjustment, turn on the calibration module 301 to 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 band 130 and faces the stroller body 100, and then adjusts the following band 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 moves away from the stroller, 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 band 130 and the infrared receiver 101 work normally; the target object selects the following type through the following type selection module 305, for example, selects forward and backward following, and then the instruction receiving module 306 receives the forward and backward following type determination instruction, and enters the forward and backward following processing program; when the target object and the stroller move, the judging module 307 judges whether the moving track of the target object changes, if not, further judges whether the following distance expands or shrinks, if expands, the signal sending module 308 sends a speed-up signal to the driving mechanism 200, and the driving mechanism 200 increases the moving speed of the stroller in response to the speed-up signal; if shrinks, sends a speed-down signal to the driving mechanism 200, and the driving mechanism 200 reduces the speed of the stroller in response to the speed-down signal.

[0109] The above are preferred embodiments of the present application, and do not limit the protection scope of the present application in sequence, any feature disclosed in the specification (including the abstract and the drawings) can be replaced by other equivalent or similar features, unless specifically described. That is, each feature is only an example of a series of equivalent or similar features, unless specifically described.

Claims

1. An automatically following stroller, characterized in that, include: Stroller body (100); A drive mechanism (200) is used to drive the stroller body (100) to move and rotate; The follow strap (130) is placed on the stroller body (100) and can be worn by the target object; Two infrared emitters (131) are provided and are symmetrically installed on the outside of the following belt (130); An infrared receiver (101) is rotatably connected to the front end of the stroller body (100) and is used to receive infrared signals emitted by the infrared transmitter (131). The following system is communicatively connected to the drive mechanism (200) and the infrared receiver (101) and is used to control the drive mechanism (200) to move according to the infrared signal so that the stroller body (100) follows the target object. The first location transmission module (132) is installed on the infrared transmitter (131) and is used to transmit the target location of the target object in real time. The second position transmitting module (102) is installed on the infrared receiver (101) and is used to transmit the following position of the stroller body (100) in real time. An inertial sensor (133) is mounted on the following belt (130) to acquire the moving speed and moving direction of the target object during parallel following; The data transmission module (134) is used to transmit the moving speed and the moving direction; A distance sensor (103) is installed at the front end of the stroller body (100) to detect the distance between obstacles on both sides and the stroller body (100); The following system includes: The 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 strap (130) in order to adjust the following distance between the stroller body (100) and the target object. The location receiving module (302) is used to receive the target location and the following location in real time; The position processing module (303) is used to construct a Cartesian coordinate system based on the initial following position after calibration, wherein the initial following position is used as the origin of the Cartesian coordinate system. The movement range determination module (304) is used to determine the movement range based on the plane rectangular coordinate system according to the preset movement diameter; the position processing module (303) is also used to convert the target position into the target coordinate point of the target object and convert the following position into the following coordinate point of the stroller body (100); The follow type selection module (305) provides two follow types: parallel follow and front-back follow; The instruction receiving module (306) is used to receive the follow type determination instruction; The judgment module (307) is used to determine whether the movement trajectory of the target object changes when following it forward or backward; if not, it further determines whether the following distance increases or decreases. A signal transmitting module (308) is configured to send an acceleration signal to the drive mechanism (200) when the following distance increases, the drive mechanism (200) increasing the moving speed of the stroller body (100) in response to the acceleration signal, and to send a deceleration signal to the drive mechanism (200) when the following distance decreases, the drive mechanism (200) decreasing the moving speed of the stroller body (100) in response to the deceleration signal; The position adjustment module (309) is used to obtain the current target coordinate point of the target object after the judgment module (307) determines that the movement trajectory of the target object has changed, and to determine the following coordinate point of the stroller body (100) based on the current target coordinate point; and to generate the first adjustment parameter based on the following coordinate point. The information sending module (310) is used to send the first adjustment parameter to the drive mechanism (200), and the drive mechanism (200) adjusts the position of the stroller body (100) according to the first adjustment parameter; The data receiving module (311) is used to receive the moving speed and the moving direction; 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 drive mechanism (200); the drive mechanism (200) adjusts the position of the stroller body (100) according to the second adjustment parameter. The automatic conversion module (312) is used to determine whether the distance received by the data receiving module (311) is less than the distance threshold when following in parallel. If so, it obtains the speed and direction angle based on the current position of the stroller body (100), the position after switching from parallel following to front-back following, the current position of the target object, and the pre-built conversion model, and generates a third adjustment parameter based on the speed and direction angle. The information sending module (310) is used to send the third adjustment parameter to the drive mechanism (200), and the drive mechanism (200) adjusts the stroller body (100) according to the third adjustment parameter.

2. The automatically following stroller according to claim 1, characterized in that, The stroller also includes: An alarm module (104) is installed on the stroller body (100) and alarms in response to an 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.

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