An intelligent baby carriage automatic following method based on a UWB module

Abstract

The application discloses an intelligent baby carriage automatic following method based on a UWB module, which is characterized in that the baby carriage is provided with a Mecanum wheel mobile chassis unit, a UWB high-precision positioning module, a core control unit and a power module, the Mecanum wheel mobile chassis unit is provided with four omnidirectional Mecanum wheels to realize omnidirectional movement, the UWB high-precision positioning module obtains relative position information through a double-base station module and a wearable beacon module, the core control unit takes an STM32F103 microcontroller as a core, processes data through a triangular positioning algorithm, a Gauss filter algorithm and a two-dimensional PID control law, outputs a driving instruction in combination with a Mecanum wheel kinematics model, and the power module provides direct-current power supply for each unit, and each unit cooperates to realize omnidirectional stable automatic following of the baby carriage to a followed target, the method is characterized in that the UWB high-precision positioning and the omnidirectional movement structure of the Mecanum wheel are adopted, a 'precise positioning-intelligent control-omnidirectional following' closed loop is constructed, and problems, such as limited movement of a traditional baby carriage, complicated operation, laborious pushing by a caregiver and difficulty in taking care of a baby alone, are effectively solved, and the method is suitable for the fine and intelligent baby care needs of modern families.

Description

Technical Field

[0001] This invention discloses an automatic following method for intelligent strollers based on a UWB module, belonging to the field of intelligent childcare technology. Background Technology

[0002] There is a strong demand for infant and toddler care during outings, but there is a lack of convenient and intelligent care support. It is estimated that by 2030, with the continuous improvement of the maternity support system, the demand for care for infants and toddlers aged 0-3 will continue to increase, and the demand for intelligent and convenient strollers will also expand further.

[0003] Currently, most stroller products on the market focus on simple load-bearing, shock absorption, or lightweight storage, neglecting the travel experience of caregivers and the safety of infants and toddlers. Their functions are relatively limited, and some products also have hidden dangers such as a high center of gravity that makes them prone to tipping over, unstable brakes, and cumbersome operation. Furthermore, they lack precise and intelligent following functions, requiring caregivers to exert all their strength when pushing the stroller. When traveling alone with a baby, it is difficult to attend to other matters. The practicality and convenience of these products need to be improved, and they cannot meet the refined and convenient care needs of modern families.

[0004] To improve the safety of infants and toddlers during outings and enhance the travel experience for caregivers, and to address the challenges of caregivers struggling to push strollers, the difficulty of traveling alone with a baby, the lack of precise intelligent following functions in existing strollers, and the complexity of operation, this invention proposes an intelligent stroller automatic following method based on a UWB module, taking into account the shortcomings of existing solutions. Summary of the Invention

[0005] The purpose of this invention is to propose an intelligent stroller automatic following method based on a UWB module, so as to solve to the greatest extent the problems of caregivers struggling to push strollers, the difficulty of traveling alone with a baby, the lack of accurate intelligent following function and the complexity of operation of existing strollers, and to further improve the travel experience of caregivers and the safety of infants and young children.

[0006] Specifically, the present invention includes the following steps:

[0007] Ⅰ The stroller is equipped with a Mecanum wheel mobile chassis unit, a UWB high-precision positioning module, a core control unit, and a power module; the core control unit is electrically connected to the Mecanum wheel mobile chassis unit and the UWB high-precision positioning module respectively; the power module provides DC power to the Mecanum wheel mobile chassis unit, the UWB high-precision positioning module, and the core control unit;

[0008] The ⅡUWB high-precision positioning module acquires the relative position information between the followed target and the stroller in real time, and transmits the relative position information to the core control unit;

[0009] After processing the received relative position information, the core control unit outputs drive control commands to the Mecanum wheel moving chassis unit; the units work together to achieve omnidirectional stable automatic following of the stroller to the target being followed.

[0010] Step I, assembling the Mecanum wheel mobile chassis unit, further includes at least the following steps:

[0011] Equipped with a stroller adapter chassis, four DC servo motors, and four omnidirectional Mecanum wheels;

[0012] Four omnidirectional Mecanum wheels are arranged in a rectangular array at the four corners of the bottom of the stroller's adapter chassis: left front, right front, left rear, and right rear. The rollers of the left front and right rear Mecanum wheels are set at a 45° angle to the left, and the rollers of the right front and left rear Mecanum wheels are set at a 45° angle to the right.

[0013] The four DC servo motors are configured one-to-one with the four omnidirectional Mecanum wheels. Each DC servo motor independently drives the corresponding omnidirectional Mecanum wheel. By adjusting the speed and direction of each DC servo motor, the stroller can achieve longitudinal translation, lateral translation, rotation in place, and compound movement in any direction.

[0014] The step II, in which the UWB high-precision positioning module acquires the relative position information between the followed target and the stroller in real time and transmits the relative position information to the core control unit, shall at least include the following steps:

[0015] The UWB high-precision positioning module consists of two base station modules and one wearable beacon module;

[0016] Two base station modules are symmetrically fixed on both sides of the front of the stroller adapter chassis, so that the two maintain a fixed distance and a constant relative position. The beacon module is placed at the target being followed and carried by it.

[0017] The UWB high-precision positioning module monitors the real-time distance data between the two base station modules and the beacon module. , The distance data is transmitted via UART serial communication. , Transmitted to the core control unit.

[0018] In step III, the core control unit outputs drive control commands to the Mecanum wheel moving chassis unit after calculation. The various units work together to achieve omnidirectional stable automatic following of the stroller to the target being followed. This should at least include the following steps:

[0019] The core control unit uses an STM32F103 microcontroller as its core processing component. This microcontroller receives distance data transmitted from the UWB high-precision positioning module. , ;

[0020] The STM32F103 microcontroller first processes the distance data using a triangulation algorithm. , The system calculates the real-time two-dimensional coordinates of the beacon module relative to the stroller, eliminates positioning noise using a Gaussian filtering algorithm to optimize coordinate accuracy, and then uses a two-dimensional PID control law to dynamically compensate for distance deviation and lateral alignment deviation, thereby calculating the longitudinal and lateral movement speed commands required by the stroller.

[0021] The STM32F103 microcontroller then uses the kinematic model of the Mecanum wheels to distribute the speed command into rotational and steering control commands for the four Mecanum wheels (left front, right front, left rear, and right rear). These commands are then transmitted to the corresponding DC servo motors of each Mecanum wheel, driving the four Mecanum wheels to operate in coordination according to the commands. This enables the stroller to automatically and stably follow the target at a fixed distance. Attached Figure Description

[0022] Figure 1 This is a flowchart of the process of this invention;

[0023] Figure 2 This is a structural diagram of the Mecanum wheel moving chassis unit described in step II of the present invention;

[0024] Figure 3 This is a flowchart of step III of the present invention; Specific implementation methods

[0025] The present invention will now be described in detail with reference to the accompanying drawings. This description is merely illustrative and explanatory, and should not be construed as limiting the scope of protection of the present invention. Furthermore, those skilled in the art can combine the features in the embodiments described herein and in different embodiments based on the description in this document.

[0026] Figure 1 This is a flowchart of the process of the present invention, and the specific implementation steps are as follows:

[0027] Ⅰ The stroller is equipped with a Mecanum wheel mobile chassis unit, a UWB high-precision positioning module, a core control unit, and a power module; the core control unit is electrically connected to the Mecanum wheel mobile chassis unit and the UWB high-precision positioning module respectively; the power module provides DC power to the Mecanum wheel mobile chassis unit, the UWB high-precision positioning module, and the core control unit;

[0028] The ⅡUWB high-precision positioning module acquires the relative position information between the followed target and the stroller in real time, and transmits the relative position information to the core control unit;

[0029] After processing the received relative position information, the core control unit outputs drive control commands to the Mecanum wheel moving chassis unit; the units work together to achieve omnidirectional stable automatic following of the stroller to the target being followed.

[0030] Step I, assembling the Mecanum wheel mobile chassis unit, further includes at least the following steps:

[0031] Equipped with a stroller adapter chassis, four DC servo motors, and four omnidirectional Mecanum wheels;

[0032] The four omnidirectional Mecanum wheels are installed in a rectangular array, evenly distributed at the four corners of the bottom of the stroller's chassis, specifically corresponding to the front left, front right, rear left, and rear right directions. This layout ensures balanced force distribution and stable movement of the chassis, providing a structural foundation for omnidirectional movement. In terms of wheel installation angle, the four omnidirectional Mecanum wheels follow the principle of diagonal symmetry and opposite diagonal orientation: the rollers of the front left and rear right omnidirectional Mecanum wheels are uniformly tilted 45° to the left, and the rollers of the front right and rear left omnidirectional Mecanum wheels are uniformly tilted 45° to the right. This differentiated roller tilt angle is the core structural feature that enables the Mecanum wheels to decompose and synthesize motion vectors and achieve omnidirectional movement.

[0033] Four DC servo motors are configured one-to-one with four omnidirectional Mecanum wheels, meaning each DC servo motor is individually connected and drives one omnidirectional Mecanum wheel. There are no mechanical linkages between the four motors, allowing them to operate completely independently. The system precisely controls the output speed and rotation direction of each DC servo motor, changing the linear velocity and rotation direction of the corresponding omnidirectional Mecanum wheel. By utilizing the vector decomposition and synthesis of the frictional forces generated by the different wheel rollers in contact with the ground, the rotational motion of a single wheel is transformed into multidimensional translation and rotation of the entire chassis, ultimately achieving diverse mobility functions for the stroller. The specific principle behind the mobility modes is as follows:

[0034] Longitudinal translation is achieved by synchronously controlling four DC servo motors to run at the same speed and in the same direction, so that the four omnidirectional Mecanum wheels rotate synchronously in the forward or reverse direction. At this time, the lateral force generated by each wheel cancels each other out, and the longitudinal force is superimposed in the same direction, driving the stroller chassis to move smoothly forward or backward in a straight line.

[0035] Lateral translation is achieved by controlling four DC servo motors to make the diagonal wheels rotate at the same speed and turn in the same direction. At this time, the adjacent wheels turn in opposite directions, so that the longitudinal component force generated by each omnidirectional Mecanum wheel cancels each other out, and the lateral component force is superimposed in the same direction, driving the stroller chassis to move laterally to the left or right without changing its orientation.

[0036] Rotation in place is achieved by controlling the two DC servo motors on the left and the two DC servo motors on the right to run at the same speed but in opposite directions. At this time, the four omnidirectional Mecanum wheels generate a rotational torque around the center of the chassis, which cancels out the translational force and drives the stroller chassis to rotate 360° clockwise or counterclockwise around its own center.

[0037] Arbitrary directional composite movement is achieved by independently adjusting the speed and direction of rotation of each DC servo motor, finely allocating the motion parameters of the four omnidirectional Mecanum wheels, and flexibly synthesizing longitudinal, lateral, and rotational motion vectors.

[0038] Specifically, step II, where the UWB high-precision positioning module acquires the relative position information between the followed target and the stroller in real time and transmits it to the core control unit, must include at least the following steps:

[0039] The UWB high-precision positioning module consists of two base station modules and one wearable beacon module;

[0040] Two base station modules are symmetrically fixed on both sides of the front of the stroller's chassis, maintaining a preset fixed distance between them and keeping their relative positions unchanged during the stroller's movement, thus forming a stable positioning reference structure; the wearable beacon module is carried by the target being followed and serves as the target identifier for position calculation, forming a complete UWB positioning communication link with the two base station modules.

[0041] The UWB high-precision positioning module uses ultra-wideband wireless ranging technology to detect and calculate the straight-line distance between two base station modules and the wearable beacon module in real time, obtaining distance data. With distance data After obtaining two sets of distance data in real time, the UWB high-precision positioning module uses the UART serial communication protocol to transmit the distance data. , Digital encoding and stable transmission are performed to ensure that data is sent to the core control unit in real time, accurately and without errors, providing reliable raw input for the core control unit to calculate the orientation, distance and relative motion trend of the followed target.

[0042] In step III, the core control unit outputs drive control commands to the Mecanum wheel moving chassis unit after calculation. The various units work together to achieve omnidirectional stable automatic following of the stroller to the target being followed. This should at least include the following steps:

[0043] The core control unit uses an STM32F103 microcontroller as its core processing component. This microcontroller receives distance data transmitted from the UWB high-precision positioning module. , This serves as the basic data source for subsequent positioning calculations and control decisions;

[0044] The STM32F103 microcontroller first processes the distance data using a triangulation algorithm. , Then, the real-time two-dimensional coordinates of the beacon module relative to the stroller are calculated. The specific implementation process of the triangulation algorithm is as follows: First, an on-board two-dimensional coordinate system is established. With the geometric center of the stroller as the origin of the coordinate system Using two UWB base station modules as fixed reference points, the two-dimensional coordinates of base station 1 are set as follows: The two-dimensional coordinates of base station 2 are ,in Given a fixed distance between the two base stations, the real-time coordinates of the beacon module relative to the stroller are to be calculated. According to the distance formula between two points, the distance from stroller base station 1 to the beacon module is... satisfy Distance from stroller base station 2 to beacon module satisfy By simultaneously solving the two formulas and eliminating the quadratic term, we can obtain the real-time two-dimensional coordinates of the beacon module relative to the stroller. The core solution formula is as follows:

[0045]

[0046]

[0047] After the coordinate calculation is completed, the random noise generated during the positioning process is eliminated by the Gaussian filtering algorithm to further optimize the coordinate accuracy. Then, the distance deviation and lateral alignment deviation are dynamically compensated by the two-dimensional PID control law, and finally the longitudinal and lateral movement speed commands required by the stroller are calculated.

[0048] The STM32F103 microcontroller then calculated the real-time coordinates of the stroller. The kinematic model of the Mecanum wheels distributes speed commands to the rotation speed and steering control commands corresponding to the four Mecanum wheels (left front, right front, left rear, and right rear). These commands are then transmitted to the DC servo motors corresponding to each Mecanum wheel, driving the four Mecanum wheels to operate in coordination according to the commands. This enables the stroller to automatically and stably follow the target at a fixed distance.

[0049] Compared with the prior art, the advantages of the above embodiments of the present invention are as follows:

[0050] This invention proposes an intelligent stroller automatic following method based on a UWB module. By integrating a Mecanum wheel mobile chassis unit, a UWB high-precision positioning module, a core control unit, and a power module, it constructs an efficient automatic following technology system. This effectively solves the pain points of existing strollers, such as the lack of intelligent following functions, the difficulty for caregivers to push the stroller, and the difficulty for caregivers to handle other tasks while taking care of a baby alone. It improves the safety of infants and toddlers during travel and enhances the travel experience for caregivers. The method adapts and assembles each functional unit, relying on the differentiated configuration of the Mecanum wheel mobile chassis unit to achieve flexible movement in multiple directions. It uses the dual base stations of the UWB high-precision positioning module and wearable beacons to collect relative distance data and transmit it to the core control unit. The core control unit, based on an STM32F103 microcontroller, calculates coordinates using a triangulation algorithm, optimizes accuracy using a Gaussian filtering algorithm, and then compensates for deviations using a two-dimensional PID control law, driving the Mecanum wheels to operate in coordination, achieving stable automatic following of the stroller at a fixed distance and with proper alignment. This method integrates modular integration, high-precision positioning and intelligent control technologies, filling the technological gap in existing automatic stroller following methods. It is easy to operate and highly practical, providing a scalable path for the technological upgrade of intelligent childcare equipment and adapting to the future needs of refined and intelligent childcare.

[0051] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for automatic following of a smart stroller based on a UWB module, characterized in that, Includes the following steps: Ⅰ The stroller is equipped with a Mecanum wheel mobile chassis unit, a UWB high-precision positioning module, a core control unit, and a power module; the core control unit is electrically connected to the Mecanum wheel mobile chassis unit and the UWB high-precision positioning module respectively; the power module provides DC power to the Mecanum wheel mobile chassis unit, the UWB high-precision positioning module, and the core control unit; The ⅡUWB high-precision positioning module acquires the relative position information between the followed target and the stroller in real time, and transmits the relative position information to the core control unit; After processing the received relative position information, the core control unit outputs drive control commands to the Mecanum wheel moving chassis unit; the units work together to achieve omnidirectional stable automatic following of the stroller to the target being followed.

2. The method for automatic following of a smart stroller based on a UWB module according to claim 1, characterized in that, Step I, assembling the Mecanum wheel mobile chassis unit, includes the following steps: Equipped with a stroller adapter chassis, four DC servo motors, and four omnidirectional Mecanum wheels; Four omnidirectional Mecanum wheels are arranged in a rectangular array at the four corners of the bottom of the stroller's adapter chassis: left front, right front, left rear, and right rear. The rollers of the left front and right rear Mecanum wheels are set at a 45° angle to the left, and the rollers of the right front and left rear Mecanum wheels are set at a 45° angle to the right. The four DC servo motors are configured one-to-one with the four omnidirectional Mecanum wheels. Each DC servo motor independently drives the corresponding omnidirectional Mecanum wheel. By adjusting the speed and direction of each DC servo motor, the stroller can achieve longitudinal translation, lateral translation, rotation in place, and compound movement in any direction.

3. The method for automatic following of a smart stroller based on a UWB module according to claim 1, characterized in that, Step II includes the following steps: The UWB high-precision positioning module consists of two base station modules and one wearable beacon module; Two base station modules are symmetrically fixed on both sides of the front of the stroller adapter chassis, so that the two maintain a fixed distance and a constant relative position. The beacon module is placed at the target being followed and carried by it. The UWB high-precision positioning module monitors the real-time distance data between the two base station modules and the beacon module. , The distance data is transmitted via UART serial communication. , Transmitted to the core control unit.

4. The method for automatic following of a smart stroller based on a UWB module according to claim 1, characterized in that, Step III includes the following steps: The core control unit uses an STM32F103 microcontroller as its core processing component. This microcontroller receives distance data transmitted from the UWB high-precision positioning module. , ; The STM32F103 microcontroller first processes the distance data using a triangulation algorithm. , The system calculates the real-time two-dimensional coordinates of the beacon module relative to the stroller, eliminates positioning noise using a Gaussian filtering algorithm to optimize coordinate accuracy, and then uses a two-dimensional PID control law to dynamically compensate for distance deviation and lateral alignment deviation, thereby calculating the longitudinal and lateral movement speed commands required by the stroller. The STM32F103 microcontroller then uses the kinematic model of the Mecanum wheels to distribute the speed command into rotational and steering control commands for the four Mecanum wheels (left front, right front, left rear, and right rear). These commands are then transmitted to the corresponding DC servo motors of each Mecanum wheel, driving the four Mecanum wheels to operate in coordination according to the commands. This enables the stroller to automatically and stably follow the target at a fixed distance.

Images