Multi-mode intelligent baby carriage based on SLAM navigation

Abstract

The utility model discloses a multi-mode intelligent baby carriage based on SLAM (Simultaneous Localization and Mapping) navigation, which combines SLAM navigation and a multi-mode data processing technology and realizes multiple functions of autonomous navigation, environment perception, user following, autonomous adjustment, remote monitoring and the like of the baby carriage. According to the baby carriage, the scissor fork type structure is adopted, automatic adjustment is achieved, an intelligent shaking and music playing mode is arranged, natural shaking is simulated, and meanwhile the dynamic forward leaning function is achieved; through the SLAM navigation and deep learning method, autonomous obstacle avoidance, intelligent following, multi-mode interaction and personalized service are realized, and the intelligent voice interaction module realizes voice control of the baby carriage and also supports remote monitoring and real-time feedback functions. According to the multi-mode intelligent baby carriage, the intelligent level and safety of the baby carriage are improved, and more convenient and comfortable child-rearing experience is provided for parents.

Description

Technical Field

[0001] This utility model relates to the field of infant and toddler products technology, specifically to a SLAM autonomous navigation smart stroller that integrates artificial intelligence, multi-sensor fusion, and mechanical design. Background Technology

[0002] With the rapid development of smart technology, it has permeated all aspects of our lives. As an important tool for infants and toddlers, strollers are also gradually evolving towards intelligence. Traditional strollers have limited functionality and lack the ability to proactively adapt to complex environments, making them insufficient to meet the demands of modern families for intelligent childcare. While some patents have proposed basic intelligent control (such as temperature and pressure monitoring), navigation and obstacle avoidance (such as terrain analysis), and music playback functions, existing technologies still suffer from insufficient navigation accuracy, lagging dynamic response, and limited interactive functions. To provide a safer, more convenient, and comfortable travel experience, multimodal intelligent strollers based on SLAM (Simultaneous Localization and Mapping) navigation have emerged. This stroller incorporates dynamic structural optimization, artificial intelligence (AI) technology, SLAM navigation, and deep learning. Structural optimization utilizes a modular design and lightweight structure, enabling multi-dimensional adjustment and featuring intelligent rocking and music playback modes to simulate natural rocking. It also includes a dynamic forward-tilting function to enhance stability and comfort. AI technology enables voice control, allowing for intelligent operation via commands. SLAM navigation integrates LiDAR, visual SLAM, IMU, and path planning algorithms to achieve autonomous obstacle avoidance and intelligent following. Deep learning technology provides multimodal interaction and personalized services, recommending soothing modes based on infant behavior data, such as activating intelligent rocking when infant crying is detected. Furthermore, intelligent control supports remote monitoring and real-time feedback, meeting parents' needs for constant monitoring of their baby's condition. This multimodal intelligent stroller not only improves the stroller's intelligence and safety but also provides parents with a more convenient and comfortable childcare experience.

[0003] Therefore, developing a multimodal intelligent stroller with autonomous navigation and obstacle avoidance, automatic adjustment, and automatic soothing has great market potential. Combining advanced SLAM navigation technology, multimodal interaction methods, and intelligent control algorithms will bring revolutionary changes to infant and toddler travel. Utility Model Content

[0004] The present invention aims to overcome the shortcomings of the existing technology and provide a multimodal intelligent stroller based on SLAM navigation, thereby improving the intelligence level of the stroller through innovative technology.

[0005] To achieve the above technical objectives, the present invention adopts the following technical solution:

[0006] The components of a multimodal intelligent stroller based on SLAM navigation include: a mobile chassis, a lifting device, a rocking device, a tilting device, a sunshade device, an intelligent monitoring system, an autonomous navigation system, and an intelligent voice interaction system.

[0007] The mobile chassis is connected to the stroller's lifting device via four threaded posts;

[0008] The swaying device is supported by a bearing seat and connected to the lifting device;

[0009] The forward tilting device is connected to the rocking device by the pressure of four springs.

[0010] The light-shielding device is connected to the child seat via a rotating mechanism;

[0011] Furthermore, the mobile chassis includes a braking device, a chassis housing, threaded posts, a base plate, a cover plate, and a control core component. The braking device is connected to the drive wheel and is a foot-operated brake. The pre-drilled holes on the lower inner wall of the chassis housing are connected to the mounting holes of the base plate by bolts. The upper part of the base plate holds the stroller control core component, and four threaded posts are distributed around the base plate for support. The upper end of the threaded posts is connected to the cover plate.

[0012] Furthermore, the lifting device includes a lower load-bearing platform, a middle load-bearing platform, a bearing seat, a linear guide slider, a scissor lift module, a ball screw nut module, and a drive module. The linear guide slider module includes a linear guide and a slider. The linear guide is fixed on the middle and lower load-bearing platforms respectively, and the slider is fixed on the linear guide. The bearing seat is fixed on the slider and the middle and lower load-bearing platforms respectively. The scissor lift module includes a scissor support frame, a reinforcing rod, a bearing, and a light shaft 1. The bearing is installed in holes at both ends of the support frame. The light shaft 1 is used to connect the bearing seat and the bearing on the support frame. The reinforcing rod is fixed on the opposite support frame. The ball screw nut module includes a ball screw, a screw nut, a coupling, a stepper motor 1, and a fixing component. The stepper motor 1 is fixed on the lower load-bearing platform through a stepper motor bracket. The coupling connects the stepper motor and the ball screw. The fixing component connects the screw nut and the light shaft 1 connected to the slider. The drive module is fixed at the tail end of the stepper motor 1.

[0013] Further, the shaking device comprises a middle load platform, an upper load platform, a rotating mechanism, a compression spring, a spring limiting block, the rotating mechanism comprises a stepping motor, a driving wheel, a driven wheel, a 2gt synchronous belt, a two-dimensional holder, a bearing, an adjustable support seat, the stepping motor is linked with the middle load platform through a positioning hole, the driving wheel is fixed with the stepping motor through a nut, the 2gt synchronous belt is connected with the driven wheel and the driving wheel, the driven wheel is fixed with the two-dimensional holder through an optical axis 2 and a bolt, the bearing is placed in the middle of the two-dimensional holder, the adjustable support seat comprises a lower support seat, an upper support seat and a flange plate, the lower support seat is connected with the bearing, the upper support seat is connected with the lower support seat through a positioning pin, the flange plate is connected with the upper support seat through a bolt, and the upper load platform is connected with the flange plate through a bolt; the spring limiting block is uniformly arranged on the upper load platform and the middle load platform through a bolt, and the upper and lower ends of the compression spring are fixed with the spring limiting block.

[0014] Further, the forward leaning device comprises an upper load platform, an electric push rod, a connecting bracket 1, a connecting bracket 2, a fixed pin, a bearing seat, an optical axis 3 and a safety seat, the connecting bracket 1 is fixed with the upper load platform through a bolt, the connecting bracket 2 is fixed with the safety seat through a bolt, the electric push rod is fixed with the connecting bracket 1 and the connecting bracket 2 through a fixed pin, the bearing seat is fixed with the upper load platform through a bolt, and the optical axis 3 connects the bearing seat and the safety seat.

[0015] Further, the light shielding device comprises a safety seat, a light shielding cover, a rotating motor and a light sensor, the light shielding cover is arc-shaped and connected with the safety seat through a rotating shaft, the rotating motor is connected with the rotating shaft through a flange plate, the light sensor is connected with an Arduino core board to realize automatic sun shading.

[0016] Further, the intelligent monitoring system comprises a kognqizil camera, an industrial computer and an ESP8266, the camera is fixed above the safety seat to collect image information, the industrial computer compares and analyzes the image information, and the ESP8266 sends information to a mobile phone / PC end. The system detects whether the baby turns over or the head is blocked, and timely alarms and sends information in case of situation.

[0017] Further, the control core component comprises an Arduino core board, a servo motor driver and an encoder, a servo motor, a driving wheel and a universal wheel, the Arduino core board is placed on the center of the bottom plate, the servo motor driver and the encoder are integrated around the Arduino core board, the servo motor is fixed with a motor support through a bolt, the motor support is connected with the mounting hole of the bottom plate and is symmetrically distributed at the two ends of the bottom plate, and the servo motor is fixed with the driving wheel through a shaft sleeve.

[0018] Further, the baby carriage autonomous navigation and intelligent voice interaction system comprises a SLAM algorithm, a path planning algorithm and various hardware modules, the SLAM algorithm adopts an adaptive feature extraction algorithm to construct a real-time 3D environment map, the path planning algorithm adopts an improved A* algorithm to dynamically plan a path, and the hardware modules comprise a depth camera, a laser radar, an IMU, a voice sensor, a temperature and humidity sensor and an air quality sensor, the depth camera is fixed at the front end of the chassis shell, the laser radar is fixed at the edge position of the cover plate, the laser radar sensor is connected with the laser radar and is fixed on the cover plate, the voice sensor and the IMU are fixed on the bottom plate, and the temperature and humidity sensor and the air quality sensor are fixed on the side of the bottom plate shell. Advantages

[0019] Compared with the prior art, the utility model has the following advantages:

[0020] 1. The utility model relates to baby carriage technical field, especially intelligent baby carriage that combined SLAM navigation technology and multimodal data processing technology, through integration variety sensor and intelligent algorithm, promoted baby carriage's intelligent level, enhanced its stability and reliability.

[0021] 2. The utility model enhances user experience, the navigation technology based on SLAM technology makes baby carriage can realize autonomous path planning and user follow in complex environment, alleviates the burden of parents, the intelligent voice interaction system supports a variety of ways such as voice communication, voice control, makes operation more convenient and intuitive, remote state monitoring function monitors baby state in real time, and real-time sends monitoring data to parents, automatic lifting and dynamic rocking function meets the demand of different height parents and rocking pacification, improves baby comfort and parent convenience. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is whole structure schematic diagram of baby carriage of the utility model;

[0023] Figure 2 It is mobile chassis structure schematic diagram of the utility model;

[0024] Figure 3 It is scissor type lifting device schematic diagram of the utility model;

[0025] Figure 4 It is rocking device schematic diagram of the utility model;

[0026] Figure 5 It is front inclination and shading device schematic diagram of the utility model;

[0027] Figure 6 It is SLAM navigation and chassis control flow block diagram of the utility model;

[0028] Figure 7 The utility model intelligent voice interaction system flow chart of the present application;

[0029] In the figure: 1, mobile chassis; 2, scissor lifting device; 3, shaking device; 4, forward tilting device; 5, shading device; 6, threaded column; 7, scissor lifting module; 8, compression spring; 9, rotating mechanism; 10, safety seat; 11, brake device; 13, bottom plate; 14, cover plate; 15, driving wheel; 16, depth camera; 17, temperature and humidity sensor; 18, air quality sensor; 19, servo motor; 20, universal wheel; 21, motor support; 22, camera; 23, laser radar; 24, voice sensor; 25, lower bearing platform; 26, middle bearing platform; 27, bearing seat; 28, linear guide rail; 29, linear guide rail sliding block; 30, ball screw nut module, 31, stepper motor 1; 32, upper bearing platform; 33, spring limit block; 34, stepper motor 2; 35, 2gt synchronous belt; 36, electric push rod; 37, bearing seat 2; 38, optical axis 3; 39, shading cover; 40, rotating motor; 41, illumination sensor DETAILED DESCRIPTION

[0030] In order to make the utility model purposes, technical scheme and advantages more clearly, the following is combined with example, and the utility model is further detailed. It should be understood that the specific embodiments described here are only a part of the embodiments of the utility model, not all embodiments.

[0031] Reference Figures 1-5 A multi-modal intelligent baby carriage based on SLAM navigation includes: mobile chassis (1), scissor lifting device (2), shaking device (3), forward tilting device (4), shading device (5), camera (22), autonomous navigation and intelligent voice interaction system.

[0032] The mobile chassis (1) includes brake device (11), chassis shell (12), threaded column (6), bottom plate (13), cover plate (14), control core assembly, the brake device (11) is connected with driving wheel (15), can be forced to brake by the way of stepping on, the depth camera (16), temperature and humidity sensor (17) and air quality sensor (18) are integrated on the chassis shell, for sensing the surrounding environment, the upper end of the bottom plate (13) places baby carriage control core assembly, for the main navigation and intelligent voice interaction of baby carriage.

[0033] The control core assembly includes an Arduino core board, an industrial computer, an ESP8266 module, a laser radar, an IMU, an intelligent voice interaction module, a servo motor driver, a servo motor (19), and a driving wheel (15). The industrial computer and the ESP8266 module are integrated on a bottom plate (13) and used for processing image information collected by a camera (22) and sending the image information to parents. The servo motor driver and an encoder are integrated on the bottom plate (13) and used for driving the chassis servo motor (19). The laser radar, the IMU, and the intelligent voice interaction module are placed on a cover plate (14) and used for building a multi-scale 3D environment map, path planning, and voice control.

[0034] Through cooperation of the control core assembly and the mobile chassis (1), autonomous navigation and obstacle avoidance of the baby carriage can be realized. A three-dimensional point cloud map is formed by laser beams emitted by the laser radar, and then combined with angular velocity and acceleration data of the IMU, positioning of the baby carriage and multi-scale 3D environment map construction are realized. The mobile chassis supports autonomous obstacle avoidance and optimal path planning in an unknown environment. The servo motor (19) is controlled by the Arduino core board to realize motion control. The speed of the servo motor (19) is dynamically adjusted based on real-time feedback of surrounding environment information and posture and position data of the baby carriage, so as to realize differential control.

[0035] The intelligent voice interaction module cooperates with the mobile chassis (1) to realize voice control of the baby carriage moving to a specified position. First, a voice signal front end is processed. Audio signals are analyzed by endpoint detection (VAD), and environmental noise and echo are eliminated by using an adaptive filtering algorithm. Then, voice wake-up and instruction recognition are performed. A specific wake-up word (such as "Hello, Xiaoai") is listened to in real time. After successful wake-up, automatic speech recognition (ASR) is used to convert voice to text, which is then transmitted to a dialogue management module for interaction. Finally, dialogue management and response generation are performed. Through a context interaction mode, reasonable dialogue text is generated. TTS speech synthesis technology is used to convert the obtained text into natural speech and output to parents. Emotional tone selection is also supported to improve affinity, and a natural and smooth voice interaction experience is realized.

[0036] The camera (22) cooperates with the industrial computer and the ESP8266 module to realize real-time monitoring of the baby state and remote alarm. When the camera (22) detects abnormal behavior such as baby turning over, head blocking, and other risk behaviors, the industrial computer analyzes the image to determine the abnormality. After determining the abnormality, the information is sent to the parent's mobile phone APP through the ESP8266 module. The industrial computer can also identify baby crying by running an AI audio analysis model. If the decibel threshold is exceeded, the shaking device (3) and the music playing mode are started to simulate natural shaking, and the mobile phone push alarm information is triggered.

[0037] The lifting device (2) comprises a lower bearing platform (25), a middle bearing platform (26), a bearing seat (27), a linear guide rail slider (28), a scissor lifting module (7), a ball screw nut module (30), a stepper motor 1 (31), the scissor lifting module (7) is connected with the lower bearing platform (25) and the middle bearing platform (26) through the bearing seat (27), the ball screw nut module (30) is driven by the stepper motor 1 (31), and the scissor lifting module (7) is expanded or contracted, the safety seat (10) is stably lifted along the linear guide rail slider (29), the height adjustment is realized, the lower bearing platform (25) and the bearing seat provide stable support, the device adopts multi-dimensional adjustment function, supports flexible lifting structure, meets the use demand in different scenes, the seat height can be easily adjusted according to actual needs, the baby is conveniently picked up or put down, and the convenience of use is improved.

[0038] The rocking device (3) comprises a middle bearing platform (26), an upper bearing platform (32), a rotating mechanism (9), a compression spring (8) and a spring limiting block (33), the rotating mechanism is driven by a stepper motor 2 (34), rotates the rotating mechanism (9) through a 2gt synchronous belt (35), the compression spring (8) provides a buffer and a reset force, and the rocking function of the safety seat (10) can be realized in cooperation, meanwhile, the angle of the rotating mechanism (9) can be changed, different rocking modes can be selected, and a music playing mode is provided, natural rocking is simulated, and the baby is provided with comfortable comfort; when the baby cries, the rocking function is started in cooperation with the slow music, and the baby is helped to fall asleep quietly.

[0039] The forward tilting device (4) comprises an upper bearing platform (32), an electric push rod (36), a fixed pin, a bearing seat 2 (37), an optical axis 3 (38) and a safety seat (10), the electric push rod (36) moves up and down, and the safety seat (10) rotates around the optical axis 3 (38), so that the forward tilting function is realized, the seat angle is automatically / manually adjusted according to different scenes (such as sleeping and feeding), the riding stability and comfort are optimized, the needs of the baby in different scenes such as being awake and eating are met, and the comfort and convenience of the baby are ensured.

[0040] The light shielding device (5) comprises a safety seat (10), a light shielding cover (39), a rotating motor (40) and a light sensor (41), the light shielding cover (39) is arc-shaped, when the light sensor (41) detects that the sunlight is too strong and directly shines on the safety seat (10), the rotating motor (40) is started, the light shielding cover (39) rotates, automatic sun shading is realized, and protection is provided for outdoor travel, when the outdoor sunlight is relatively dazzling, the light shielding cover is automatically closed, and the baby's skin is prevented from being burned.

[0041] The utility model patent has important significance and purpose in the fields of structure optimization, artificial intelligence technology, SLAM navigation technology and deep learning; firstly, the utility model optimizes mechanical device through intelligent control technology, adapts different scene demand with the help of lifting device, dynamically adjusts the attitude of the vehicle body, and the light-shielding, front-inclination and shaking device automatically adjusts the angle of the light shield, the front-inclination angle and the shaking frequency, thereby ensuring the sleep state of the baby and the comfort of travel.

[0042] Moreover, the safety of travel is improved through multi-modal perception fusion, multi-sensor fusion such as laser radar, depth camera and IMU is adopted to construct a high-precision environment model around the baby carriage in real time, dynamic obstacle avoidance, path planning and intelligent following are realized in combination with the SLAM technology, the travel convenience is improved, in public places, parents do not need to tightly hold the handle, the baby carriage can automatically follow and avoid obstacles, so that parents are more relaxed. Meanwhile, the baby carriage is also equipped with an intelligent monitoring system, autonomous navigation and an intelligent voice interaction system, supports voice control, remote monitoring and real-time feedback, and enhances the parent-child interaction; parents can check the state of the baby at any time through the mobile phone APP, and even if busy, they can also keep interaction with the baby.

[0043] The utility model patent innovatively combines artificial intelligence, mechanical engineering and man-machine design, creates a modern baby carriage integrating safety, intelligence and comfort, provides an efficient solution for the baby-raising scene, and has significant market application potential and social value.

[0044] The above description does not limit the utility model in any form, although the utility model has been disclosed through the above examples, however, is not used to limit the utility model, any skilled person in the art, without departing from the technical scheme range of the utility model, can utilize the disclosed technical content to make some changes or modifications for equivalent examples of equivalent changes, but as long as the content does not depart from the technical scheme of the utility model, according to the technical essence of the utility model, any simple modification, equivalent change and modification of the above examples, still belongs to the range of the technical scheme of the utility model.

Claims

1. A multimodal intelligent stroller based on SLAM navigation, comprising: A mobile chassis (1), a lifting device (2), a rocking device (3), a tilting device (4), a light-shielding device (5), an intelligent monitoring system, an autonomous navigation system, and an intelligent voice interaction system are characterized in that: the mobile chassis (1) is connected to the lifting device (2) of the stroller through four threaded posts (6); the rocking device (3) is supported by a scissor lift module (7) and connected to the lifting device (2); the tilting device (4) is connected to the rocking device (3) by means of four compression springs (8); and the light-shielding device (5) is connected to the safety seat (10) through a rotating mechanism (9).

2. The multimodal intelligent stroller based on SLAM navigation according to claim 1, characterized in that: The mobile chassis (1) includes a braking device (11), a chassis housing (12), a threaded column (6), a base plate (13), a cover plate (14), and a control core component. The braking device (11) is connected to the drive wheel (15). The chassis housing (12) integrates a depth camera (16), a temperature and humidity sensor (17), and an air quality sensor (18). The baby stroller control core component is placed on the upper end of the base plate (13).

3. The multimodal intelligent baby stroller based on SLAM navigation according to claim 2, characterized in that: The control core components include an Arduino core board, a servo motor driver and encoder, a servo motor (19), a drive wheel (15), and a caster wheel (20). The Arduino core board is placed on the base plate (13). The servo motor driver and encoder are integrated around the Arduino core board. The servo motor (19) is fixed to the motor bracket (21) by bolts. The motor bracket (21) is connected to the mounting holes of the base plate (13) and is symmetrically distributed at both ends below the base plate (13). The servo motor (19) is fixed to the drive wheel (15) by bushings.

4. The multimodal intelligent stroller based on SLAM navigation according to claim 1, characterized in that: The intelligent monitoring system includes a camera (22), an industrial control computer, and an ESP8266. The camera (22) is fixed above the safety seat (10) to collect image information. The industrial control computer compares and analyzes the image information. The ESP8266 sends information to a mobile phone / PC to detect whether the baby is turning over or has its head covered. If there is a situation, an alarm will be triggered and information will be sent in a timely manner.

5. The multimodal intelligent baby stroller based on SLAM navigation according to claim 1, characterized in that: The stroller's autonomous navigation and intelligent voice interaction system includes a SLAM algorithm, a path planning algorithm, and various hardware modules. The hardware modules include a depth camera (16), a lidar (23), an IMU, a voice sensor (24), a temperature and humidity sensor (17), and an air quality sensor (18). The depth camera (16) is fixed at the front end of the chassis shell (12). The lidar (23) is fixed at the edge of the cover plate (14). The lidar sensor is connected to the lidar (23) and fixed on the cover plate (14). The voice sensor (24) and the IMU are fixed on the bottom plate (13). The temperature and humidity sensor (17) and the air quality sensor (18) are fixed on the side of the chassis shell (12).

6. The multimodal intelligent stroller based on SLAM navigation according to claim 1, characterized in that: The lifting device (2) includes a lower support platform (25), a middle support platform (26), a bearing seat (27), a linear guide rail (28), a linear guide rail slider (29), a scissor lift module (7), a ball screw nut module (30), and a stepper motor 1 (31). The scissor lift module (7) is connected to the lower support platform (25) and the middle support platform (26) through the bearing seat (27). The ball screw nut module (30) is driven by the stepper motor 1 (31) to extend or retract the scissor lift module (7). The safety seat (10) moves smoothly up and down along the linear guide rail slider (29) to achieve height adjustment. The lower support platform (25) and the bearing seat (27) provide stable support.

7. The multimodal intelligent stroller based on SLAM navigation according to claim 1, characterized in that: The rocking device (3) includes a middle load-bearing platform (26), an upper load-bearing platform (32), a rotating mechanism (9), a compression spring (8), and a spring limiting block (33). The rotating mechanism (9) is driven by a stepper motor 2 (34) and rotates through a 2gt synchronous belt (35). The compression spring (8) provides buffering and restoring force. The two work together to realize the rocking function of the safety seat (10). At the same time, by changing the angle of the rotating mechanism (9), different rocking modes can be selected.

8. The multimodal intelligent stroller based on SLAM navigation according to claim 1, characterized in that: The forward tilting device (4) includes an upper load-bearing platform (32), an electric push rod (36), a fixing pin, a bearing seat 2 (37), an optical axis 3 (38), and a safety seat (10). The electric push rod (36) moves up and down, and the safety seat (10) rotates around the optical axis 3 (38), thereby realizing the forward tilting function.

9. The multimodal intelligent stroller based on SLAM navigation according to claim 1, characterized in that: The shading device (5) includes a safety seat (10), a shading cover (39), a rotary motor (40), and a light sensor (41). The shading cover (39) is arc-shaped. When the light sensor (41) detects that the sunlight is too strong and shines directly on the safety seat (10), the rotary motor (40) starts and the shading cover (39) rotates to achieve automatic sunshade.

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