CN106681359B - Control method of intelligent baby carriage, intelligent baby carriage and control system - Google Patents

Control method of intelligent baby carriage, intelligent baby carriage and control system Download PDF

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CN106681359B
CN106681359B CN201610565712.7A CN201610565712A CN106681359B CN 106681359 B CN106681359 B CN 106681359B CN 201610565712 A CN201610565712 A CN 201610565712A CN 106681359 B CN106681359 B CN 106681359B
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baby carriage
wireless
intelligent
intelligent baby
transceiver module
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CN106681359A (en
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陈川
刘翠
马洪龙
周海鹏
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Goertek Inc
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Goertek Inc
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/12—Target-seeking control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Carriages For Children, Sleds, And Other Hand-Operated Vehicles (AREA)

Abstract

The invention discloses a control method of an intelligent baby carriage, the intelligent baby carriage and a control system. The method comprises the steps of confirming that a wireless transceiver module arranged on the intelligent baby carriage is successfully matched and authenticated with target equipment, at least arranging a first wireless transceiver module and a second wireless transceiver module on the intelligent baby carriage, wherein the distance between the first wireless transceiver module and the head of the intelligent baby carriage is smaller than the distance between the second wireless transceiver module and the head of the intelligent baby carriage; transmitting a wireless signal to the target device through each wireless transceiver module, and receiving a wireless response signal from the target device through each wireless transceiver module; calculating the signal strength RSSI value of the wireless response signal corresponding to each wireless transceiver module; and adjusting the following direction and the following speed of the intelligent baby carriage according to the RSSI value of each wireless response signal, so as to realize the automatic following of the target equipment by the intelligent baby carriage. The invention has the advantages of clear control logic, high control accuracy, simple realization, low cost and convenient popularization.

Description

Control method of intelligent baby carriage, intelligent baby carriage and control system
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a control method of an intelligent baby carriage, the intelligent baby carriage and a control system.
Background
The baby carriage is one of essential products for each family of newborn babies, and the conventional baby carriage depends on a mechanical structure and needs manual operation and driving. The conventional baby carriage has at least the following defects:
1. in the traditional baby carriage, parents need to control the handles of the baby carriage by using both hands all the time and push the handles forcefully to move and turn the handles, so that the use experience is not high;
2. when the traditional baby carriage stops, a foot is needed to step on a pedal above a wheel, the wheel is locked to ensure that the baby carriage can be still, and if parents forget to step on the pedal, the baby carriage is easy to slide, so that accidents and tragedies are caused;
3. when the traditional baby carriage is pushed, if the sight of parents does not notice short obstacles on the roadside, the collision is easy to happen, and the baby is frightened.
Based on the above-mentioned drawbacks of the conventional stroller, there is a need for an intelligent stroller without manual driving control.
Disclosure of Invention
The invention provides a control method of an intelligent baby carriage, the intelligent baby carriage and a control system, which are used for realizing automatic following of target equipment by the intelligent baby carriage.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
in one aspect, an embodiment of the present invention provides a control method for an intelligent stroller, where the method includes:
confirming that the matching authentication between a wireless transceiver module arranged on the intelligent baby carriage and target equipment is successful, wherein at least a first wireless transceiver module and a second wireless transceiver module are arranged on the intelligent baby carriage, and the distance between the first wireless transceiver module and the head of the intelligent baby carriage is smaller than the distance between the second wireless transceiver module and the head of the intelligent baby carriage along the running direction of the intelligent baby carriage;
transmitting a wireless signal to the target device through each wireless transceiver module, and receiving a wireless response signal from the target device through each wireless transceiver module;
calculating the signal strength RSSI value of the wireless response signal corresponding to each wireless transceiver module;
and adjusting the following direction and the following speed of the intelligent baby carriage according to the RSSI value of each wireless response signal, so as to realize the automatic following of the target equipment by the intelligent baby carriage.
In another aspect, an embodiment of the present invention provides an intelligent stroller, including: a wireless transceiver module and a central processing unit; the wireless transceiving module at least comprises a first wireless transceiving module and a second wireless transceiving module, and the distance between the first wireless transceiving module and the head of the intelligent baby carriage is smaller than the distance between the second wireless transceiving module and the head of the baby carriage along the running direction of the intelligent baby carriage;
the central processing unit includes:
the matching authentication unit is used for matching and authenticating the first wireless transceiver module and the second wireless transceiver module with the target equipment to confirm that the wireless transceiver module arranged on the intelligent baby carriage is successfully matched and authenticated with the target equipment;
the signal transceiving unit is used for transmitting wireless signals to the target equipment through each wireless transceiving module of the wireless transceiving module and receiving wireless response signals from the target equipment through each wireless transceiving module;
the signal strength calculation unit is used for calculating the signal strength RSSI value of the wireless response signal corresponding to each wireless transceiver module;
and the driving control unit is used for adjusting the following direction and the following speed of the intelligent baby carriage according to the RSSI value of the wireless response signal of each wireless transceiver module, so that the intelligent baby carriage can automatically follow the target equipment.
In another aspect, an embodiment of the present invention provides a control system for an intelligent stroller, where the system includes a target device and the intelligent stroller provided in the above embodiment, the target device is a wearable device or a smart phone; the target device sends a signal to the intelligent baby carriage to enable the intelligent baby carriage to follow the target device.
The embodiment of the invention has the beneficial effects that: according to the invention, based on the wireless transceiver modules arranged on the intelligent baby carriage, the following direction and the following speed of the intelligent baby carriage are adjusted in real time by utilizing the RSSI values of the wireless response signals of the wireless transceiver modules, and the intelligent baby carriage can automatically follow the target equipment without pushing by hands. The invention has the advantages of clear control logic, high control accuracy, simple realization, low cost and convenient popularization.
Drawings
Fig. 1 is a flowchart of a control method of an intelligent stroller according to an embodiment of the present invention;
fig. 2 is a front view of an intelligent stroller according to an embodiment of the present invention;
FIG. 3 is a side view of FIG. 2;
FIG. 4 is a diagram illustrating distribution of environment point data according to an embodiment of the present invention;
fig. 5 is a block diagram of an intelligent stroller according to a second embodiment of the present invention;
fig. 6 is a block diagram of a control system of an intelligent stroller according to a third embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The baby carriage is one of essential products of each family with the neonate, and along with the development of intelligent technology, the intelligent following technology is more and more inseparable with the convenient life of people. Under the circumstances, an intelligent baby carriage capable of intelligently following and automatically avoiding obstacles is needed. Therefore, when the parents take the baby for going out, the baby carriage can automatically follow the parents closely when carrying a large amount of luggage or being inconvenient to carry out the hand, and the baby carriage is more convenient to use.
The intelligent baby carriage integrates a Bluetooth positioning technology, an automatic control technology, a power electronic technology, an ultrasonic ranging technology, a laser radar scanning technology and a related self-adaptive control algorithm, and realizes the complete intelligent following of the baby carriage.
Example one
Fig. 1 is a flowchart of a control method of an intelligent stroller according to an embodiment of the present invention, as shown in fig. 1, the method includes:
and S100, confirming that the matching authentication between the wireless transceiver module arranged on the intelligent baby carriage and the target equipment is successful, wherein at least a first wireless transceiver module and a second wireless transceiver module are arranged on the intelligent baby carriage, and the distance between the first wireless transceiver module and the head of the intelligent baby carriage is smaller than the distance between the second wireless transceiver module and the head of the intelligent baby carriage along the running direction of the intelligent baby carriage.
In this embodiment, the target device is preferably a mobile device such as a smart watch, a smart phone, and a smart bracelet that can be matched with a wireless transceiver module on the smart stroller.
And S110, transmitting a wireless signal to the target device through each wireless transceiver module, and receiving a wireless response signal from the target device through each wireless transceiver module.
In this embodiment, the first wireless transceiver module and the second wireless transceiver module broadcast wireless signals to the outside at the same time, and establish wireless connection with the target device; the first wireless transceiver module and the second wireless transceiver module receive the wireless response signal from the target device and send the received wireless response signal to the central processing unit of the intelligent baby carriage.
S120, calculating a received signal Strength Indication (received signal Strength Indication) of the wireless response signal corresponding to each wireless transceiver module.
The central processor of the intelligent baby carriage calculates the RSSI value a1 of the first wireless response signal corresponding to the first wireless transceiver module and the RSSI value a2 of the second wireless response signal corresponding to the second wireless transceiver module.
And S130, adjusting the following direction and the following speed of the intelligent baby carriage according to the RSSI value of each wireless response signal, and realizing the automatic following of the target equipment by the intelligent baby carriage.
The embodiment is based on the wireless transceiver modules arranged on the intelligent baby carriage, the following direction and the following speed of the intelligent baby carriage are adjusted in real time by utilizing the RSSI value of the wireless response signal of each wireless transceiver module, and the intelligent baby carriage can automatically follow the target device without pushing by hands.
The method of the embodiment has the advantages of clear control logic, high control accuracy, simple implementation, low cost and convenient popularization.
The wireless transceiver module can be a Wifi module, a ZigBee module or a bluetooth module, and in an implementation of this embodiment, because bluetooth wireless connection is low in power consumption, the wireless transceiver module is a bluetooth module.
The first wireless transceiver module and the second wireless transceiver module can be arranged near the head of the baby carriage at the same time, and can also be arranged near the tail of the baby carriage at the same time, and can also be arranged at the middle position of the baby carriage at the same time, so long as the distance between the first wireless transceiver module and the head of the baby carriage is ensured to be smaller than the distance between the second wireless transceiver module and the head of the baby carriage, the RSSI values of wireless response signals corresponding to the wireless transceiver modules can be different, and then the following direction and the following speed of the intelligent baby carriage are correspondingly adjusted, and the intelligent automatic following of the target equipment by the intelligent baby carriage is realized.
In an implementation scheme of this embodiment, the first wireless transceiver module is disposed at a head of the intelligent stroller, and the second wireless transceiver module is disposed at a tail of the intelligent stroller, that is, by increasing a distance between the two wireless transceiver modules, a difference between wireless response signals received by the two wireless transceiver modules is increased, so as to improve accuracy of control.
It should be noted that the greater the RSSI value of the wireless response signal, the closer the distance between the intelligent stroller and the target device; the smaller the RSSI value of the wireless response signal, the longer the distance between the intelligent stroller and the target device.
In an implementation of this embodiment, the step S130 includes: comparing the RSSI value a1 of the first wireless response signal with the RSSI value a2 of the second wireless response signal, and if the RSSI value a1 of the first wireless response signal is larger than the RSSI value a2 of the second wireless response signal, indicating that the target device is close to the head side, keeping the current following direction of the intelligent baby carriage; if the RSSI value a1 of the first wireless response signal is smaller than the RSSI value a2 of the second wireless response signal, the target device is close to the tail side of the baby carriage, and the intelligent baby carriage is controlled to turn around; namely, the following direction of the intelligent baby carriage is controlled in real time according to the comparison result of the RSSI value a1 of the first wireless response signal and the RSSI value a2 of the second wireless response signal.
The step S130 further includes: comparing the RSSI value a1 of the first wireless response signal of the first wireless transceiver module with a preset RSSI threshold, if the RSSI value a1 of the first wireless response signal is larger than the preset RSSI threshold, indicating that the distance between the intelligent baby carriage and the target device is too close, and controlling the intelligent baby carriage to decelerate or move backwards towards the tail of the baby carriage; if the RSSI value a1 of the first wireless response signal is smaller than the preset RSSI threshold value, the distance between the intelligent baby carriage and the target device is over long, and the intelligent baby carriage is controlled to accelerate; otherwise, controlling the intelligent baby carriage to follow the target equipment at the current speed; namely, the following speed of the intelligent baby carriage is controlled in real time according to the comparison result of the RSSI value a1 of the first wireless response signal and the preset RSSI threshold value.
The preset RSSI threshold value is the RSSI value of the wireless response signal corresponding to the distance which needs to be kept between the intelligent baby carriage and the target device, and if the following distance of 50cm needs to be kept between the intelligent baby carriage and the target device, the corresponding RSSI threshold value can be calculated through table lookup or other existing schemes.
It should be noted that, in the present implementation scheme, when obtaining the RSSI value a1 of the first wireless response signal and the RSSI value a2 of the second wireless response signal, the RSSI value a1 of the first wireless response signal and the RSSI value a2 of the second wireless response signal may be compared, and then the RSSI value a1 of the first wireless response signal and the preset RSSI threshold value are compared; or the RSSI value a1 of the first wireless response signal and a preset RSSI threshold value may be compared first, and then the RSSI value a1 of the first wireless response signal and the RSSI value a2 of the second wireless response signal are compared; or simultaneously comparing the RSSI value a1 of the first wireless response signal, the RSSI value a2 of the second wireless response signal and a preset RSSI threshold, the RSSI value a1 of the first wireless response signal and the RSSI value a2 of the second wireless response signal; the present implementation is not limited.
In another implementation scheme of this embodiment, the third wireless transceiver module and the fourth wireless transceiver module are further disposed on the intelligent stroller, that is, four wireless transceiver modules are disposed on the intelligent stroller, so as to improve the control accuracy of the following direction and the following speed of the intelligent stroller.
Fig. 2 is a front view of an intelligent stroller according to an embodiment of the present invention, and fig. 3 is a side view of fig. 2, as shown in fig. 2 and fig. 3, a first wireless transceiver module F1 and a third wireless transceiver module F3 are located at two corners of a head of the intelligent stroller and are arranged in an axisymmetric manner; the second wireless transceiver module F2 and the fourth wireless transceiver module F4 are located at two corners of the tail of the intelligent baby carriage and are also arranged in an axisymmetric manner.
In the embodiment of the present invention, when the RSSI value a1 of the first wireless response signal corresponding to the first wireless transceiver module F1, the RSSI value a2 of the second wireless response signal corresponding to the second wireless transceiver module F2, the RSSI value a3 of the third wireless response signal corresponding to the third wireless transceiver module F3, and the RSSI value a4 of the fourth wireless response signal corresponding to the fourth wireless transceiver module F4 are obtained through calculation, the step S130 includes: comparing the RSSI values (a1 and a3) of the two wireless response signals at the head of the baby carriage with the RSSI values (a2 and a4) of the two wireless response signals at the tail of the baby carriage, and if the RSSI values of the two wireless response signals at the head of the baby carriage are both greater than the RSSI values of the two wireless response signals at the tail of the baby carriage, keeping the current following direction of the intelligent baby carriage; if the RSSI value of the wireless response signal on the left side of the head (RSSI value a1 of the first wireless response signal) is greater than the RSSI value of the wireless response signal on the right side of the head (RSSI value a3 of the third wireless response signal), it indicates that the left wheel of the intelligent baby carriage is close to the target device and the right wheel is far from the target device, that is, the target device is at a position on the left of the intelligent baby carriage, and at this time, the intelligent baby carriage is controlled to deflect to the left; if the RSSI value of the wireless response signal on the left side of the head (RSSI value a1 of the first wireless response signal) is smaller than the RSSI value of the wireless response signal on the right side of the head (RSSI value a3 of the third wireless response signal), it indicates that the right wheel of the intelligent baby carriage is close to the target device and the left wheel is far away from the target device, that is, the target device is at a position of the intelligent baby carriage which is deviated to the right, and at this time, the intelligent baby carriage is controlled to be deviated to the right; if the RSSI values of the two wireless response signals at the head part are both smaller than the RSSI values of the two wireless response signals at the tail part, controlling the intelligent baby carriage to turn around;
comparing RSSI values (a1 and a3) of the two wireless response signals at the head with a preset RSSI threshold, if the RSSI values of the two wireless response signals at the head are both larger than the preset RSSI threshold, indicating that the distance between the intelligent baby carriage and the target equipment is too close, and controlling the intelligent baby carriage to decelerate or retreat towards the tail direction; if the RSSI values of the two wireless response signals at the head of the baby carriage are both smaller than the preset RSSI threshold value, the fact that the distance between the intelligent baby carriage and the target device is too far is indicated, and the intelligent baby carriage is controlled to accelerate.
It should be noted that, the present implementation scheme is not limited to the determination sequence of the following direction and the following speed.
In another implementation scheme of this embodiment, the intelligent stroller further has functions of locking, active obstacle avoidance, and passive obstacle avoidance.
Referring to fig. 2, the present embodiment exemplarily illustrates that the intelligent stroller is provided with four wheels, each of which is driven by a driving motor, i.e., the intelligent stroller shown in fig. 2 is provided with four driving motors D1, D2, D3 and D4 for driving and controlling the corresponding wheel, respectively. In the process that the central processing unit M controls the intelligent baby carriage to automatically follow the target device T, the central processing unit M adjusts the rotating speeds of the four driving motors according to different RSSI values, and the following direction and the following speed of the intelligent baby carriage are controlled.
When the central processing unit M receives a locking signal or an unlocking signal sent by the target device T, the driving motor of the intelligent baby carriage is locked or unlocked according to the locking signal or the unlocking signal. For example, when the central processing unit M receives an unlocking signal (such as a "parking/locking" signal) sent by the target device T, the central processing unit M performs locking control on the four driving motors to prevent the wheels from rotating. Through the locking processing to intelligent perambulator, the unexpected swift current car accident takes place when can avoiding parkking on the one hand, and on the other hand can be theftproof when the daily of intelligent perambulator is parked, as long as the head of a family does not unblock, other people just can not push away the perambulator.
Because the ultrasonic scanning device can rapidly judge the distance of the obstacle in a certain direction compared with the laser scanning device, the passive obstacle avoidance function of the intelligent baby carriage is preferably realized by adopting the ultrasonic scanning device in the embodiment; and because the ultrasonic scanning device can only roughly judge that a certain direction has an obstacle and a distance, and the distance recognizable by the laser scanning device is relatively far and can scan for 360 degrees, a more accurate virtual map can be constructed by adopting the laser scanning device to realize the active obstacle avoidance function of the intelligent baby carriage, and a more accurate active obstacle avoidance route can be planned. As shown in fig. 3, the laser scanning device R is arranged at the bottom of the intelligent baby carriage, the laser scanning device R is used for performing laser scanning on the surrounding environment to obtain environment data, the obstacle avoidance route of the intelligent baby carriage is drawn according to the environment data, the intelligent baby carriage is controlled to follow the target device according to the obstacle avoidance route, and the active obstacle avoidance function of the intelligent baby carriage is achieved. Specifically, the laser scanning device R may be used to perform laser scanning on each environmental point of the surrounding environment, and record data of each scanned environmental point; corresponding the distance between any two environment points to a route, and calculating the relative distance between any two environment points; and when the relative distance is larger than the body width of the baby carriage, confirming that the route corresponding to the relative distance belongs to the obstacle avoidance route.
In practical application, the laser scanning device R at the bottom of the vehicle can scan the head direction of the intelligent baby carriage for 180 degrees, if the scanning interval is set to be 0.25 degrees, 721 pieces of environment point data can be obtained by one-time 180-degree scanning, and the environment point data obtained by scanning is sent to the central processing unit M for processing, so that a distribution map of the environment point data can be obtained.
Fig. 4 is a distribution diagram of environment point data according to an embodiment of the present invention, for example, the coordinate system in fig. 4 is a cartesian rectangular coordinate system XOY, an origin of the rectangular coordinate system XOY is a position of the laser scanning device R, a positive direction of an X axis is a following direction of the intelligent stroller, and a positive direction of a Y axis is a width direction of the intelligent stroller. Referring to fig. 4, fig. 4 shows 721 environment point data obtained by one scan (180 degrees at a scanning interval of 0.25 degrees), which are distributed in the rectangular coordinate system XOY, and since the laser scanning device R of the present embodiment scans 180 degrees in the direction of the head of the smart stroller, the environment point data are mainly distributed in the first quadrant and the fourth quadrant of the rectangular coordinate system XOY.
The central processing unit M is according to the formula
Figure GDA0002561726520000081
Calculating the distance D between any two environment pointsi,jIf the distance D isi,jIf the width of the baby carriage is larger than the width of the intelligent baby carriage, the position between the two points is judged to be accessible, and the position is vertical to the connecting line between the two data pointsThe direction is walked, and intelligent perambulator combines the value of the RSSI of wireless response signal to follow in the driving process to the barrier is kept away in the initiative of realization following the in-process.
It should be noted that, in order to increase the calculation speed, in the embodiment, preferably, the central processing unit M according to the formula
Figure GDA0002561726520000082
Calculating the distance D between any two adjacent environment pointsz。
Because the laser scanning device is installed at the bottom of the intelligent baby carriage and can only scan the obstacles close to the ground, the ultrasonic scanning device is preferably arranged in the middle of the body of the intelligent baby carriage to scan the obstacles which are higher relative to the ground and equal to the height of the body of the intelligent baby carriage, and the ultrasonic scanning device is complementary with the laser scanning device at the bottom of the intelligent baby carriage.
As shown in fig. 2, a first ultrasonic scanning device C1, a second ultrasonic scanning device C2, a third ultrasonic scanning device C3 and a fourth ultrasonic scanning device C4 are exemplarily provided around a vehicle body of the smart stroller, ultrasonic scanning is performed around the vehicle body by the ultrasonic scanning devices C1, C2, C3 and C4, and an ultrasonic reflection signal reflected by an obstacle is received; when the ultrasonic wave reflected signal reflected by the obstacle reaches the warning value, the speed of the intelligent baby carriage is reduced, and the intelligent baby carriage is controlled to passively avoid the obstacle in the automatic following process.
Taking the example of avoiding the obstacle appearing in the left front of the intelligent stroller as an example, when the ultrasonic scanning devices C1, C2, C3 and C4 are used to perform ultrasonic scanning around the body of the intelligent stroller, if the ultrasonic reflection signal reflected by the obstacle in the left front reaches the warning value, it indicates that the obstacle in the left front is very close to the intelligent stroller, and at this time, the central processing unit M adjusts the four driving motors of the intelligent stroller to make the speed of the intelligent stroller relative to the left front thereof zero, so as to prevent the intelligent stroller from colliding with the obstacle in the left front.
Example two
The present embodiment provides an intelligent stroller based on the same technical concept as the first embodiment.
Fig. 5 is a block diagram of the structure of the intelligent stroller provided in this embodiment, as shown in fig. 5, the intelligent stroller includes a wireless transceiver module 51 and a central processor 52;
the wireless transceiving module 51 at least comprises a first wireless transceiving module 511 and a second wireless transceiving module 512, and along the driving direction of the intelligent baby carriage, the distance between the first wireless transceiving module 511 and the head of the intelligent baby carriage is smaller than the distance between the second wireless transceiving module 512 and the head of the baby carriage;
the central processor 52 includes:
the matching authentication unit 521 is configured to perform matching authentication on the first wireless transceiver module 511 and the second wireless transceiver module 512 and the target device, and confirm that the matching authentication between each wireless transceiver module provided on the intelligent stroller and the target device is successful;
a signal transceiver unit 522, configured to transmit a wireless signal to the target device through each wireless transceiver module of the wireless transceiver module 51, and receive a wireless response signal from the target device through each wireless transceiver module;
a signal strength calculating unit 523 configured to calculate a signal strength RSSI value of the wireless response signal corresponding to each wireless transceiver module;
the driving control unit 524 is configured to adjust a following direction and a following speed of the intelligent stroller according to the RSSI value of the wireless response signal of each wireless transceiver module, so as to achieve automatic following of the target device by the intelligent stroller.
In a preferred embodiment of this embodiment, the wireless transceiver module is a bluetooth module, the first wireless transceiver module 511 is disposed at the head of the intelligent stroller, and the second wireless transceiver module 512 is disposed at the tail of the intelligent stroller.
The drive control unit 524 includes a comparison module and a control module;
a comparison module for comparing the RSSI value a1 of the first wireless response signal and the RSSI value a2 of the second wireless signal; the control module is used for keeping the current following direction of the intelligent baby carriage when the RSSI value a1 of the first wireless response signal is greater than the RSSI value a2 of the second wireless response signal; when the RSSI value a1 of the first wireless response signal is smaller than the RSSI value a2 of the second wireless response signal, controlling the intelligent baby carriage to turn around; namely, the control module controls the following direction of the intelligent baby carriage in real time according to the comparison result of the comparison module.
The comparing module is further configured to compare the RSSI value a1 of the first wireless response signal of the first wireless transceiving module 511 with a preset RSSI threshold; the control module is further used for controlling the intelligent baby carriage to decelerate or move backwards towards the tail direction when the RSSI value a1 of the first wireless response signal is greater than a preset RSSI threshold value; when the RSSI value a1 of the first wireless response signal is smaller than a preset RSSI threshold value, controlling the intelligent baby carriage to accelerate; otherwise, controlling the intelligent baby carriage to follow the target equipment at the current speed; namely, the control module compares the comparative result of the module, and the following speed of the intelligent baby carriage is controlled in real time.
In another preferred embodiment of the present invention, the wireless transceiver module 51 of the intelligent stroller further includes a third wireless transceiver module 513 and a fourth wireless transceiver module 514, wherein the first wireless transceiver module 511 and the third wireless transceiver module 513 are located at two corners of the head of the intelligent stroller and are arranged in an axisymmetric manner; the second wireless transceiver module 512 and the fourth wireless transceiver module 514 are located at two corners of the tail of the intelligent stroller and are arranged in an axisymmetric manner.
The drive control unit 524 includes a comparison module and a control module;
a comparison module, configured to compare RSSI values of wireless response signals of two wireless transceiver modules (the first wireless transceiver module 511 and the third wireless transceiver module 513) at the vehicle head with RSSI values of wireless response signals of two wireless transceiver modules (the second wireless transceiver module 512 and the fourth wireless transceiver module 514) at the vehicle tail; the control module is used for keeping the current following direction of the intelligent baby carriage when the RSSI values of the two wireless response signals at the head of the baby carriage are both larger than the RSSI values of the two wireless response signals at the tail of the baby carriage; when the RSSI value of the wireless response signal on the left side of the head of the baby carriage is larger than the RSSI value of the wireless response signal on the right side of the head of the baby carriage, controlling the intelligent baby carriage to deflect to the left; when the RSSI value of the wireless response signal on the left side of the head of the baby carriage is smaller than the RSSI value of the wireless response signal on the right side of the head of the baby carriage, controlling the intelligent baby carriage to deflect rightwards; the RSSI values of the two wireless response signals at the head part are both smaller than the RSSI values of the two wireless response signals at the tail part, and the intelligent baby carriage is controlled to turn around;
the comparison module is further configured to compare RSSI values of wireless response signals of the two wireless transceiver modules (the first wireless transceiver module 511 and the third wireless transceiver module 513) at the vehicle head with a preset RSSI threshold; the control module is further used for controlling the intelligent baby carriage to decelerate or retreat towards the tail direction when the RSSI values of the two wireless response signals at the head are both larger than a preset RSSI threshold value; and when the RSSI values of the two wireless response signals at the head of the baby carriage are both smaller than a preset RSSI threshold value, controlling the intelligent baby carriage to accelerate.
In another preferable scheme of this embodiment, each wheel of the intelligent stroller is provided with a corresponding driving motor, and the driving control unit 524 is further configured to receive a locking signal or an unlocking signal sent by the target device, and perform locking processing or unlocking processing on each driving motor of the intelligent stroller according to the locking signal or the unlocking signal.
In another preferred scheme of this embodiment, intelligent perambulator still includes the laser scanning device of setting in the bottom of the car and sets up the ultrasonic scanning device on intelligent perambulator.
The laser scanning device is configured to perform laser scanning on the surrounding environment to obtain environment data, and send the environment data to the central processing unit 52; the driving control unit 524 in the central processor is further configured to draw an obstacle avoidance route of the intelligent stroller according to the received environment data, and control the intelligent stroller to follow the target device according to the obstacle avoidance route. Specifically, the laser scanning device performs laser scanning on each environmental point of the surrounding environment, and records data of each scanned environmental point; the driving control unit 524 corresponds the distance between any two environmental points to one route, and calculates the relative distance between any two environmental points, and when the relative distance is greater than the body width of the stroller, confirms that the route corresponding to the relative distance belongs to the obstacle avoidance route.
The ultrasonic scanning device is used for performing ultrasonic scanning around the baby carriage body, receiving ultrasonic reflection signals reflected by the obstacles and sending the received ultrasonic reflection signals to the central processing unit 52, and the driving control unit 524 in the central processing unit 52 is also used for judging whether the ultrasonic reflection signals reflected by the obstacles reach a warning value or not, reducing the speed of the intelligent baby carriage when the warning value is reached, and controlling the intelligent baby carriage to avoid the obstacles in the automatic following process.
From the above, the intelligent baby carriage provided by the embodiment has at least the following advantages compared with the conventional baby carriage:
firstly, the conventional baby carriage needs parents to control the baby carriage by using both hands all the time and can move or turn by pushing with force; the intelligent baby carriage can automatically follow parents without pushing by hands.
Secondly, when a traditional baby stops, a foot is required to step on a pedal above a wheel, the wheel is locked to ensure that the baby carriage is still, and if parents forget to step on the pedal, the baby carriage can slide to cause accidents or tragedies; the intelligent baby carriage utilizes the motor to drive the wheels to move, and the motor is automatically locked when the intelligent baby carriage stops, so that the baby carriage can be prevented from sliding or moving accidentally.
Thirdly, when the traditional baby carriage is pushed, the sight of the parents is blocked or the parents do not pay attention to the sight, so that the parents cannot see some short obstacles on the road edge, and the collision is caused; the intelligent baby carriage can realize the functions of active obstacle avoidance and passive obstacle avoidance by utilizing the laser scanning device and the ultrasonic scanning device, and the accident of collision cannot happen.
EXAMPLE III
Based on the same technical concept as the embodiment, the embodiment provides a control system of an intelligent baby carriage.
Fig. 6 is a structural block diagram of a control system of the intelligent stroller provided in this embodiment, and as shown in fig. 6, the system includes a target device 60 and an intelligent stroller 61 in the second embodiment, where the target device 60 is a wearable device such as a smart phone or a smart bracelet, or a smart watch, and the target device 60 is provided with a corresponding wireless transceiver module; the intelligent stroller 61 includes the wireless transceiver module 611 and the central processing unit 612 in the second embodiment, and the functional relationship of each unit module of the intelligent stroller is shown in the second embodiment and will not be described herein again.
The target device 60 sends a signal to the intelligent stroller 61 to enable the intelligent stroller 61 to follow the target device 60.
In an implementation scheme of this embodiment, the wireless transceiver module 611 of the intelligent stroller 61 transmits a wireless signal to the target device 60, the target device 60 transmits a wireless response signal to the intelligent stroller 61 when receiving the wireless signal, the wireless transceiver module 611 of the intelligent stroller 61 receives the wireless response signal from the target device 60 and transmits the received wireless response signal to the central processor 612, and the central processor 612 adjusts the following direction and the following speed of the intelligent stroller 61 according to the RSSI value of the wireless response signal, thereby implementing automatic following of the target device 60 by the intelligent stroller 61.
In another implementation of this embodiment, the target device 60 sends a locking signal or an unlocking signal to the intelligent stroller 61, and the central processing unit 612 of the intelligent stroller 61 receives the locking signal or the unlocking signal sent by the target device 60, and performs locking processing or unlocking processing on each driving motor of the intelligent stroller according to the locking signal or the unlocking signal.
In summary, the present invention adjusts the following direction and the following speed of the intelligent stroller in real time based on the wireless transceiver modules arranged on the intelligent stroller and by using the RSSI values of the wireless response signals of the wireless transceiver modules, and the intelligent stroller can automatically follow the target device without pushing the target device by hand. The invention has the advantages of clear control logic, high control accuracy, simple realization, low cost and convenient popularization.
For the convenience of clearly describing the technical solutions of the embodiments of the present invention, in the embodiments of the present invention, the words "first", "second", and the like are used to distinguish the same items or similar items with basically the same functions and actions, and those skilled in the art can understand that the words "first", "second", and the like do not limit the quantity and execution order.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims (9)

1. A control method of an intelligent stroller, the method comprising:
confirming that a wireless transceiving module arranged on the intelligent baby carriage is successfully matched and authenticated with target equipment, wherein at least a first wireless transceiving module and a second wireless transceiving module are arranged on the intelligent baby carriage, and the distance between the first wireless transceiving module and the head of the intelligent baby carriage is smaller than the distance between the second wireless transceiving module and the head of the intelligent baby carriage along the running direction of the intelligent baby carriage;
simultaneously broadcasting wireless signals to the outside through each wireless transceiver module, and receiving wireless response signals from target equipment through each wireless transceiver module;
calculating the signal strength RSSI value of the wireless response signal corresponding to each wireless transceiver module;
adjusting the following direction and the following speed of the intelligent baby carriage according to the RSSI value of each wireless response signal, and realizing the automatic following of the target equipment by the intelligent baby carriage;
wherein the adjusting of the following direction and the following speed of the intelligent stroller according to the RSSI value of each wireless response signal comprises:
comparing the RSSI value of the first wireless response signal of the first wireless transceiver module with the RSSI value of the second wireless signal of the second wireless transceiver module, and if the RSSI value of the first wireless response signal is greater than the RSSI value of the second wireless response signal, keeping the current following direction of the intelligent baby carriage; if the RSSI value of the first wireless response signal is smaller than the RSSI value of the second wireless response signal, controlling the intelligent baby carriage to turn around;
comparing the RSSI value of the first wireless response signal of the first wireless transceiver module with a preset RSSI threshold value, and if the RSSI value of the first wireless response signal is greater than the preset RSSI threshold value, controlling the intelligent baby carriage to decelerate or retreat towards the tail direction; if the RSSI value of the first wireless response signal is smaller than a preset RSSI threshold value, controlling the intelligent baby carriage to accelerate; otherwise, controlling the intelligent baby carriage to follow the target device at the current speed.
2. The control method according to claim 1, wherein the wireless transceiver module is a bluetooth module, the first wireless transceiver module is disposed at a head of the intelligent stroller, and the second wireless transceiver module is disposed at a tail of the intelligent stroller.
3. The control method according to claim 1, characterized in that the method further comprises: the intelligent baby carriage is also provided with a third wireless transceiver module and a fourth wireless transceiver module;
the first wireless transceiving module and the third wireless transceiving module are positioned at two corners of the head of the intelligent baby carriage and are arranged in an axisymmetric manner; the second wireless transceiver module and the fourth wireless transceiver module are positioned at two corners of the tail of the intelligent baby carriage and are arranged in an axisymmetric manner.
4. The control method according to claim 3, wherein the adjusting the following direction and the following speed of the intelligent stroller according to the signal strength value of each wireless response signal is specifically:
comparing the RSSI values of the two wireless response signals at the head of the baby carriage with the RSSI values of the two wireless response signals at the tail of the baby carriage, and if the RSSI values of the two wireless response signals at the head of the baby carriage are both greater than the RSSI values of the two wireless response signals at the tail of the baby carriage, keeping the current following direction of the intelligent baby carriage; if the RSSI value of the wireless response signal on the left side of the head of the baby carriage is larger than the RSSI value of the wireless response signal on the right side of the head of the baby carriage, controlling the intelligent baby carriage to deflect leftwards; if the RSSI value of the wireless response signal on the left side of the head of the baby carriage is smaller than the RSSI value of the wireless response signal on the right side of the head of the baby carriage, controlling the intelligent baby carriage to deflect rightwards; if the RSSI values of the two wireless response signals at the head part are both smaller than the RSSI values of the two wireless response signals at the tail part, controlling the intelligent baby carriage to turn around;
comparing the RSSI values of the two wireless response signals at the head with a preset RSSI threshold value, and if the RSSI values of the two wireless response signals at the head are both greater than the preset RSSI threshold value, controlling the intelligent baby carriage to decelerate or retreat towards the tail; and if the RSSI values of the two wireless response signals at the head of the baby carriage are both smaller than a preset RSSI threshold value, controlling the intelligent baby carriage to accelerate.
5. The control method according to any one of claims 1 to 4, characterized in that the method further comprises:
setting a driving motor of each wheel of the intelligent baby carriage;
and receiving a locking signal or an unlocking signal sent by target equipment, and carrying out locking processing or unlocking processing on each driving motor of the intelligent baby carriage according to the locking signal or the unlocking signal.
6. The control method according to any one of claims 1 to 4, characterized in that the method further comprises:
arranging a laser scanning device at the bottom of the intelligent baby carriage, and performing laser scanning on the surrounding environment by using the laser scanning device to obtain environment data;
drawing an obstacle avoidance route of the intelligent baby carriage according to the environment data, and controlling the intelligent baby carriage to follow a target device according to the obstacle avoidance route;
and/or the presence of a gas in the gas,
the intelligent baby carriage is provided with an ultrasonic scanning device, the periphery of the baby carriage is subjected to ultrasonic scanning by the ultrasonic scanning device, and ultrasonic reflection signals reflected by obstacles are received;
when the ultrasonic reflection signal reflected by the obstacle reaches a warning value, the speed of the intelligent baby carriage is reduced, and the intelligent baby carriage is controlled to avoid the obstacle in the automatic following process.
7. The control method according to claim 6, wherein the laser scanning device is used for performing laser scanning on the surrounding environment to obtain environment data, and the method comprises the following steps:
performing laser scanning on each environmental point of the surrounding environment by using the laser scanning device, and recording data of each scanned environmental point;
the drawing of obstacle avoidance route of the intelligent baby carriage according to the environment data comprises:
corresponding the distance between any two environment points to a route, and calculating the relative distance between any two environment points;
and when the relative distance is larger than the width of the body of the baby carriage, confirming that the route corresponding to the relative distance belongs to the obstacle avoidance route.
8. An intelligent stroller, comprising: a wireless transceiver module and a central processing unit; the wireless transceiving module at least comprises a first wireless transceiving module and a second wireless transceiving module, and the distance between the first wireless transceiving module and the head of the intelligent baby carriage is smaller than the distance between the second wireless transceiving module and the head of the baby carriage along the running direction of the intelligent baby carriage; the central processing unit includes:
the matching authentication unit is used for matching and authenticating the first wireless transceiver module and the second wireless transceiver module with target equipment to confirm that the wireless transceiver module arranged on the intelligent baby carriage is successfully matched and authenticated with the target equipment;
the signal transceiving unit is used for broadcasting wireless signals to the outside through each wireless transceiving module of the wireless transceiving module and receiving wireless response signals from target equipment through each wireless transceiving module;
the signal strength calculation unit is used for calculating the signal strength RSSI value of the wireless response signal corresponding to each wireless transceiver module;
the driving control unit is used for adjusting the following direction and the following speed of the intelligent baby carriage according to the RSSI value of the wireless response signal of each wireless transceiver module, so that the intelligent baby carriage can automatically follow the target equipment;
the driving control unit comprises a comparison module and a control module;
the comparison module is used for comparing the RSSI value of the first wireless response signal of the first wireless transceiver module with the RSSI value of the second wireless signal of the second wireless transceiver module, and if the RSSI value of the first wireless response signal is larger than the RSSI value of the second wireless response signal, the current following direction of the intelligent baby carriage is kept; if the RSSI value of the first wireless response signal is smaller than the RSSI value of the second wireless response signal, controlling the intelligent baby carriage to turn around;
the comparison module is further used for comparing the RSSI value of the first wireless response signal of the first wireless transceiver module with a preset RSSI threshold value, and if the RSSI value of the first wireless response signal is greater than the preset RSSI threshold value, the intelligent baby carriage is controlled to decelerate or move backwards towards the tail direction; if the RSSI value of the first wireless response signal is smaller than a preset RSSI threshold value, controlling the intelligent baby carriage to accelerate; otherwise, controlling the intelligent baby carriage to follow the target device at the current speed.
9. A control system for a smart stroller, comprising a target device and the smart stroller of claim 8, wherein the target device is a wearable device or a smart phone; the target device sends a signal to the intelligent baby carriage so as to enable the intelligent baby carriage to follow the target device.
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