CN206734379U - Automatically children trolley is followed - Google Patents
Automatically children trolley is followed Download PDFInfo
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- CN206734379U CN206734379U CN201720067394.1U CN201720067394U CN206734379U CN 206734379 U CN206734379 U CN 206734379U CN 201720067394 U CN201720067394 U CN 201720067394U CN 206734379 U CN206734379 U CN 206734379U
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Abstract
The utility model discloses one kind to follow children trolley automatically, including stroller frame, vehicle wheel component, follow power assist system, power assist system is followed to include being used for the movable range unit and at least three fixation range units being arranged on the person of being followed, fix range unit includes respectively：The first distance, second distance, the first fixation range unit of the 3rd distance, the second fixation range unit and the 3rd fixation range unit are monitored in real time with the cooperation of movable range unit, wherein second fixes the distance of range unit and the first fixation range unit in the horizontal direction more than zero；Power assist system is followed to coordinate each distance controlling monitored in real time to follow children trolley to follow the position of the movable range unit to advance, turn or stop automatically with movable range unit respectively according to fixed range unit.It is of the present utility model to follow the mobile status that children trolley is capable of the accurate judgement person of being followed automatically, so that the process followed automatically is safer.
Description
Technical field
It the utility model is related to children trolley.
Background technology
In order to reduce the exercise intensity of the user of children trolley, children are used especially for pregnant woman is at utmost reduced
, there is the children trolley that user can be followed to advance automatically at present in the strength spent needed for stroller, and user need not be direct
Force promotes or pulled children trolley.For example a kind of children trolley disclosed in Chinese patent CN205273577U, using following
Power assist system enables children trolley to follow the position of transmitter to advance and retreat automatically, can liberate the double of user
Hand, user can also handle other things simultaneously when carrying small children, very laborsaving and conveniently.But the children trolley exist with
Lower shortcoming：Children trolley can only be made to follow the position of transmitter to advance or retreat, carrying transmitter in user runs into obstacle
During turning, children trolley can not turn in time, continue on and easily crash；The abrupt slope or lower steep on user
During slope, children trolley can not stop in time, continue on and easily cause danger.
The content of the invention
In view of this, in order to overcome prior art the defects of, the purpose of this utility model, which is to provide one kind, to be used
Person turns and turned in time, is stopped in time at abrupt slope on user or lower abrupt slope to avoid the automatic of danger from following children trolley,
To lift security.
In order to achieve the above object, the utility model uses following technical scheme：
It is a kind of automatic to follow children trolley, including stroller frame, the vehicle wheel component installed in the stroller frame bottom, be
The automatic power assist system that follows for following children trolley offer to follow power, it is described to follow power assist system to include using
In be arranged on the person of being followed with the person of being followed movement movable range unit, in the stroller frame respectively with
The movable range unit coordinates at least three of ranging to fix range unit, and at least three fixations range unit includes：
First fixes range unit, and it coordinates with the movable range unit monitors the first fixation range unit in real time
With the first distance between the movable range unit；
Second fixes range unit, and it coordinates with the movable range unit monitors the second fixation range unit in real time
With the second distance between the movable range unit, the second fixation range unit exists with the described first fixation range unit
Distance in horizontal direction is more than zero；
3rd fixes range unit, and it coordinates with the movable range unit monitors the 3rd fixation range unit in real time
With the 3rd distance between the movable range unit；
It is described to follow power assist system to be filled respectively with the activity ranging according to described at least three fixation range units
Put the position row for coordinating and following children trolley to follow the movable range unit automatically described in each distance controlling monitored in real time
Enter, turn or stop.
Preferably, it is described to follow power assist system described to be followed automatically according to first distance and second distance control
Children trolley follows the position straight line of the movable range unit to advance or turn, while described follows power assist system root
The position of the movable range unit is followed to advance or stop according to children trolley is followed described in the 3rd distance controlling automatically.
In certain embodiments, the described first one of transmission for fixing range unit and the movable range unit
One distance measuring signal, another obtains first distance after receiving first distance measuring signal；Described second fixes range unit
With the distance measuring signal of one of transmission second of the movable range unit, another is obtained after receiving second distance measuring signal
The second distance；Described 3rd ranging of one of transmission the 3rd for fixing range unit and the movable range unit is believed
Number, another obtains the 3rd distance after receiving the 3rd distance measuring signal.
Preferably, the movable range unit sends the first distance measuring signal, the second distance measuring signal and the 3rd ranging letter respectively
Number, the first fixation range unit obtains first distance after receiving first distance measuring signal, and described second fixes survey
The second distance is obtained after receiving second distance measuring signal away from device, the described 3rd, which fixes range unit, receives the described 3rd
The 3rd distance is obtained after distance measuring signal.
In certain embodiments, the movable range unit sends the first distance measuring signal and receives to be fixed by described first and surveys
First distance is obtained after first distance measuring signal away from device feedback；The movable range unit sends the second ranging letter
Number and receive by described second fixation range unit feedback second distance measuring signal after obtain the second distance；The work
Dynamic range unit sends the 3rd distance measuring signal and received by the described 3rd the 3rd distance measuring signal for fixing range unit feedback
After obtain the 3rd distance.
In further embodiments, described first fix range unit the first distance measuring signal of transmission and receive by the activity
First distance is obtained after first distance measuring signal of range unit feedback；Described second, which fixes range unit, sends second
Distance measuring signal and reception obtain the second distance after second distance measuring signal by the movable range unit feedback；It is described
3rd, which fixes range unit, sends the 3rd distance measuring signal and receives by the 3rd ranging letter of the movable range unit feedback
The 3rd distance is obtained after number.
Wherein, it is described to follow power assist system also to include control device and drive described to follow children trolley to move automatically
Drive device, described first fixes range unit, described second fixes range unit and the described 3rd and fix range unit point
It is not connected with the control device, the control device receives the movable range unit and described first and fixes ranging respectively
Device coordinates the first distance signal of feedback, the movable range unit and described second to fix range unit coordinates feedback the
Two distance signals and the movable range unit and the 3rd distance signal of the 3rd fixation range unit cooperation feedback are simultaneously anti-
Feedforward control signal gives the drive device, the drive device it is according to the control signal driving that the control device feeds back oneself
It is dynamic to follow children trolley to follow the position of the movable range unit to advance, turn or stop.
Preferably, the first fixation range unit and the second fixation range unit are arranged on same level height
On.
Preferably, it is described 3rd fix range unit level height higher or lower than described first fix range unit and
Described second fixes the level height of range unit.
In a specific embodiment, the first fixation range unit and the second fixation range unit are set respectively
In the left and right sides of the stroller frame, the 3rd fixation range unit is arranged on the top of the stroller frame.
In certain embodiments, the default movable range unit is with first fixation the distance between range unit
First pre-determined distance L1, the distance between movable range unit and second fixation range unit are the second pre-determined distance L2, activity
Range unit and the 3rd pre-determined distance fixed between range unit are the 3rd pre-determined distance L3；
When it is described it is automatic follow children trolley to be advanced in straight line on level land when, the movable range unit is solid with described first
It is the first preset value to determine the permission maximum difference that the real-time range between range unit is L1 ', L1 ' and L1, the activity ranging
Real-time range between device and the second fixation range unit is that L2 ', L2 ' and L2 permission maximum difference are second default
Value, the movable range unit and it is described 3rd fixation range unit between real-time range be L3 ', L3 ' and L3 permission most
Big difference is the 3rd preset value；
Work as L1 ' and be more than the first preset value less than L1 and difference, L2 ' is more than L2 and L2 ' and L2 difference is default more than second
Value, then it is described to follow power assist system control children trolley to be turned to the left with the position of movable range unit；Work as L1 ' to be more than
L1 and L1 ' and L1 difference are more than the first preset value, and L2 ' is less than L2 and L2 ' and L2 difference is more than the second preset value, then institute
State and follow power assist system control children trolley to bend to right；It is default more than the 3rd more than L3 and L3 ' and L3 difference to work as L3 '
Value, or L3 ' is less than L3 and L3 ' and L3 difference is more than the 3rd preset value, then it is described to follow power assist system control children to push away
Car stops；Otherwise, it is described to follow power assist system control children trolley to continue to keep straight on.
The left side of stroller frame bottom is arranged on the first fixation range unit, the second fixation range unit is arranged on stroller
The right side of frame downward, the 3rd fixation range unit is arranged on exemplified by the top of stroller frame, below to it is of the present utility model from
It is dynamic to follow the operation principle of children trolley to be described in detail.
First, after movable range unit is placed on the person of being followed, preset movable range unit and first and fix survey
It is the first pre-determined distance L1 away from the distance between device, movable range unit and second fixes the distance between range unit as the
Two pre-determined distance L2, movable range unit and the 3rd pre-determined distance fixed between range unit are the 3rd pre-determined distance L3, this
When children trolley be in initial position.
When the person of being followed is in straight line moving on level road, the position of movable range unit is moved with the person of being followed,
L1 ', L2 ' and L3 ' change in default excursion, and for example L1 ' default excursion is permitting for L1 ± 20cm, L1 ' and L1
Perhaps maximum difference is that the first preset value is 20cm, and L2 ' default excursion is that L2 ± 20cm, L2 ' and L2 permission are maximum poor
Value is that the second preset value is 20cm, and L3 ' default excursion is that L3 ± 20cm, L3 ' and L3 permission maximum difference are the 3rd
Preset value is 20cm, then follows position also straight line traveling of the power assist system control children trolley with movable range unit.
First preset value, the second preset value and the 3rd preset value can be set in advance according to being actually needed with user's use habit
It is fixed.
When the person of being followed, which turns left, to walk, the position of movable range unit is worked as L1 ' and is less than with the person's of being followed left-hand rotation movement
L1 and difference are more than the first preset value 20cm, and L2 ' is more than L2 and L2 ' and L2 difference more than the second preset value 20cm, it is described with
Turned to the left with the position of movable range unit with power auxiliary control system children trolley, then follow power assist system control
Children trolley processed is turned to the left with the position of movable range unit.
When the person of being followed, which turns right, to walk, the position of movable range unit works as L1 ' and is more than L1 with follower's left-hand rotation movement
And L1 ' and L1 difference is more than the first preset value 20cm, L2 ' is less than L2 and L2 ' and L2 difference is more than the second preset value
20cm, then power assist system is followed to control children trolley as the position of movable range unit bends to right.
If the height of the 3rd fixation range unit is higher than movable range unit when children trolley is in initial position, work as quilt
Follower go downstairs or from level road go down abrupt slope when, the position of movable range unit moves down with the person of being followed, and works as L3 '
It is more than the 3rd preset value 20cm more than L3 and L3 ' and L3 difference, then follows power assist system control children trolley to stop；When
The person of being followed goes upstairs when either going on abrupt slope or the upper barrier in station from level road, and the position of movable range unit is with being followed
Person moves up, and the difference for working as L3 ' less than L3 and L3 ' and L3 is more than the 3rd preset value 20cm, then follows power assist system control
Children trolley processed stops.
If the height of the 3rd fixation range unit is less than movable range unit when children trolley is in initial position, work as quilt
Follower go downstairs or from level road go down abrupt slope when, the position of movable range unit moves down with the person of being followed, and works as L3 '
It is more than the 3rd preset value 20cm less than L3 and L3 ' and L3 difference, then follows power assist system control children trolley to stop；When
The person of being followed goes upstairs when either going on abrupt slope or the upper barrier in station from level road, and the position of movable range unit is with being followed
Person moves up, and the difference for working as L3 ' more than L3 and L3 ' and L3 is more than the 3rd preset value 20cm, then follows power assist system control
Children trolley processed stops.
By adopting the above-described technical solution, the utility model follow automatically children trolley movable range unit with by with
When being moved with person, when the person of being followed turns, children trolley can be turned in time, the abrupt slope above and below the person of being followed
Or when barrier, children trolley can stop in time, avoid the danger to collide.Compared to prior art, sheet
Utility model can judge the motion state for the person of being followed exactly, make in time and follow action or stop avoiding danger,
The problem of children trolley can not stop above and below the person of being followed during abrupt slope in the prior art is overcome, use is safer.
Brief description of the drawings
Fig. 1 is the automatic use state stereogram for following children trolley of embodiment one.
Fig. 2 is that the automatic of embodiment one follows children trolley when the person of being followed advances along straight line between the person of being followed
Apart from schematic diagram.
Fig. 3 be embodiment one it is automatic follow children trolley the person of being followed along when turning left to advance between the person of being followed
Apart from schematic diagram.
Fig. 4 is that the automatic of embodiment one follows children trolley when the person of being followed advances along right-hand rotation between the person of being followed
Apart from schematic diagram.
Fig. 5 is that the automatic of embodiment one follows children trolley when the person of being followed advances along level road between the person of being followed
Apart from schematic diagram.
Fig. 6 is that the automatic of embodiment one follows distance of the children trolley at abrupt slope on the person of being followed between the person of being followed
Schematic diagram.
Fig. 7 is that the automatic of embodiment one follows distance of the children trolley under the person of being followed during abrupt slope between the person of being followed
Schematic diagram.
Embodiment
The utility model preferred embodiment is described in detail below in conjunction with the accompanying drawings.
Embodiment one
Referring to Fig. 1 to 7, it is a kind of it is automatic follow children trolley 1, including stroller frame 10, installed in the bottom of stroller frame 10
Vehicle wheel component, for follow automatically children trolley 1 provide follow following power assist system, being followed for being arranged on for power
On person 2 with the person of being followed 2 move movable range unit 100, in stroller frame 10 respectively with movable range unit
100 coordinate at least three of ranging to fix range unit.
In the present embodiment, stroller frame 10 has left front wheel support 11, installed in the left front of the left front bottom of wheel support 11
Wheel 12, left back wheel support 13, the left rear wheel 14 installed in the left back bottom of wheel support 13, off-front wheel support 15, installed in off-front wheel
The off-front wheel 16 of the bottom of support 15, off hind wheel support 17, the off hind wheel 18 installed in the bottom of off hind wheel support 17, be connected to it is left front
Pulling handle rod 19 between wheel support 11 and the upper end of off-front wheel support 15.
Wherein, at least three fixations range unit includes the first fixation fixation range unit of range unit 200, second
300 and the 3rd fix range unit 400.First fixation range unit 200 coordinates monitoring first in real time with movable range unit 100
The first distance L1 ' between fixed range unit 200 and movable range unit 100, first fixes range unit in the present embodiment
200 are arranged on the bottom of left front wheel support 11.Second fixation range unit 300 coordinates real-time monitoring with movable range unit 100
The second second distance L2 ' fixed between range unit 300 and movable range unit 100, second fixes ranging in the present embodiment
Device 300 is arranged on the bottom of off-front wheel support 15.In order that first fixes the fixation range unit 300 of range unit 200, second
And movable range unit 100 forms triangular arrangement, second, which fixes range unit 300 and first, fixes range unit 200 in water
Square upward distance L is greater than zero, and first fixes range unit 200 and second and fix range unit 300 among the present embodiment
It is located at the left and right sides of stroller frame 10 respectively, and in same level height.3rd fixes range unit 400 surveys with activity
Coordinate the 3rd distance L3 ' that monitoring the 3rd is fixed between range unit 400 and movable range unit 100 in real time away from device 10.
As shown in figure 1, after movable range unit 100 is placed on the person of being followed 2, movable range unit 100 is preset
The distance between range unit 200, which is fixed, with first fixes ranging for the first pre-determined distance L1, movable range unit 100 and second
The distance between device 300 is the second pre-determined distance L2, and movable range unit 100 and the 3rd is fixed between range unit 400
Pre-determined distance is the 3rd pre-determined distance L3, and now children trolley 1 is in initial position.
It is described follow power assist system according to described at least three fix range units respectively with movable range unit 100
The each distance controlling monitored in real time is coordinated to follow children trolley 1 to follow the position of movable range unit 100 to advance, turn automatically
Or stop.Specifically, in the present embodiment, it is described follow power assist system according to the first distance L1 ' monitored in real time and
The automatic position straight line for following children trolley 1 to follow movable range unit 100 of second distance L2 ' controls is advanced or turned, together
Shi Suoshu follows power assist system to follow children trolley 1 to follow activity ranging to fill according to the 3rd distance L3 ' controls are automatic
Advance or stop in the position for putting 100.
It is described to follow power assist system also to include control device 3 and the automatic driving for following children trolley 1 to move of driving
Device 4, first fix range unit 200, second fix range unit 300 and the 3rd fix range unit 400 respectively with control
Device 3 is connected.Reception activity range unit 100 and first fixes range unit 200 coordinates feedback the to control device 3 respectively
One distance signal, movable range unit 100 and second fix range unit 300 and coordinate the second distance signal of feedback and activity to survey
Coordinate the 3rd distance signal fed back away from the fixation range unit 400 of device 100 and the 3rd and feedback control signal is to drive device
4, the control signal driving that drive device 4 is fed back according to control device 3 follows children trolley 1 to follow movable range unit automatically
Advance, turn or stop in 100 position.Drive device 4 is connected with the vehicle wheel component of stroller frame 10, specifically, driving dress
Putting 4 includes motor and course changing control mechanism, and for driving stroller to advance or retreating, and driving stroller or so is turned.
Control device 3 is according to the first distance signal, second distance signal and the 3rd distance signal feedback control signal of reception to driving
Device 4, drive device 4 is set to make advance, retrogressing, left-hand rotation, the action turned right or stopped.
In order to realize ranging, one of transmission first of the first fixation range unit 200 and movable range unit 100 is surveyed
Away from signal, another obtains the first distance L1 ' after receiving first distance measuring signal, then movable range unit 100 or the first
First distance signal is sent to control device 3 by fixed range unit 200 by way of wire communication or wireless telecommunications.Equally
Ground, second fixes the distance measuring signal of one of transmission second of range unit 300 and movable range unit 100, another reception
The second distance L2 ' is obtained after second distance measuring signal, then movable range unit 100 or second fixes range unit
Second distance signal is sent to control device 3 by 300 by way of wire communication or wireless telecommunications.Similarly, the 3rd fix
The distance measuring signal of one of transmission the 3rd of range unit 400 and movable range unit 100, another receives the 3rd ranging
The 3rd distance L3 ' is obtained after signal, then movable range unit 100 or the 3rd fix range unit 400 by wire communication or
3rd distance signal is sent to control device 3 by the mode of wireless telecommunications.In the present embodiment, movable range unit 100 is sent out respectively
The first distance measuring signal, the second distance measuring signal and the 3rd distance measuring signal are sent, the first fixation range unit 200 receives first ranging
The first distance L1 ' is obtained after signal and the first distance signal is sent to control device 3, the second fixation range unit 300 receives
The second distance L2 ' is obtained after second distance measuring signal and second distance signal is sent to control device 3, the 3rd fixes
Range unit 400 obtains the 3rd distance L3 ' after receiving the 3rd distance measuring signal and the 3rd distance signal is sent into control
Device 3 processed.
As shown in Fig. 2 when the person of being followed 2 is in straight line moving on level road, the position of movable range unit 100 with
The person of being followed 2 moves, and L1 ', L2 ' and L3 ' change in default excursion, and L1 ' default excursion is in the present embodiment
L1 ± 20cm, L1 ' and L1 permission maximum difference be the first preset value, the first preset value is ± 20cm in the present embodiment, L2's '
Default excursion is that L2 ± 20cm, L2 ' and L2 permission maximum difference are the second preset value, the second preset value in the present embodiment
For ± 20cm, L3 ' default excursion is that L3 ± 20cm, L3 ' and L3 permission maximum difference are the 3rd preset value, this implementation
The 3rd preset value is ± 20cm in example, then follows power assist system control is automatic to follow children trolley 1 to be filled with activity ranging
Put 100 position also straight line traveling.
As shown in figure 3, when the person of being followed 2 turns left and walked, the position of movable range unit 100 is with the person's of being followed left-hand rotation
Mobile, the real-time range L1 ' that movable range unit 100 and first is fixed between range unit 200 is less than L1 and both differences surpass
The first preset value is crossed, the real-time range L2 ' that movable range unit 100 and second is fixed between range unit 300 is more than L2 and two
Person's difference has exceeded the second preset value, then follows power assist system control is automatic to follow children trolley 1 to be filled with activity ranging
Turn to the left the position for putting 100.
As shown in figure 4, when the person of being followed 2 turns right and walked, the position of movable range unit 100 is with the person's of being followed left-hand rotation
Mobile, the real-time range L1 ' that movable range unit 100 and first is fixed between range unit 200 is more than L1 and activity ranging fills
The real-time range L2 ' put between the second fixation range unit 300 is less than L2, and after being above default excursion, then with
Children trolley 1 is followed to be bent to right with the position of movable range unit 100 automatically with power auxiliary control system.
As shown in figures 2 and 5, when the person of being followed 2 is walking on level road, the position of movable range unit 100 with
The person of being followed 2 moves, and L1 ' and L2 ' change in default excursion, and L3 ' also changes in default excursion, for example this reality
The default excursion for applying L3 ' in example is L3 ± 20cm, then follow power assist system control it is automatic follow children trolley 1 with
Also level road straight line is advanced for the position of movable range unit 100.
The height of the 3rd fixation range unit 400 is higher than movable range unit when if children trolley is in initial position
100, as shown in fig. 6, when the person of being followed 2 goes upstairs and either goes on abrupt slope or station above barrier from level road, activity ranging dress
100 position is put as the person of being followed 2 moves up, the reality that movable range unit 100 and the 3rd is fixed between range unit 400
When distance L3 ' be less than L3 and difference is more than the 3rd preset value 20cm, then follow power assist system control children trolley to stop, it is silent
Recognize dangerous；As shown in fig. 7, when the person of being followed 2 goes downstairs or goes down abrupt slope from level road, the position of movable range unit 100
Put as the person of being followed 2 moves down, the real-time range L3 ' that movable range unit 100 and the 3rd is fixed between range unit 400
It is more than the 3rd preset value 20cm more than L3 and difference, then follows power assist system control to follow children trolley 2 to stop automatically, write from memory
Recognize dangerous.
On the contrary, the 3rd height for fixing range unit 400 is surveyed less than activity when if children trolley is in initial position
Away from device 100, when the person of being followed 2 goes downstairs or goes down abrupt slope from level road, the position of movable range unit 100 with by with
Moved down with person 2, the real-time range L3 ' that movable range unit 100 and the 3rd is fixed between range unit 400 is less than L3 and difference
Value is more than the 3rd preset value 20cm, then follows power assist system control to follow children trolley to stop automatically, acquiescence is dangerous；When
The person of being followed 2 goes upstairs when either going on abrupt slope or the upper barrier in station from level road, and the position of movable range unit 100 is with quilt
Follower 2 moves up, the real-time range L3 ' that movable range unit 100 and the 3rd is fixed between range unit 400 be more than L3 and
Difference is more than the 3rd preset value 20cm, then follows power assist system control to follow children trolley 1 to stop automatically, acquiescence has danger
Danger.
The present embodiment it is automatic follow children trolley by obtain spatially between the person of being followed it is multiple in real time away from
From, judge the person of being followed be straight line moving, left-hand rotation, right-hand rotation, on abrupt slope or lower abrupt slope, so as to make exactly follow it is straight
Row, follow left-hand rotation, follow the action turned right or stopped, making to follow the operation of children trolley safer automatically.
Embodiment two
The automatic of the present embodiment follows that the structure of children trolley and embodiment one are essentially identical, and difference is：The present embodiment
In, fix range unit 200 by first and send the first distance measuring signal, fixing range unit 300 by second sends the second survey
Away from signal, fix range unit 400 by the 3rd and send the 3rd distance measuring signal, movable range unit 100 receives described the respectively
After one distance measuring signal, second distance measuring signal and the 3rd distance measuring signal, the first distance L1 ', second distance are obtained respectively
L2 ' and the 3rd distance L3 ' and by the first distance signal, second distance signal and the 3rd distance signal by way of wireless telecommunications
It is sent to control device 3.
Embodiment three
The automatic of the present embodiment follows that the structure of children trolley and embodiment one are essentially identical, and difference is：Pass through activity
Range unit 100 sends the first distance measuring signal, the second distance measuring signal and the 3rd distance measuring signal simultaneously, and receives to be fixed by first and survey
The first distance L1 ' is obtained after first distance measuring signal fed back away from device 200, movable range unit 100 is again by the first distance
Signal is wirelessly sent to control device 3；Meanwhile movable range unit 100 receives the institute fed back by the second fixation range unit 300
The second distance L2 ' is obtained after stating the second distance measuring signal, second distance signal is wirelessly sent to by movable range unit 100 again
Control device 3；Meanwhile movable range unit 100 receives the 3rd distance measuring signal fed back by the 3rd fixation range unit 400
After obtain the 3rd distance L3 ', the 3rd distance signal is wirelessly sent to control device 3 by movable range unit 100 again.One
In a little embodiments, movable range unit 100 can directly electrically connect or connected by wireless telecommunications with control device 3
Connect.
Example IV
The automatic of the present embodiment follows that the structure of children trolley and embodiment one are essentially identical, and difference is：In this implementation
In example, the first fixation range unit 200 sends the first distance measuring signal and receives described first fed back by movable range unit 100
The first distance L1 ' is obtained after distance measuring signal, then the first distance signal is sent to control by the first fixation range unit 200
Device 3；Second fixation range unit 300 sends the second distance measuring signal and receives described the fed back by movable range unit 100
Second distance L2 ' is obtained after two distance measuring signals, then second distance signal is sent to control dress by the second fixation range unit 300
Put 3；3rd fixation range unit 400 sends the 3rd distance measuring signal and receives the described 3rd fed back by movable range unit 100
The 3rd distance L3 ' is obtained after distance measuring signal, then the 3rd distance signal is sent to control device by the 3rd fixation range unit 400
3。
For above-described embodiment only to illustrate technical concepts and features of the present utility model, its object is to allow be familiar with technique
Personage can understand content of the present utility model and implement according to this, the scope of protection of the utility model can not be limited with this,
All equivalent change or modifications made according to Spirit Essence of the present utility model, should all cover in the scope of protection of the utility model
Within.
Claims (10)
- Follow children trolley 1. a kind of automatic, including stroller frame, the vehicle wheel component installed in the stroller frame bottom, for institute State it is automatic follow children trolley provide follow power follow power assist system, it is characterised in that：It is described to follow power assist system to include being used to be arranged on the activity ranging moved with the person of being followed on the person of being followed Device, at least three of ranging is coordinated to fix ranging dress with the movable range unit respectively in the stroller frame Put, at least three fixations range unit includes：First fixes range unit, and it coordinates with the movable range unit monitors the first fixation range unit and institute in real time State the first distance between movable range unit；Second fixes range unit, and it coordinates with the movable range unit monitors the second fixation range unit and institute in real time The second distance between movable range unit is stated, described second fixes range unit fixes range unit in level with described first Distance on direction is more than zero；3rd fixes range unit, and it coordinates with the movable range unit monitors the 3rd fixation range unit and institute in real time State the 3rd distance between movable range unit；It is described to follow power assist system to be matched somebody with somebody respectively with the movable range unit according to described at least three fixation range units Close and follow children trolley to follow the position of the movable range unit to advance automatically described in each distance controlling monitored in real time, turn Curved or stopping.
- 2. one kind according to claim 1 follows children trolley automatically, it is characterised in that：It is described to follow power assist system According to first distance and second distance the control automatic position for following children trolley to follow the movable range unit Straight line is advanced or turned, while described follows power assist system to follow children automatically according to the 3rd distance controlling Stroller follows the position of the movable range unit to advance or stop.
- 3. one kind according to claim 1 or 2 follows children trolley automatically, it is characterised in that：Described first fixes ranging The distance measuring signal of one of transmission first of device and the movable range unit, after another receives first distance measuring signal Obtain first distance；Described second fixes the ranging of one of transmission second of range unit and the movable range unit Signal, another obtains the second distance after receiving second distance measuring signal；It is described 3rd fix range unit with it is described The distance measuring signal of one of transmission the 3rd of movable range unit, another, which is received, obtains described the after described 3rd distance measuring signal Three distances.
- 4. one kind according to claim 3 follows children trolley automatically, it is characterised in that：The movable range unit difference The first distance measuring signal, the second distance measuring signal and the 3rd distance measuring signal are sent, described first, which fixes range unit, receives described first Obtain first distance after distance measuring signal, described second fixes described in range unit receives and obtain after second distance measuring signal Second distance, the 3rd fixation range unit obtain the 3rd distance after receiving the 3rd distance measuring signal.
- 5. one kind according to claim 1 or 2 follows children trolley automatically, it is characterised in that：The movable range unit Send the first distance measuring signal and receive as described in being obtained after the described first first distance measuring signal for fixing range unit feedback First distance；The movable range unit sends the second distance measuring signal and received by the described second institute for fixing range unit feedback The second distance is obtained after stating the second distance measuring signal；The movable range unit sends the 3rd distance measuring signal and received by described The 3rd distance is obtained after the 3rd distance measuring signal of 3rd fixation range unit feedback.
- 6. one kind according to claim 1 or 2 follows children trolley automatically, it is characterised in that：Described first fixes ranging Device sends the first distance measuring signal and received as described in being obtained after first distance measuring signal of the movable range unit feedback First distance；Described second, which fixes range unit, sends the second distance measuring signal and receives by the institute of the movable range unit feedback The second distance is obtained after stating the second distance measuring signal；It is described 3rd fix range unit send the 3rd distance measuring signal and receive by The 3rd distance is obtained after the 3rd distance measuring signal of the movable range unit feedback.
- 7. one kind according to claim 1 follows children trolley automatically, it is characterised in that：It is described to follow power assist system Also including control device and the automatic drive device for following children trolley to move is driven, the first fixation range unit, The second fixation range unit and the 3rd fixation range unit are connected with the control device respectively, the control dress Put the first distance signal for receiving the movable range unit and the first fixation range unit cooperation feedback respectively, the work Dynamic range unit and described second fixes second distance signal and the movable range unit and institute that range unit coordinates feedback State the 3rd distance signal of the 3rd fixation range unit cooperation feedback and feedback control signal is to the drive device, the driving The driving of control signal that device feeds back according to the control device is described automatic to follow children trolley to follow the activity ranging to fill Advance, turn or stop in the position put.
- 8. one kind according to claim 1 or 2 follows children trolley automatically, it is characterised in that：Described first fixes ranging Device and the second fixation range unit are arranged in same level height.
- 9. one kind according to claim 1 or 2 follows children trolley automatically, it is characterised in that：Described 3rd fixes ranging The level height of device fixes range unit and described second higher or lower than described first and fixes the level height of range unit.
- 10. one kind according to claim 1 follows children trolley automatically, it is characterised in that：The movable range unit with The distance between first fixation range unit is the first pre-determined distance L1, and movable range unit and second are fixed between range unit Distance be the second pre-determined distance L2, movable range unit and the 3rd pre-determined distance fixed between range unit are default for the 3rd Distance L3；When it is described it is automatic follow children trolley to be advanced in straight line on level land when, the movable range unit is fixed with described first and surveyed It is the first preset value away from the permission maximum difference that the real-time range between device is L1 ', L1 ' and L1, the movable range unit Real-time range between the described second fixation range unit is that L2 ', L2 ' and L2 permission maximum difference are the second preset value, Real-time range between the movable range unit and the 3rd fixation range unit is that L3 ', L3 ' and L3 permission are maximum poor It is worth for the 3rd preset value；Working as L1 ' and be more than the first preset value less than L1 and difference, L2 ' is more than L2 and L2 ' and L2 difference is more than the second preset value, It is then described to follow power assist system control children trolley to be turned to the left with the position of movable range unit；Work as L1 ' and be more than L1 And L1 ' and L1 difference is more than the first preset value, L2 ' is less than L2 and L2 ' and L2 difference is more than the second preset value, then described Power assist system control children trolley is followed to bend to right；It is default more than the 3rd more than L3 and L3 ' and L3 difference to work as L3 ' Value, or L3 ' is less than L3 and L3 ' and L3 difference is more than the 3rd preset value, then it is described to follow power assist system control children to push away Car stops；Otherwise, it is described to follow power assist system control children trolley to continue to keep straight on.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2016214618377 | 2016-12-29 | ||
| CN201621461837 | 2016-12-29 |
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| CN206734379U true CN206734379U (en) | 2017-12-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720067394.1U Active CN206734379U (en) | 2016-12-29 | 2017-01-19 | Automatically children trolley is followed |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108127647A (en) * | 2018-02-13 | 2018-06-08 | 中山市沃倍特智能医疗机器人股份有限公司 | Long continuation of the journey and light-weighted intelligent exoskeleton robot |
| CN108454457A (en) * | 2018-01-17 | 2018-08-28 | 常州速派奇车业有限公司 | The control method and device of electric vehicle |
-
2017
- 2017-01-19 CN CN201720067394.1U patent/CN206734379U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108454457A (en) * | 2018-01-17 | 2018-08-28 | 常州速派奇车业有限公司 | The control method and device of electric vehicle |
| CN108127647A (en) * | 2018-02-13 | 2018-06-08 | 中山市沃倍特智能医疗机器人股份有限公司 | Long continuation of the journey and light-weighted intelligent exoskeleton robot |
| CN108127647B (en) * | 2018-02-13 | 2024-06-07 | 中山市沃倍特智能医疗器械股份有限公司 | Long-endurance and light-weight intelligent exoskeleton robot |
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