阅读说明：本技术 一种基于物联网的智能控制婴儿车 (Intelligent control perambulator based on thing networking ) 是由 张小亮 孙益博 方勇刚 尤鹏鹏 于 2021-02-02 设计创作，主要内容包括：本发明提供了一种基于物联网的智能控制婴儿车,属于智能婴儿车技术领域,用于解决婴儿车缺少多种操作模式智能遛娃,不能与外部设备的互联及操控的问题。包括婴儿车体,婴儿车体下端后侧设有两个对称的差速运动的驱动机构,驱动机构包括驱动电机和驱动轮,驱动轮固定在驱动电机的输出轴上,婴儿车体下端前侧设有带刹万向轮,婴儿车体上设有电源开关、模式按钮、控制盒和若干距离传感器,控制盒内部设有陀螺仪、磁力计、直流锂电池、蓝牙模块、电机驱动模块和控制主板；本发明操控简单易收纳,实现驱动轮差速运动,可在小空间内进行多种操作模式遛娃,室内室外均适用,适用范围广,能检测、校正当婴儿车方向,能与外部设备的互联。(The invention provides an intelligent control baby carriage based on the Internet of things, belongs to the technical field of intelligent baby carriages, and is used for solving the problems that the baby carriage lacks multiple operation modes and is intelligent to walk a baby, and cannot be interconnected with and controlled by external equipment. The baby carriage comprises a baby carriage body, two symmetrical driving mechanisms with differential motion are arranged on the rear side of the lower end of the baby carriage body, each driving mechanism comprises a driving motor and a driving wheel, each driving wheel is fixed on an output shaft of the corresponding driving motor, a universal wheel with a brake is arranged on the front side of the lower end of the baby carriage body, a power switch, a mode button, a control box and a plurality of distance sensors are arranged on the baby carriage body, and a gyroscope, a magnetometer, a direct-current lithium battery, a Bluetooth module, a motor driving module and a control mainboard are arranged in the; the baby strolling vehicle is simple to operate and control and easy to store, differential motion of the driving wheels is achieved, the baby strolling vehicle can walk in multiple operation modes in a small space, the baby strolling vehicle is suitable for indoor and outdoor use, the application range is wide, the direction of the baby strolling vehicle can be detected and corrected, and the baby strolling vehicle can be interconnected with external equipment.)

1. An intelligent control baby carriage based on the Internet of things comprises a baby carriage body and is characterized in that two symmetrical driving mechanisms (16) with differential motion are arranged on the rear side of the lower end of the baby carriage body, each driving mechanism (16) comprises a driving motor (16 a) and a driving wheel (16 f), each driving wheel (16 f) is fixed on an output shaft of the corresponding driving motor (16 a), a universal wheel (3) with a brake is arranged on the front side of the lower end of the baby carriage body, a power switch (11), a mode button (12), a control box (18) and a plurality of distance sensors (5) are arranged on the baby carriage body, a gyroscope, a direct-current lithium battery, a Bluetooth module, a motor driving module and a control mainboard are arranged inside the control box (18), and a magnetometer is electrically connected with the power switch (11), the mode button (12), the distance sensors (5), the gyroscope, the magnetometer and the motor driving module respectively, the motor driving module is electrically connected with a driving motor (16 a), and the Bluetooth module is wirelessly and electrically connected with external mobile equipment.

2. The intelligent control baby carriage based on the internet of things is characterized in that the control main board is a main control chip which is responsible for logic control of all modules, the main control chip has a strolling mode, an indoor playing mode, an outgoing straight-going car mode and a manual control mode, the power switch (11) is a metal self-locking switch with a lamp, the mode button (12) is a microswitch, the driving motor (16 a) is a direct-current speed reducing motor, and the distance sensor (5) is an ultrasonic distance measuring sensor.

3. The intelligent control baby carriage based on the Internet of things as claimed in claim 1, the baby carriage body comprises two symmetrical rear rods (1) and two symmetrical front rods (2), and the upper ends of the rear rod (1) and the front rod (2) at the same side are hinged together, a rear push rod (8) is arranged between the two rear rods (1), the rear push rod (8) is U-shaped, two symmetrical connecting box frames (14) are fixed in the middle of the rear push rod (8), two symmetrical gear adjusting box frames (15) are fixed on two sides of the lower end of the rear push rod (8), a folding frame (7) is arranged between the two connecting box frames (14) and between the two gear adjusting box frames (15), a rotatable sunshade rod (19) is arranged between the two connecting box frames (14), a front cross rod (4) is arranged between the two front rods (2), and a lower support rod (6) is arranged between the front cross rod (4) and the rear push rod (8).

4. The intelligent baby carriage for walking a baby automatically according to claim 1, wherein distance sensors are arranged on the front side and the left and right sides of the baby carriage body.

5. The intelligent baby carriage for walking babies automatically as claimed in claim 4, wherein the number of the distance sensors (5) is six, two distance sensors are arranged on the front side of the front cross bar (4), one distance sensor is arranged on each of the left and right sides of the front cross bar (4), the two distance sensors (5) on the front side are respectively right in front of and right above the front side, two distance sensors are arranged on the folding frame (7), and the two distance sensors (5) are respectively right in front of and right above the front side.

6. The intelligent control baby carriage based on the Internet of things is characterized in that a power switch (11) and a mode button (12) are fixed to the upper end of a rear push rod (8), a multicolor LED lamp (13) and two identification areas (10) are further arranged on the upper end of the rear push rod (8), the multicolor LED lamp (13) is electrically connected with a control main board, the two identification areas (10) are respectively located on the outer sides of the power switch (11) and the mode button (12), and a sponge sleeve (9) is arranged at the bent position of the rear push rod (8).

7. The intelligent control baby carriage based on the Internet of things is characterized in that a mounting rod (17) is fixed on the lower support rod (6), two buckles are fixed at the lower end of the control box (18), and the two buckles are respectively buckled at the upper ends of the lower support rod (6) and the mounting rod (17).

8. The intelligent control baby carriage based on the Internet of things is characterized in that the driving mechanism (16) further comprises a motor mounting box (16 b) and a mounting frame (16 d), the mounting frame (16 d) is fixed to the lower end of the rear rod (1), the motor mounting box (16 b) is fixed to the inner side of the mounting frame (16 d), a first through hole (16 c) is formed in the motor mounting box (16 b), a second through hole (16 e) is formed in the mounting frame (16 d), the axle centers of the first through hole (16 c) and the second through hole (16 e) are collinear, the driving motor (16 a) is fixed to the inner portion of the motor mounting box (16 b), an output shaft of the driving motor (16 a) sequentially penetrates through the first through hole (16 c) and the second through hole (16 e), and the driving wheel (16 f) is located on the outer side of the mounting frame (16 d).

Technical Field

The invention belongs to the technical field of intelligent strollers, and relates to an intelligent control stroller based on the Internet of things.

Background

With the development of economy and technology, people pay more and more attention to the infant nursing technology, and a baby carriage becomes one of the indispensable tools for nursing infants; a large amount of intelligent baby carriages appear in the current price section, the function of the common baby carriage is single, and other use requirements of users cannot be met, such as convenience in life and recording of life drip of babies are provided for the baby travelling, and a good environment is provided for the baby travelling.

However, most of the existing intelligent control on the baby carriage is to add various internal sensors to improve the comfort level of the baby and monitor the environmental conditions in the baby carriage in real time, for example, the temperature and humidity sensors in the baby carriage can monitor the environment of the baby in real time, and the condition that the baby bed-wetting can not be found in time is prevented; the pressure sensor can realize the anti-theft alarm function, and the baby can give an alarm in time when leaving the baby carriage under the uncertain condition. The heater can realize portable and quick milk heating.

While the intelligence guarantees the good environment of the baby, the guardian cannot relieve the burden of the child care. How to reduce the burden of a guardian on caring the baby, the baby carriage can walk indoors automatically within a visible range when the guardian is busy with other things, and can also simply and automatically run outdoors, so that the two hands of the guardian are liberated; how to provide various modes for walking the baby provides convenience for the guardian in different scenes; simultaneously, also can carry out mode switch and remote manual control through cell-phone APP to satisfy the function of strolling the baby.

Disclosure of Invention

The invention aims to solve the problems in the prior art, and provides an intelligent control baby carriage based on the Internet of things, which aims to solve the technical problems that: how to realize carrying out intelligence under various different modes and walk the baby to with external equipment interconnection control such as cell-phone.

The purpose of the invention can be realized by the following technical scheme:

the utility model provides an intelligent control perambulator based on thing networking, including the perambulator body, perambulator body lower extreme rear side is equipped with the actuating mechanism of the differential motion of two symmetries, actuating mechanism includes driving motor and drive wheel, the drive wheel is fixed on driving motor's output shaft, perambulator body lower extreme front side is equipped with the area universal wheel of stopping, be equipped with switch on the perambulator body, the mode button, control box and a plurality of distance sensor, the inside gyroscope that is equipped with of control box, the magnetometer, direct current lithium cell, bluetooth module, motor drive module and control mainboard, the control mainboard respectively with switch, the mode button, the distance sensor, the gyroscope, the magnetometer, direct current lithium cell and motor drive module electric connection, motor drive module and driving motor electric connection, bluetooth module and the wireless electric connection of outside mobile device.

The working principle of the invention is as follows: the control mainboard is provided with a plurality of dollying control modes, a power switch is pressed, the device enters a starting state, if any button is not pressed, the control mainboard enters the dollying mode, if the mode needs to be adjusted, the mode button is pressed for a long time, the adjustment mode state is entered at the moment, after the adjustment mode state is entered, the control mainboard still enters the dollying mode within two seconds without pressing the button, the control mainboard presses once, the control mainboard enters an indoor playing mode, the control mainboard presses twice and enters an outgoing straight-going trolley mode, and a direct-current lithium battery provides electric energy for driving a motor to pass through; the walking baby mode is as follows: the control main board sends a signal to the motor driving module, and the motor driving module controls the two driving motors to intermittently switch forward and reverse, so that the driving wheels are controlled to intermittently advance and retreat at a slow speed back and forth, and other electrical elements do not work at the moment; indoor play mode: the control mainboard sends a signal to the motor driving module, the motor driving module controls two driving motors to work simultaneously so as to control the driving wheels to go forward linearly indoors, the magnetometer and the gyroscope detect the current direction of the baby carriage and control the direction of the baby carriage, when the distance sensor senses that a front obstacle is met, the control mainboard sends a signal to the motor driving module, the motor driving module controls the two driving motors to rotate in a differential mode, and the rotating speed of the driving motor on the left side is smaller than that of the driving motor on the right side, namely the driving motor turns 90 degrees leftwards; similarly, when the front and the left meet the obstacle, the vehicle turns 90 degrees to the right; when the front and the right meet the obstacle, the vehicle turns 90 degrees to the left; when the front, the left and the right of the vehicle meet an obstacle or the upper part of the vehicle meets an obstacle, the motor driving module controls the two driving motors to rotate in a differential mode, and 180-degree turning around steering is carried out to avoid collision or entering the bottom of an object; going out and going straight to the trolley mode: control mainboard send signal to motor drive module, two driving motor of motor drive module control keep theoretical rotational speed unanimous, realize advancing at low speed, meet the barrier in distance sensor response the place ahead, control driving motor stop work immediately, if no matter the road is uneven road or stone reason, two driving motor's stroke difference leads to the direction conversion, magnetometer and gyroscope detect the direction that present perambulator was located, can all keep the direction of previous record, the direction of control and correction perambulator.

The device enters a starting state, the Bluetooth module is started at the moment, an external mobile device such as a mobile phone is connected with the Bluetooth module, interconnection between the device and the mobile phone is achieved, the device can be remotely controlled to switch a walking baby mode, an indoor playing mode, an outgoing straight-going trolley mode and a manual control mode after connection, meanwhile, functions such as shutdown and display of the electric quantity of a direct-current lithium battery can be controlled, after the manual control mode is selected, a manual control mode interface is entered, virtual keys such as front-back, left-right, pause, shutdown and return are controlled inside the interface, the mobile phone transmits control information to the Bluetooth module through wireless Bluetooth module, the Bluetooth module transmits the control information to a control mainboard, the control mainboard transmits a signal to a motor driving module, the motor driving module controls two driving motors to work, so that the baby carriage is controlled to go forward, go backward, turn left and right, and the pause, Shutdown and return to the previous interface.

The control mainboard is the main control chip who is responsible for the logic control of each module, and main control chip has walk child mode, indoor mode of playing, the dolly mode of going out to go straight and manually control the mode, and switch is for taking lamp metal self-locking switch, and the mode button is micro-gap switch, and driving motor is DC gear motor, and distance sensor is ultrasonic ranging sensor.

Structure more than adopting, the control mainboard is entire system's main control chip, takes lamp metal self-locking switch perambulator circuit control system's switch, opens the back, takes lamp metal self-locking switch to light, reminds start-up work, and micro-gap switch is the button that mode conversion used, and ultrasonic ranging sensor is responsible for detecting the distance of the barrier directly over, directly in the front, left place ahead, right front to the distance information transmission who will gather is to the control mainboard.

The baby carriage comprises two symmetrical rear rods and two symmetrical front rods, the rear rods on the same side are hinged with the upper ends of the front rods, a rear push rod is arranged between the two rear rods and is U-shaped, two symmetrical connecting box frames are fixed in the middle of the rear push rod, two symmetrical gear adjusting box frames are fixed on two sides of the lower end of the rear push rod, a folding frame is arranged between the two connecting box frames and between the two gear adjusting box frames, a rotatable sunshade rod is arranged between the two connecting box frames, a front transverse rod is arranged between the two front rods, and a lower supporting rod is arranged between the front transverse rod and the rear push rod.

Structure more than adopting, inside the cloth pocket of placing of folding frame, can place the baby inside the cloth pocket, folding frame itself can be folding, and folding frame can keep off height-adjusting and angle between the adjusting box frame with two between the connecting box frame, and the sunshade rod cooperates with folding frame, can place the sunshade curtain cloth, and the universal wheel that stops in the area is located the front side, can the quick adjustment direction, simultaneously, can be when stopping, steps on the brake, avoids the area to stop the universal wheel and rotates, safe and reliable.

Distance sensors are arranged on the front side and the left side and the right side of the baby carriage body.

By adopting the mechanism and the distance sensor, the front, the left side, the right side and the upper side can be monitored, the collision with obstacles is avoided, the objects are prevented from entering the lower part (such as the bottom of a desk or the lower part of a cabinet) of the object, and the safety performance is higher.

Switch and mode button are fixed in back push rod upper end, and back push rod upper end still is equipped with polychrome LED lamp and two identification areas, polychrome LED lamp and control mainboard electric connection, and two identification areas are located switch and mode button's the outside respectively, and the bend of back push rod is equipped with the sponge cover.

Structure more than adopting, switch and mode button are fixed in back push rod upper end, and the person of facilitating the use operates, and the mode state after polychrome LED lamp is used for reminding to get into the adjustment mode state and select, and the lamp colour of identification area record button sign and polychrome LED lamp corresponds with the mode state, and the sponge cover is conveniently held tightly, improves frictional force, and the temperature is suitable.

The lower supporting rod is fixed with an installation rod, the lower end of the control box is fixed with two buckles, and the two buckles are respectively clamped at the upper ends of the lower supporting rod and the installation rod.

Structure more than adopting, control box installation is in branch and installation pole upper end down, and occupation space does not just not influence the folding storage of this device.

The driving mechanism further comprises a motor mounting box and a mounting frame, the mounting frame is fixed to the lower end of the rear rod, the motor mounting box is fixed to the inner side of the mounting frame, a first through hole is formed in the motor mounting box, a second through hole is formed in the mounting frame, the first through hole and the second through hole are collinear in the axis, the driving motor is fixed to the inner portion of the motor mounting box, an output shaft of the driving motor sequentially penetrates through the first through hole and the second through hole, and the driving wheel is located on the outer side.

Structure more than adopting, the mounting bracket is fixed convenient, and motor mounting box internally mounted driving motor protects driving motor, waterproof anticollision, and driving motor's output shaft passes through-hole one and through-hole two in proper order, drives the drive wheel and rotates, and the drive wheel is located the outside of mounting bracket, and the position installation is reasonable, avoids driving motor impaired.

Compared with the prior art, this intelligent control perambulator based on thing networking has following advantage:

through the driving mechanism, the control main board and the motor driving module, differential motion of the driving wheel is realized, functions of advancing, retreating, steering and the like can be completed in a small space, the application range is wide, and the use in different spaces is met; the current direction of the baby carriage is detected and corrected through the cooperation of the gyroscope and the magnetometer, so that the control is convenient; the control main board is provided with a plurality of control mode circuits, different strolling modes can be used for strolling the baby, and the control main board is suitable for both indoor and outdoor use and frees both hands of a guardian; the device is connected with external mobile equipment through the Bluetooth module, so that the switching of the walking baby mode and the entering of a manual operation mode are realized, and the device can be remotely operated to act; the device is simple to control and operate, can be stored and folded, is convenient to transport, and occupies no space for storage.

Drawings

FIG. 1 is a schematic front side three-dimensional structure of the present invention;

FIG. 2 is a rear perspective view of the present invention;

FIG. 3 is an enlarged schematic view of the structure at A in FIG. 2;

FIG. 4 is an exploded view of the drive mechanism of the present invention;

FIG. 5 is a control flow block diagram of the present invention;

FIG. 6 is a control flow block diagram of an external mobile device of the present invention;

FIG. 7 is a block diagram of the electrical control architecture of the present invention;

FIG. 8 is an overall modular layout of the present invention;

in the figure: 1-rear rod, 2-front rod, 3-universal wheel with brake, 4-front cross rod, 5-ultrasonic sensor, 6-lower support rod, 7-folding frame, 8-rear push rod, 9-sponge sleeve, 10-identification area, 11-power switch, 12-mode button, 13-multicolor LED lamp, 14-connecting box frame, 15-gear adjusting box frame, 16-driving mechanism, 16 a-driving motor, 16 b-motor mounting box, 16 c-through hole I, 16 d-mounting frame, 16 e-through hole II, 16 f-driving wheel, 17-mounting rod, 18-control box and 19-sunshade rod.

Detailed Description

The technical solution of the present patent will be described in further detail with reference to the following embodiments.

Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.

In the description of this patent, it is to be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for the convenience of describing the patent and for the simplicity of description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the patent.

In the description of this patent, it is noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can include, for example, fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meaning of the above terms in this patent may be understood by those of ordinary skill in the art as appropriate.

Referring to fig. 1-8, the present embodiment provides an intelligent control stroller based on the internet of things, which includes a stroller body, two symmetrical driving mechanisms 16 with differential motion are disposed on the rear side of the lower end of the stroller body, the driving mechanisms 16 include a driving motor 16a and a driving wheel 16f, the driving wheel 16f is fixed on an output shaft of the driving motor 16a, a universal wheel 3 with a brake is disposed on the front side of the lower end of the stroller body, a power switch 11, a mode button 12, a control box 18 and a plurality of distance sensors 5 are disposed on the stroller body, a gyroscope, a magnetometer, a direct current lithium battery, a bluetooth module, a motor driving module and a control mainboard are disposed in the control box 18, the control mainboard is respectively electrically connected with the power switch 11, the mode button 12, the distance sensors 5, the gyroscope, the magnetometer, the direct current lithium battery and the motor driving module, the motor driving module is electrically, the Bluetooth module is in wireless electrical connection with external mobile equipment;

the control mainboard is provided with a plurality of dollying control modes, a power switch 11 is pressed, the device enters a starting state, if any button is not pressed, the control mainboard enters the dollying mode, if the mode needs to be adjusted, a mode button 12 is pressed for a long time, the device enters an adjustment mode state at the moment, after the adjustment mode state is entered, the device still enters the dollying mode without pressing the button within two seconds, the device enters an indoor playing mode after being pressed once, the device enters an outdoor straight-going trolley mode after being pressed twice, and a direct-current lithium battery provides electric energy for driving a motor 16 a; the walking baby mode is as follows: the control main board sends a signal to the motor driving module, and the motor driving module controls the two driving motors 16a to intermittently switch forward and reverse, so that the driving wheels 16f are controlled to intermittently advance and retreat back and forth at a slow speed, and other electrical elements do not work at the moment; indoor play mode: the control mainboard sends a signal to the motor driving module, the motor driving module controls two driving motors 16a to work simultaneously, so that the driving wheels 16f are controlled to go forwards linearly indoors, the magnetometer and the gyroscope detect the current direction of the baby carriage, the direction of the baby carriage is controlled, when the distance sensor 5 senses that a front obstacle is met, the control mainboard sends a signal to the motor driving module, the motor driving module controls the two driving motors 16a to rotate in a differential mode, and the rotating speed of the driving motor 16a on the left side is smaller than that of the driving motor 16a on the right side, namely the baby carriage turns 90 degrees leftwards; similarly, when the front and the left meet the obstacle, the vehicle turns 90 degrees to the right; when the front and the right meet the obstacle, the vehicle turns 90 degrees to the left; when the front, the left and the right of the vehicle meet an obstacle or the upper part of the vehicle meets an obstacle, the motor driving module controls the two driving motors 16a to rotate in a differential speed manner, so that the vehicle can turn around for 180 degrees and avoid collision or enter the bottom of an object; going out and going straight to the trolley mode: the control mainboard sends a signal to the motor driving module, the motor driving module controls the two driving motors 16a to keep the theoretical rotating speeds consistent, low-speed forward is achieved, when the distance sensor 5 senses that a front obstacle is encountered, the driving motors 16a are immediately controlled to stop working, if the road is an uneven road or a stone reason, the strokes of the two driving motors 16a are different, direction change is caused, the magnetometer and the gyroscope can keep the previously recorded direction when detecting the current direction of the baby carriage, and the direction of the baby carriage is controlled and corrected;

the device enters a starting state when a power switch 11 is pressed, a Bluetooth module is started, an external mobile device such as a mobile phone APP is connected with the Bluetooth module to realize the interconnection of the device and the mobile phone, the remote control switching of a strolling mode, an indoor playing mode, an outgoing straight trolley mode and a manual control mode can be realized after the connection, the functions of shutdown, displaying the electric quantity of a direct current lithium battery and the like can be controlled simultaneously, after the manual control mode is selected, the APP enters a manual control mode interface, virtual keys such as front, back, left and right, pause, shutdown, return and the like in the interface are controlled, the mobile phone APP transmits control information to the Bluetooth module through wireless Bluetooth, the Bluetooth module transmits the control information to a control mainboard, the control mainboard sends a signal to a motor driving module, the motor driving module controls two driving motors 16a to work, thereby controlling the advancing, backing, left and right steering of the baby, meanwhile, the system can control pause, shutdown and return to the previous interface.

The control main board is a main control chip responsible for logic control of each module, the main control chip has a strolling mode, an indoor playing mode, an outgoing straight trolley mode and a manual control mode, the power switch 11 is a metal self-locking switch with a lamp, the mode button 12 is a microswitch, the driving motor 16a is a direct current speed reducing motor, and the distance sensor 5 is an ultrasonic ranging sensor; the control mainboard is entire system's main control chip, takes lamp metal self-locking switch perambulator circuit control system's switch, opens the back, takes lamp metal self-locking switch to light, reminds start-up work, and micro-gap switch is the button that mode conversion used, and ultrasonic ranging sensor is responsible for detecting the distance of the barrier directly over, directly in the place ahead, left place ahead, right front to the distance information transmission who will gather is to the control mainboard.

The baby carriage body comprises two symmetrical rear rods 1 and two symmetrical front rods 2, the upper ends of the rear rods 1 and the upper ends of the front rods 2 at the same side are hinged together, a rear push rod 8 is arranged between the two rear rods 1, the rear push rod 8 is U-shaped, two symmetrical connecting box frames 14 are fixed in the middle of the rear push rod 8, two symmetrical gear adjusting box frames 15 are fixed on two sides of the lower end of the rear push rod 8, a folding frame 7 is arranged between the two connecting box frames 14 and between the two gear adjusting box frames 15, a rotatable sun-shading rod 19 is arranged between the two connecting box frames 14, a front cross rod 4 is arranged between the two front rods 2, in the embodiment, the number of universal wheels 3 with brakes is two, the two universal wheels 3 with brakes are respectively fixed at the lower ends of the two front rods 2, and a lower support rod 6 is arranged between the front cross rod 4 and the rear push rod 8, in the embodiment;

the inside pocket of placing of folding frame 7, can place the inside pocket of cloth with the baby, folding frame 7 itself can be folded, and folding frame 7 can be between connecting box frame 14 and two keep off position adjusting box frame 15 between height-adjusting and angle, sunshade rod 19 and folding frame 7 cooperation, can place the sunshade curtain cloth, the universal wheel 3 that stops in the area is located the front side, can the quick adjustment direction, and simultaneously, can be when stopping, the brake is stepped on, avoid the universal wheel 3 that stops in the area to rotate, safety and reliability, distance sensor 5, detectable the place ahead, left and right sides and top, avoid colliding the barrier, also avoid getting into the lower part of object (like desk bottom or cupboard lower part), the security performance is higher.

Distance sensors are arranged on the front side and the left side and the right side of the baby carriage body;

in this embodiment, the number of the distance sensors 5 is six, two distance sensors are arranged on the front side of the front cross rod 4, one distance sensor is arranged on each of the left side and the right side of the front cross rod 4, the two distance sensors 5 on the front side are respectively right in front of and right above the front cross rod, two distance sensors are arranged on the folding frame 7, and the two distance sensors 5 are respectively right in front of and right above the front cross rod; the distance sensor 5 can detect the front, the left side, the right side and the upper side, avoid colliding with barriers and also avoid entering the lower part of an object (such as the bottom of a table or the lower part of a cabinet), and has higher safety performance.

The power switch 11 and the mode button 12 are fixed at the upper end of the rear push rod 8, the upper end of the rear push rod 8 is also provided with a multicolor LED lamp 13 and two identification areas 10, the multicolor LED lamp 13 is electrically connected with the control mainboard, the two identification areas 10 are respectively positioned at the outer sides of the power switch 11 and the mode button 12, and the bent part of the rear push rod 8 is provided with a sponge sleeve 9;

switch 11 and mode button 12 are fixed in 8 upper ends on the back push rod, and the person of facilitating the use operates, and polychrome LED lamp 13 is used for reminding the mode state after getting into adjustment mode state and selection, and the mode state that the lamp colour of zone 10 record button sign and polychrome LED lamp 13 corresponds, and sponge cover 9 conveniently holds tightly, improves frictional force, and the temperature is suitable.

In this embodiment, the lower support rod 6 is U-shaped, the mounting rod 17 is fixed on the lower support rod 6, and the lower end of the control box 18 is fixed with two buckles which are respectively clamped at the upper ends of the lower support rod 6 and the mounting rod 17; the control box 18 is arranged at the upper ends of the lower support rod 6 and the mounting rod 17, does not occupy space and does not influence the folding and containing of the device.

The driving mechanism 16 further comprises a motor mounting box 16b and a mounting frame 16d, the mounting frame 16d is fixed at the lower end of the rear rod 1, the motor mounting box 16b is fixed on the inner side of the mounting frame 16d, a first through hole 16c is formed in the motor mounting box 16b, a second through hole 16e is formed in the mounting frame 16d, the axle centers of the first through hole 16c and the second through hole 16e are collinear, the driving motor 16a is fixed inside the motor mounting box 16b, an output shaft of the driving motor 16a sequentially penetrates through the first through hole 16c and the second through hole 16e, and the driving wheel 16f is located on the outer side of the mounting frame; mounting bracket 16d is fixed convenient, and motor mounting box 16b internally mounted driving motor 16a protects driving motor 16a, waterproof crashproof, and through-hole 16c and two 16e are passed in proper order to driving motor 16 a's output shaft, drive wheel 16f and rotate, and drive wheel 16f is located mounting bracket 16 d's the outside, and the position installation is reasonable, avoids driving motor 16a impaired.

In the present embodiment, the above fixing manners are all the most commonly used fixing and connecting manners in the art, such as welding, bolt connection, and the like; each of the above electrical elements: the driving motor 16a is 12V/RPM55, the magnetometer is HMC58 5883L, the gyroscope is MPU6050 and the like, and the driving motor can be directly purchased and used in the market, and the specific principle is not described any more.

The working principle of the invention is as follows:

the device can be folded and stored, a cloth bag is placed in the folding frame 7, a baby can be placed in the cloth bag, the folding frame 7 can be folded, the folding frame 7 can adjust the height and the angle between the connecting box frames 14 and between the two gear adjusting box frames 15, the sunshade rod 19 is matched with the folding frame 7, sunshade curtain cloth can be placed, the universal wheel 3 with a brake is positioned on the front side, the direction can be adjusted rapidly, meanwhile, when the device stops, the brake can be stepped down, the universal wheel 3 with the brake is prevented from rotating, the device is safe and reliable, the distance sensor 5 can detect the front part, the left side, the right side and the upper part, obstacles are prevented from being collided, the lower parts (such as the bottom of a desk or the lower part of a cabinet) of;

the power switch 11 is pressed, the device enters a starting state, if any button is not pressed, the mainboard is controlled to enter a strolling mode, if the mode needs to be adjusted, the mode button 12 is pressed for a long time, the device enters an adjustment mode state at the moment, after the adjustment mode state is entered, the device still enters the strolling mode without pressing the button within two seconds, the device is pressed once, the device enters an indoor playing mode, the device is pressed twice, the device enters an outgoing straight-going trolley mode, and the direct-current lithium battery provides electric energy for driving the motor 16 a;

the walking baby mode is as follows: the control main board sends a signal to the motor driving module, the motor driving module controls the two driving motors 16a to intermittently switch forward and reverse, so that the driving wheel 16f is controlled to intermittently move forward and backward at a slow speed, namely the driving motor 16a rotates forward for a plurality of seconds and keeps moving straight, the driving motor 16a rotates backward for the same time and keeps moving backward at equal intervals, and then the motor enters into circulation work, and other electric elements do not work;

indoor play mode: the control mainboard sends a signal to the motor drive module, the motor drive module controls two drive motors 16a to work simultaneously, so that the drive wheel 16f is controlled to move forwards in a straight line indoors, the magnetometer and the gyroscope detect the current direction of the baby carriage, the direction of the baby carriage is controlled, when the distance sensor 5 senses that an obstacle exists in front, the distance sensor 5 transmits the signal to the control mainboard, the control mainboard sends the signal to the motor drive module, the motor drive module controls the two drive motors 16a to rotate in a differential mode, and the rotating speed of the drive motor 16a on the left side is smaller than that of the drive motor 16a on the right side, namely, the baby carriage turns 90 degrees leftwards; similarly, when the front and the left meet the obstacle, the vehicle turns 90 degrees to the right; when the front and the right meet the obstacle, the vehicle turns 90 degrees to the left; when the front, the left and the right of the vehicle meet an obstacle or the upper part of the vehicle meets an obstacle, the motor driving module controls the two driving motors 16a to rotate in a differential speed manner, so that the vehicle can turn around for 180 degrees and avoid collision or enter the bottom of an object;

going out and going straight to the trolley mode: the control mainboard sends a signal to the motor drive module, the motor drive module controls the two drive motors 16a to keep the theoretical rotating speed consistent, low-speed advancing is realized, when the distance sensor 5 senses that the front meets an obstacle, the drive motors 16a are immediately controlled to stop working, if the road is an uneven road or a stone reason, the strokes of the two drive motors 16a are different, direction change is caused, the magnetometer and the gyroscope can detect the direction of the current baby carriage, the direction recorded previously can be kept, and the direction of the baby carriage is controlled and corrected.

Interconnection with external mobile devices: according to switch 11, this device gets into the power-on state, and bluetooth module starts this moment, uses outside mobile device to connect bluetooth module like cell-phone APP, realizes the interconnection of this device and cell-phone, can remote control switch after connecting and walk baby's mode, indoor mode of playing, go out and go straight dolly mode and manual mode of controlling, functions such as steerable shutdown and demonstration direct current lithium cell electric quantity simultaneously.

Manual operation mode: can only select to get into the manual mode of controlling through outside mobile device, get into the back, APP gets into the manual mode interface of controlling, interface inside all around, suspend, shut down, virtual keys such as return control, cell-phone APP passes through wireless bluetooth transmission to bluetooth module with control information, bluetooth module transmits control information to the control mainboard, control mainboard send signal to motor drive module, two driving motor 16a work of motor drive module control, thereby control perambulator advance retreat and control to turn to, steerable pause simultaneously, shut down and return last interface.

In conclusion, the driving mechanism 16, the control main board and the motor driving module realize differential motion of the driving wheel 16f, can complete functions of advancing, retreating, steering and the like in a small space, has wide application range and meets the requirements of use in different spaces; the current direction of the baby carriage is detected and corrected through the cooperation of the gyroscope and the magnetometer, so that the control is convenient; the control main board is provided with a plurality of control mode circuits, different strolling modes can be used for strolling the baby, and the control main board is suitable for both indoor and outdoor use and frees both hands of a guardian; the device is connected with external mobile equipment through the Bluetooth module, so that the switching of the walking baby mode and the entering of a manual operation mode are realized, and the device can be remotely operated to act; the device is simple to control and operate, can be stored and folded, is convenient to transport, and occupies no space for storage.

Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.