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CN-121973839-A - Intelligent auxiliary braking system of child stroller based on multi-sensor fusion

CN121973839ACN 121973839 ACN121973839 ACN 121973839ACN-121973839-A

Abstract

The invention discloses an intelligent auxiliary braking system for a child stroller based on multi-sensor fusion, and relates to the field of intelligent vehicles. The system comprises a multisource perception collection, brake execution construction and central decision optimization module. The flexible braking generating unit generates a progressive braking curve according to the pitching angle change rate and the speed deviation of the vehicle body under a downhill or high-speed hand-off scene, and dynamically adjusts the damping force by combining a safety cut-off factor. The invention can realize accurate identification of the real hand-off behavior, can realize flexible parking while inhibiting the forward turning trend of the vehicle body, and solves the problems of sudden braking and turning and false triggering.

Inventors

  • HONG XIN

Assignees

  • 黄石宇童儿童用品有限公司

Dates

Publication Date
20260505
Application Date
20260302

Claims (10)

  1. 1. Intelligent auxiliary braking system of child cart based on multisensor fuses, its characterized in that includes: The multi-source sensing collection module is used for collecting running state data of the child cart in real time, wherein the running state data comprise hand holding pressure distribution data, three-axis posture data of the cart body and wheel rotating speed data; The brake execution construction module is used for constructing a brake response model with variable damping based on a linear driving mechanism and controlling continuous output of braking force through a pulse width modulation signal; The central decision optimization module is used for carrying out fusion processing on the running state data so as to identify the current working condition scene, deducing an optimal braking strategy instruction and sending the optimal braking strategy instruction to the braking execution construction module; Wherein the central decision optimization module further comprises: The state verification unit is used for calculating the real hand-off probability through multi-dimensional characteristic weighting based on the holding pressure distribution data and the vibration characteristics of the vehicle body so as to eliminate false touch signals caused by road surface jolting; The scene deducing unit is used for calculating a pitch angle of the vehicle body based on the three-axis attitude data of the vehicle body and deducing the current potential energy risk level of the child stroller by combining the wheel rotating speed data; The device comprises a flexible braking generating unit, a dynamic braking control unit and a dynamic braking control unit, wherein the flexible braking generating unit is used for generating an anti-overturning progressive braking curve when a downhill or high-speed hand-off scene is judged, the progressive braking curve is a target braking damping value obtained by carrying out weighted calculation on a change rate, a speed deviation and a vibration compensation item of a pitch angle of a vehicle body, and the dynamic braking damping value is dynamically adjusted by combining a safety cut-off factor so as to realize flexible parking while inhibiting forward turning trend of the vehicle body.
  2. 2. The intelligent auxiliary brake system for a baby stroller based on multi-sensor fusion according to claim 1, wherein the brake output control process of the flexible brake generating unit is expressed by the following formula: ; And further expressing the anti-capsizing adjustment term by the following formula : ; Wherein, the Is that A brake damping force target value output at a moment; A nonlinear mapping function for mapping the calculation result to an effective duty ratio interval of the electric control braking device; Is a preset initial intervention braking force for eliminating a braking gap; is an anti-overturning adjusting function based on dynamic feedback; The change rate of the pitch angle of the vehicle body is represented and used for representing the forward turning trend of the vehicle body; is the current instantaneous speed of the vehicle, Is a target decrement speed; the L2 norm representing the acceleration in the vertical direction is used for compensating the influence of road vibration on attitude calculation; respectively the weight coefficient of the change rate of the pitching angle, the speed deviation and the vibration compensation; Is a safe cut-off factor.
  3. 3. The multi-sensor fusion-based intelligent auxiliary braking system of a stroller of claim 1, wherein the multi-source perception collection module further comprises: the partitioned pressure acquisition unit is used for dividing the pushing handle into a left holding area, a right holding area and a central sensing area, and respectively acquiring capacitance value changes and film pressure values of all the areas; The inertial measurement resolving unit is used for acquiring the angular speed and the acceleration of the vehicle body through the six-axis inertial measurement unit and utilizing a Kalman filtering algorithm to fusion and resolve the real-time attitude angle of the vehicle body; The wheel speed feedback unit is used for collecting pulse signals of the wheels through the Hall sensor and calculating the instantaneous linear speed and the acceleration of the wheels.
  4. 4. The multi-sensor fusion-based intelligent auxiliary brake system for a stroller of claim 1, wherein the status verification unit comprises: A feature extraction subunit for extracting contact area features from the pressure distribution data and extracting high-frequency vibration components from the acceleration data; a hands-off determination subunit for calculating a hands-off confidence This process is expressed by the following formula: ; Wherein, the An area ratio representing loss of pressure signal; Indicating the duration of signal loss; Representing the environmental vibration intensity; Is the corresponding weight factor.
  5. 5. The multi-sensor fusion-based intelligent auxiliary braking system for a stroller of claim 1, wherein the scene deriving unit comprises: A slope recognition subunit for fusion calculating the current slope angle based on the gravity component of the accelerometer in the static state and the gyroscope integral data in the motion state ; Risk classification subunit for gradient angle-based And instantaneous speed And constructing a two-dimensional risk matrix, and dividing the working condition into a safety area, a low risk area, a medium risk area and a high risk area.
  6. 6. The multi-sensor fusion based intelligent auxiliary brake system for a stroller of claim 1, wherein the brake actuation building module further comprises: The pulse width modulation generating unit is used for receiving the braking damping force target value sent by the central decision optimizing module and converting the braking damping force target value into a PWM driving signal with a corresponding duty ratio; the electromagnetic driving unit is used for driving an electric control braking device arranged at the wheel bearing and linearly adjusting the pressing force of the friction plate on the brake disc by changing the magnitude of exciting current; And the mechanical locking unit is used for driving the mechanical cotter to lock the wheels after the vehicle speed is reduced to zero so as to realize parking maintenance.
  7. 7. The multi-sensor fusion-based intelligent auxiliary braking system of a stroller of claim 1, wherein the central decision optimization module is further configured with anomaly self-test logic: The fault diagnosis unit is used for monitoring the signal integrity of each sensor and the loop resistance of the electric control braking device in real time; And the degradation protection unit is used for automatically switching to a mechanical safety mode when the sensor fault is detected, and forcedly outputting constant preset braking force.
  8. 8. The intelligent auxiliary braking system for a stroller based on multi-sensor fusion of claim 2, wherein the vibration compensation term in the anti-toppling adjustment function Is less than one fifth of the system control period to ensure high frequency response to abrupt road changes.
  9. 9. The intelligent auxiliary braking system for a baby stroller based on multi-sensor fusion according to claim 2, wherein the weighting coefficients are Is equal to the current pitch angle of the vehicle body Is positively correlated when As the critical flip-up angle is approached, The value increases exponentially.
  10. 10. The multi-sensor fusion-based intelligent auxiliary braking system for a stroller of claim 2, wherein the safety cut-off factor Is defined as: ; Wherein, the Is a preset critical safety threshold, when When the system gives priority to reducing the braking force to resume wheel rolling, preventing the vehicle body from further forward turning.

Description

Intelligent auxiliary braking system of child stroller based on multi-sensor fusion Technical Field The invention relates to the technical field of intelligent transportation vehicles and safety control, in particular to an intelligent auxiliary braking system of a child stroller based on multi-sensor fusion. Background The safety of the baby stroller serving as a main tool for infant travel is of great concern. In prior art solutions, preventing rolling is mainly dependent on passive braking systems. Traditional braking modes are mostly mechanical treading type braking, and parents are required to actively operate. In recent years, although a hand brake technology based on touch sensing has appeared, that is, wheels are automatically locked when the hand is detected to be away from the push handle. However, the existing electronic braking schemes still have significant technical drawbacks. Firstly, the existing hand brake system mostly adopts a binarization control logic, namely once a hand brake signal is detected, 100% braking force is immediately output to lock the wheels. When the cart is in a downhill or high-speed running state, the instant locking can generate a huge moment of inertia, and the front of the cart body is easily turned over by taking the front wheels as fulcrums, so that children in the cart are severely impacted and injured or thrown out of the cart. Secondly, the existing holding detection technology has poor anti-interference capability. Because the children's barrow often runs on complex road surfaces such as outdoor masonry roads and speed-reducing belts, instantaneous poor contact between the palm and the handle pushing sensor can be caused by high-frequency jolting of the road surface. The prior art often cannot distinguish signal jitter caused by true hand-off and road surface jolt, so that false braking is frequently triggered in the normal pushing process, the use experience is seriously affected, and secondary frightening is possibly caused to children. At present, a good technology is lacking, and the problems can be effectively solved. The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person of ordinary skill in the art. Disclosure of Invention Aiming at the defects of the prior art, the invention provides an intelligent auxiliary braking system for a child stroller based on multi-sensor fusion, which aims to solve the technical problems that the existing electronic braking system suddenly brakes under high-speed or downhill working conditions to cause forward turning and the road surface jolts to cause false triggering. The technical scheme of the invention is as follows: The intelligent auxiliary braking system of the child car based on multi-sensor fusion comprises a multi-source sensing collection module, a braking execution construction module, a central decision optimization module and a dynamic decision making module, wherein the multi-source sensing collection module is used for collecting operation state data of the child car in real time, the operation state data comprise hand holding pressure distribution data, car body triaxial attitude data and wheel rotating speed data, the braking execution construction module is used for constructing a braking response model with variable damping through pulse width modulation signals based on a linear driving mechanism, the central decision optimization module is used for conducting fusion processing on the operation state data to identify a current working condition scene and deduce an optimal braking strategy instruction and sending the optimal braking execution construction module, the central decision optimization module further comprises a state verification unit and a scene deduction unit, the state verification unit is used for calculating real shaking probability through multidimensional characteristics to eliminate false touch signals caused by road surface shaking, the scene deduction unit is used for calculating car body pitching, the car body pitching angle is calculated based on the car body triaxial attitude data and combined with the wheel rotating speed data, the flexible braking generation unit is used for generating an anti-covering progressive braking strategy when the situation is judged to be a slope or a high-speed shaking hand shaking scene, and the dynamic damping factor is calculated and a dynamic damping factor is adjusted at the same time when the dynamic damping factor is combined with a dynamic damping factor. Alternatively, the brake output control process of the flexible brake generating unit is expressed by the following expression: And further expressing the anti-capsizing adjustment term by the following formula : Wherein, the Is thatA brake damping force target value outpu