CN102342692B - Shaking control method and crib shaking controller - Google Patents
Shaking control method and crib shaking controller Download PDFInfo
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- CN102342692B CN102342692B CN 201010243034 CN201010243034A CN102342692B CN 102342692 B CN102342692 B CN 102342692B CN 201010243034 CN201010243034 CN 201010243034 CN 201010243034 A CN201010243034 A CN 201010243034A CN 102342692 B CN102342692 B CN 102342692B
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Abstract
The embodiment of the invention discloses a shaking control method and a crib shaking controller. The method comprises the following steps of: sensing movement sensing data in the shaking process of a first object by adopting a sensor, wherein the sensor comprises one or more of three-dimensional acceleration sensor, a gyroscope and a geo-magnetometer; calculating the standard shaking action waveform of the first object according to the movement sensing data; and controlling and shaking second equipment according to the standard shaking action waveform. By adopting the method and the controller, the action of shaking an infant, a child or the like by a mother can be simulated, so that the second equipment such as a crib and the like realizes the function of automatic shaking similar to shaking of the mother, the infant can quietly fall asleep, and the burden of the mother is lightened at the same time.
Description
Technical field
The present invention relates to a kind of electronic technology field, relate in particular to and a kind ofly rock control method and infanette rocks controller.
Background technology
Mother rocks the baby, helps the baby quiet sleeping because the mother who is familiar with rock a kind of sense of security to the baby, rocking simultaneously also has facilitation to baby's brain development, visible mother rocks to child's benefit clearly.But modern society's rhythm of life anxiety, many mothers also have many other work or housework except looking after children, and the mother who also has also wishes to promote the quality of the life of oneself, alleviates the burden of oneself, has therefore expedited the emergence of the appearance of infanette.
Present infanette style is varied, and function and price also differ greatly.It is fixed mostly, also has the infanette that has swing function, and it possesses the effect of cradle.
But, the existing infanette that has swing function need lean on baby's households such as mother manually to rock, can not realize the function of rocking automatically, more can not imitate the action that household such as mother rocks the baby and control rocking of infanette automatically, so practical effect and bad.
Summary of the invention
Embodiment of the invention technical problem to be solved is, provides a kind of and rocks control method and infanette rocks controller, can be according to user's needs, and second equipment such as infanette are rocked in the action that the imitation user rocks the baby automatically.
In order to solve the problems of the technologies described above, the embodiment of the invention provides a kind of control method of rocking, and comprising:
Employing sensor sensing first object rocks the motion sensing data in the process, and described sensor comprises any one or more in three dimension acceleration sensor, gyroscope and the magnetometer;
According to described motion sensing data, the standard that calculates described first object is rocked action waveforms;
Rock action waveforms according to described standard, second equipment is rocked in control.
Wherein, described according to described motion sensing data, the standard that calculates described first object is rocked the step of action waveforms, comprising:
According to described motion sensing data, calculate the three dimensional space coordinate of described first object in the process of rocking;
According to described three dimensional space coordinate, calculate the standard that described first object rocks in the process and rock action waveforms.
Wherein, also comprise:
Store described standard and rock action waveforms.
Wherein, describedly rock action waveforms according to described standard, the step that second equipment is rocked in control comprises:
Rock action waveforms according to described standard, the power set that control is arranged on described second equipment rock described second equipment;
By rocking of described second equipment of the real-time sensing of described sensor, and obtain described second equipment and rock the action waveforms that rocks in the process;
The described standard of rocking action waveforms and storage of described second equipment is rocked action waveforms to be compared, when rock action waveforms and the described standard of described second equipment are rocked action waveforms when inconsistent, control is arranged at power set on described second equipment, with regulate described second equipment rock with described standard rock action waveforms corresponding rock consistent.
Correspondingly, the embodiment of the invention also provides a kind of infanette to rock controller, comprising:
Sensor is used for the motion sensing data that sensing first object rocks process, and described sensor comprises any one or more in three dimension acceleration sensor, gyroscope and the magnetometer;
Processing unit, for the motion sensing data that obtain according to described sensor sensing, the standard that calculates described first object is rocked action waveforms;
Control module is used for rocking action waveforms according to the standard that described processing unit calculates, and infanette is rocked in control.
Wherein, described processing unit comprises:
First computing unit, the motion sensing data for sensing according to described sensor calculate the three dimensional space coordinate of described first object in the process of rocking;
Second computing unit is used for the three dimensional space coordinate that obtains according to described first computing unit, calculates the standard that described first object rocks in the process and rocks action waveforms.
Wherein, also comprise:
Memory cell is rocked action waveforms for the standard that the described processing unit of storage obtains.
Wherein,
Described sensor also is used for rocking of the described infanette of real-time sensing, obtains described infanette and rocks motion sensing data in the process;
Described processing unit also is used for the motion sensing data of the described infanette that obtains according to described sensor, obtains described infanette and rocks the action waveforms that rocks in the process;
Described control module comprises:
First control module is used for rocking action waveforms according to the standard of described cell stores, and the power set that control is arranged on the described infanette rock described infanette;
Second control module, rocking action waveforms for the standard of rocking action waveforms and described cell stores of the described infanette that described processing unit is obtained compares, when rock action waveforms and the described standard of described infanette are rocked action waveforms when inconsistent, control is arranged at power set on the described infanette, with regulate described infanette rock with described standard rock action waveforms corresponding rock consistent.
Implement the embodiment of the invention, have following beneficial effect:
First objects such as baby that sense according to sensor are initially rocking the motion sensing data of process, can calculate the baby waits first object to rock action waveforms in the standard of initially rocking in the process, and can rock action waveforms according to described standard, rocking of second equipment such as automatic control infanette, realize rocking similar function of rocking automatically as second equipment such as infanettes with mother, help the growth of organs such as the quiet sleeping and brain of baby, simultaneously alleviate mother's burden again, promoted user's experience.
Description of drawings
Fig. 1 is that the structure of rocking controller of the embodiment of the invention is formed schematic diagram;
Fig. 2 is that the structure of the processing unit that rocks controller among Fig. 1 is formed schematic diagram;
Fig. 3 is that the structure of the control module that rocks controller among Fig. 1 is formed schematic diagram;
Fig. 4 is the first embodiment schematic flow sheet that rocks control method of the present invention;
Fig. 5 is the second embodiment schematic flow sheet that rocks control method of the present invention.
The specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that obtains under the creative work prerequisite.
Fig. 1 is that the structure of rocking controller of the embodiment of the invention is formed schematic diagram; As shown in Figure 1, this rocks controller and comprises: sensor 1, and processing unit 2 and control module 3, wherein,
Described sensor 1 is used for the motion sensing data that sensing first object rocks process, and described sensor comprises any one or more in three dimension acceleration sensor, gyroscope and the magnetometer;
Concrete, described first object is baby etc., when needs rock the baby and make the baby quiet sleeping, described controller can be positioned on one's body the baby, the user can be by the bosom baby, the baby is rocked, perhaps the baby is placed in the infanette and rocks, described sensor 1 can sense the baby along with infanette rocks motion sensing data in the process.
The baby is in users such as mother bosom or when rocking in the infanette, and described sensor 1 can adopt three dimension acceleration sensor to sense linear acceleration value on X-axis in the three dimensions of described baby in the process of rocking, Y-axis, the Z-direction; Perhaps adopt the angular acceleration values on X-axis in the three dimensions of the described baby of gyroscope sensing in the process of rocking, Y-axis, the Z-direction; Perhaps adopt magnetometer to sense the geomagnetic data that the baby rocks each location point of process.
Concrete, the linear acceleration value on the X-axis of the described acceleration transducer of 2 pairs of described processing units institute sensing, Y-axis, the Z-direction is carried out computing and is drawn the baby and rock X-axis in the process, Y-axis, Z-direction straight-line displacement, and is fused into three dimensional space coordinate; After angular acceleration values on the X-axis of the described gyroscope of 2 pairs of described processing units institute sensing, Y-axis, the Z-direction is carried out computing, can obtain the baby and rock angular displacement on X-axis in the process, Y-axis, the Z-direction, and be fused into three dimensional space coordinate; The different geomagnetic data that described processing unit 2 senses according to described magnetometer, can obtain the baby and rock straight-line displacement on X-axis in the process, Y-axis, the Z-direction, and be fused into three dimensional space coordinate, according to described straight-line displacement and/or described angular displacement and binding time value, can obtain the baby rocks in the process, parameter values such as the frequency of rocking and amplitude, thus the standard that obtains the baby is rocked action waveforms.
Concrete, described control module 3 rocks action waveforms according to the baby's that described processing unit 2 calculates standard, and the power set of control infanette make described power set to rock action waveforms according to described standard, rock described infanette.
In the process of rocking, the described also situation of rocking by the described sensor 1 real-time described infanette of sensing of controller of rocking, obtain described infanette by described processing unit 2 and rock the action waveforms that rocks in the process, the described control module 3 real-time described standards of rocking action waveforms and storage with described infanette are rocked action waveforms and are compared, when rock action waveforms and the described standard of described infanette are rocked action waveforms when inconsistent, control is arranged at power set on the described infanette, with regulate described infanette rock with described standard rock action waveforms corresponding rock consistent.
In addition, see also Fig. 1 again, the described controller that rocks also comprises: memory cell 4.
Described memory cell 4 is rocked action waveforms for the standard that the described processing unit 2 of storage obtains.
Concrete, described processing unit 2 is when the standard of calculating is rocked action waveforms, also data can be sent to described memory cell 4 storages, make that control module 3 can be according to user's needs, standard according to described memory cell 4 storages is rocked the power set that action waveforms is controlled one or more infanette, rocks corresponding infanette with control.In addition, when the user embraces the baby when rocking in the bosom, need the standard of baby in the process of rocking be rocked action waveforms by described memory cell 4 of rocking in the controller stores, so that when the user places infanette with the baby, the described controller that rocks is placed on the infanette, described control module 3 can rock action waveforms according to the described standard that described memory cell 4 is preserved, the power set of control infanette, make described power set to rock action waveforms according to the described standard of preserving, rock described infanette.
Further, seeing also Fig. 2, is that the structure of the processing unit that rocks controller among Fig. 1 is formed schematic diagram; Described processing unit 2 comprises:
First computing unit 21, the motion sensing data for sensing according to described sensor 1 calculate the three dimensional space coordinate of described first object in the process of rocking;
Second computing unit 22 is used for calculating the three dimensional space coordinate that Unit 21 obtain according to described first, calculates the standard that described first object rocks in the process and rocks action waveforms.
Further, seeing also Fig. 3, is that the structure of the control module that rocks controller among Fig. 1 is formed schematic diagram, and described control module 3 comprises:
Described sensor 1 also is used for rocking of the described infanette of real-time sensing, obtains described infanette and rocks motion sensing data in the process; The motion sensing data of described infanette comprise the three-dimensional acceleration data, any one or more in three-dimensional gyro data and the magnetometer data.
Described processing unit 2 also is used for the motion sensing data of the described infanette that obtains according to described sensor 1, obtains described infanette and rocks the action waveforms that rocks in the process;
Concrete, obtain described infanette to rock the mode that action waveforms and the standard of obtaining the baby rock action waveforms identical, do not give unnecessary details at this.
Concrete, infanette is in the process of rocking, may be owing to external force causes rocking on amplitude and frequency of infanette, with the storage standard rock the corresponding amplitude of action waveforms and frequency inconsistent, at this moment, described second control module 32 just rocks action waveforms according to the standard of described memory cell 4 storages, regulates rocking of infanette, make infanette rock with standard rock action waveforms corresponding rock consistent.
Be understandable that above-mentioned first object is that the baby only is that it can also wait other similar objects for child for example, similar analysis under other situations is not given unnecessary details at this.
Description by above-described embodiment, the present invention has the following advantages: the baby who senses according to sensor, first object such as child is initially rocking the motion sensing data of process, can calculate the baby, first object such as child rocks action waveforms in the standard of initially rocking in the process, and can rock action waveforms according to described standard, automatically the control infanette rocks, realize rocking similar function of rocking automatically as second equipment such as infanettes with mother, help the growth of organs such as the quiet sleeping and brain of baby, simultaneously alleviate mother's burden again, promoted user's experience.
In order to be illustrated more clearly in the present invention, below the control method of rocking of the present invention is elaborated.
Fig. 4 is the first embodiment schematic flow sheet that rocks control method of the present invention, and as shown in Figure 4, this method comprises:
S401: employing sensor sensing first object rocks the motion sensing data in the process, and described sensor comprises any one or more in three dimension acceleration sensor, gyroscope and the magnetometer;
Concrete, described first object can be the baby, when needs rock the baby and make the baby quiet sleeping, sensor can be placed on one's body the baby, mother can rock the baby by the bosom baby, described sensor just can sense the baby and rock motion sensing data in the process, perhaps also the baby can be placed on second equipment, and rock described second equipment, place baby's described sensor on one's body then can sense the baby rocks process along with second equipment motion sensing data.
The baby is in users such as mother bosom or when rocking in second equipment, and described sensor can adopt three dimension acceleration sensor to sense linear acceleration value on X-axis in the three dimensions of described baby in the process of rocking, Y-axis, the Z-direction; Perhaps adopt the angular acceleration values on X-axis in the three dimensions of the described baby of gyroscope sensing in the process of rocking, Y-axis, the Z-direction; Perhaps adopt magnetometer to sense the geomagnetic data that the baby rocks each point of process.
S402: according to described motion sensing data, the standard that calculates described first object is rocked action waveforms;
Concrete, the linear acceleration value on the X-axis of described acceleration transducer institute sensing, Y-axis, the Z-direction is carried out computing draw straight-line displacement on X-axis, Y-axis, the Z-direction, and be fused into three dimensional space coordinate; After angular acceleration values on the X-axis of described gyroscope institute sensing, Y-axis, the Z-direction carried out computing, can obtain angular displacement on X-axis, Y-axis, the Z-direction, and be fused into three dimensional space coordinate; The different geomagnetic data that senses according to described magnetometer, can obtain straight-line displacement on X-axis, Y-axis, the Z-direction, and be fused into three dimensional space coordinate, according to described straight-line displacement and/or described angular displacement and binding time value, can obtain the baby rocks in the process, the frequency of rocking and amplitude equivalence, thus the standard that obtains the baby is rocked action waveforms.
S403: rock action waveforms according to described standard, second equipment is rocked in control.
Concrete, the baby's who calculates according to S402 standard is rocked action waveforms, controls the power set of second equipment, makes described power set to rock action waveforms according to described standard, rocks described second equipment; Perhaps rock action waveforms according to described standard and regulate rocking of second equipment, make second equipment rock with standard rock action waveforms corresponding rock consistent.
Be understandable that above-mentioned first object is that the baby only is that it can also wait other similar objects for child for example, similar analysis under other situations is not given unnecessary details at this; Simultaneously, above-mentioned second equipment can be according to infanette that rocks the power set that Waveform Control rocks etc. for being provided with.
Description by above-described embodiment, the present invention has the following advantages: the baby who senses according to sensor, first object such as child is initially rocking the motion sensing data of process, can calculate the baby, first object such as child rocks action waveforms in the standard of initially rocking in the process, and can rock action waveforms according to described standard, automatically control second equipment rocks, realize rocking similar function of rocking automatically as second equipment such as infanettes with mother, help the growth of organs such as the quiet sleeping and brain of baby, simultaneously alleviate mother's burden again, promoted user's experience.
Fig. 5 is the second embodiment schematic flow sheet that rocks control method of the present invention, and as shown in Figure 5, this method comprises:
S501: employing sensor sensing first object rocks the motion sensing data in the process, and described sensor comprises any one or more in three dimension acceleration sensor, gyroscope and the magnetometer;
S502: according to described motion sensing data, calculate the three dimensional space coordinate of described first object in the process of rocking;
S503: according to described three dimensional space coordinate, calculate the standard that described first object rocks in the process and rock action waveforms;
S504: store described standard and rock action waveforms;
Concrete, by the storage that described standard is rocked action waveforms, make that rocking controller accordingly can rock the power set that action waveforms is controlled the second different equipment according to the standard of storage according to user's needs, rocks the second different equipment with control.
S505: rock action waveforms according to described standard, the power set that control is arranged on described second equipment rock described second equipment;
S506: by rocking of described second equipment of the real-time sensing of sensor, and obtain described second equipment and rock the action waveforms that rocks in the process;
S507: the described standard of rocking action waveforms and storage of described second equipment is rocked action waveforms compare, judge and describedly rock action waveforms to rock action waveforms consistent with the standard of storage;
Concrete, action waveforms and baby the standard in the process of rocking of rocking of second equipment is rocked action waveforms carry out amplitude, the isoparametric comparison of frequency, to rock action waveforms consistent with the baby's of storage standard can to judge the action waveforms that rocks of second equipment.When unanimity, execution in step S507, otherwise, execution in step S508.
S508: rock action waveforms when inconsistent when rock action waveforms and the described standard of second equipment, control is arranged at the power set on second equipment, with regulate second equipment rock with described standard rock action waveforms corresponding rock consistent.
Concrete, second equipment is in the process of rocking, may be owing to external force causes rocking on amplitude and frequency of second equipment, with the storage described standard rock the corresponding amplitude of action waveforms and frequency inconsistent, at this moment, S508 just rocks action waveforms according to the described standard of storage, regulates rocking of second equipment, make amplitude that described second equipment rocks and frequency and described standard rock action waveforms corresponding amplitude of rocking and frequency consistent.
Be understandable that above-mentioned first object is that the baby only is that it can also wait other similar objects for child for example, similar analysis under other situations is not given unnecessary details at this; Simultaneously, above-mentioned second equipment can be according to infanette that rocks the power set that Waveform Control rocks etc. for being provided with.
Description by above-described embodiment, the present invention has the following advantages: the baby who senses according to sensor, first object such as child is initially rocking the motion sensing data of process, can calculate the baby, first object such as child rocks action waveforms in the standard of initially rocking in the process, and can rock action waveforms according to described standard, automatically control second equipment rocks, realize rocking similar function of rocking automatically as second equipment such as infanettes with mother, help the growth of organs such as the quiet sleeping and brain of baby, alleviated simultaneously mother's burden again,, promoted user's experience.
One of ordinary skill in the art will appreciate that all or part of flow process that realizes in above-described embodiment method, be to instruct relevant hardware to finish by computer program, described program can be stored in the computer read/write memory medium, this program can comprise the flow process as the embodiment of above-mentioned each side method when carrying out.Wherein, described storage medium can be magnetic disc, CD, read-only storage memory body (Read-Only Memory, ROM) or at random store memory body (Random Access Memory, RAM) etc.
Above disclosed is a kind of preferred embodiment of the present invention only, can not limit the present invention's interest field certainly with this, and therefore the equivalent variations of doing according to claim of the present invention still belongs to the scope that the present invention is contained.
Claims (8)
1. one kind is rocked control method, it is characterized in that, comprising:
Employing sensor sensing first object rocks the motion sensing data in the process, and described sensor comprises any one or more in three dimension acceleration sensor, gyroscope and the magnetometer;
According to described motion sensing data, the standard that calculates described first object is rocked action waveforms;
Rock action waveforms according to described standard, second equipment is rocked in control;
Described according to described motion sensing data, the standard that calculates described first object is rocked action waveforms, comprise: the angular displacement that the angular acceleration values on the X-axis that the straight-line displacement that obtains according to the linear acceleration value on acceleration transducer sensing X-axis, Y-axis, the Z-direction and/or gyroscope sense, Y-axis, the Z-direction obtains, and binding time value, obtain the baby and rock frequency and the range parameter value of rocking in the process, thereby the standard that obtains the baby is rocked action waveforms.
2. the method for claim 1 is characterized in that, described according to described motion sensing data, the standard that calculates described first object is rocked the step of action waveforms, comprising:
According to described motion sensing data, calculate the three dimensional space coordinate of described first object in the process of rocking;
According to described three dimensional space coordinate, calculate the standard that described first object rocks in the process and rock action waveforms.
3. method as claimed in claim 2 is characterized in that, also comprises:
Store described standard and rock action waveforms.
4. method as claimed in claim 3 is characterized in that, describedly rocks action waveforms according to described standard, and the step that second equipment is rocked in control comprises:
Rock action waveforms according to described standard, the power set that control is arranged on described second equipment rock described second equipment;
By rocking of described second equipment of the real-time sensing of described sensor, and obtain described second equipment and rock the action waveforms that rocks in the process;
The described standard of rocking action waveforms and storage of described second equipment is rocked action waveforms to be compared, when rock action waveforms and the described standard of described second equipment are rocked action waveforms when inconsistent, control is arranged at power set on described second equipment, with regulate described second equipment rock with described standard rock action waveforms corresponding rock consistent.
5. an infanette rocks controller, it is characterized in that, comprising:
Sensor is used for the motion sensing data that sensing first object rocks process, and described sensor comprises any one or more in three dimension acceleration sensor, gyroscope and the magnetometer;
Processing unit, for the motion sensing data that obtain according to described sensor sensing, the standard that calculates described first object is rocked action waveforms;
Control module is used for rocking action waveforms according to the standard that described processing unit calculates, and infanette is rocked in control;
Wherein, described processing unit is for the motion sensing data that obtain according to described sensor sensing, when the standard that calculates described first object is rocked action waveforms, the angular displacement that the concrete angular acceleration values that is used on X-axis that the straight-line displacement that obtains according to the linear acceleration value on acceleration transducer sensing X-axis, Y-axis, the Z-direction and/or gyroscope sense, Y-axis, the Z-direction obtains, and binding time value, obtain the baby and rock frequency and the range parameter value of rocking in the process, thereby the standard that obtains the baby is rocked action waveforms.
6. infanette as claimed in claim 5 rocks controller, it is characterized in that, described processing unit comprises:
First computing unit, the motion sensing data for sensing according to described sensor calculate the three dimensional space coordinate of described first object in the process of rocking;
Second computing unit is used for the three dimensional space coordinate that obtains according to described first computing unit, calculates the standard that described first object rocks in the process and rocks action waveforms.
7. infanette as claimed in claim 6 rocks controller, it is characterized in that, also comprises:
Memory cell is rocked action waveforms for the standard that the described processing unit of storage obtains.
8. infanette as claimed in claim 7 rocks controller, it is characterized in that,
Described sensor also is used for rocking of the described infanette of real-time sensing, obtains described infanette and rocks motion sensing data in the process;
Described processing unit also is used for the motion sensing data of the described infanette that obtains according to described sensor, obtains described infanette and rocks the action waveforms that rocks in the process;
Described control module comprises:
First control module is used for rocking action waveforms according to the standard of described cell stores, and the power set that control is arranged on the described infanette rock described infanette;
Second control module, rocking action waveforms for the standard of rocking action waveforms and described cell stores of the described infanette that described processing unit is obtained compares, when rock action waveforms and the described standard of described infanette are rocked action waveforms when inconsistent, control is arranged at power set on the described infanette, with regulate described infanette rock with described standard rock action waveforms corresponding rock consistent.
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| CN105213133A (en) * | 2014-05-28 | 2016-01-06 | 北京博耐恒达科技发展有限公司 | Intelligent nursing bed controller |
| CN105124985A (en) * | 2015-07-31 | 2015-12-09 | 程海强 | Multifunctional cradle and control method thereof |
| CN106362411A (en) * | 2016-08-30 | 2017-02-01 | 昆山百瑞康儿童用品有限公司 | Electric swinging toy |
| CN107006932B (en) * | 2017-04-24 | 2019-01-29 | 贵州盛鸿鞋业科技有限公司 | Cack with music control function |
| CN106950888A (en) * | 2017-04-24 | 2017-07-14 | 贵州盛鸿鞋业科技有限公司 | Baby comforting method based on intelligent cack |
| FR3088888B1 (en) * | 2018-11-22 | 2021-01-01 | Franck Carreras | Portable stroller swing device to soothe the child without conditioning |
| CN110104049A (en) * | 2019-05-30 | 2019-08-09 | 上海电机学院 | A kind of multifunctional baby carriage that pushing riding is dual-purpose |
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| CN101655704A (en) * | 2009-09-14 | 2010-02-24 | 康奋威科技（杭州）有限公司 | Method for controlling operations of shaker of computerized flat knitting machine |
| CN201426564Y (en) * | 2009-07-03 | 2010-03-24 | 贾贵祥 | Stable automatic reciprocating shaking bed |
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| US7958579B2 (en) * | 2006-10-25 | 2011-06-14 | Bloemer, Meiser & Westerkamp, Llc | System for providing cyclic motion |
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| CN101579238A (en) * | 2009-06-15 | 2009-11-18 | 吴健康 | Human motion capture three dimensional playback system and method thereof |
| CN201426564Y (en) * | 2009-07-03 | 2010-03-24 | 贾贵祥 | Stable automatic reciprocating shaking bed |
| CN101655704A (en) * | 2009-09-14 | 2010-02-24 | 康奋威科技（杭州）有限公司 | Method for controlling operations of shaker of computerized flat knitting machine |
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