CN107951276A - A kind of Intelligent cradle system based on STM32 - Google Patents

A kind of Intelligent cradle system based on STM32 Download PDF

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Publication number
CN107951276A
CN107951276A CN201711188413.7A CN201711188413A CN107951276A CN 107951276 A CN107951276 A CN 107951276A CN 201711188413 A CN201711188413 A CN 201711188413A CN 107951276 A CN107951276 A CN 107951276A
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China
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cradle
baby
intelligent
stm32
msub
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CN201711188413.7A
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Chinese (zh)
Inventor
陈亮
谢沛
郑慧伟
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China Jiliang University
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China Jiliang University
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Priority to CN201711188413.7A priority Critical patent/CN107951276A/en
Publication of CN107951276A publication Critical patent/CN107951276A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47D—FURNITURE SPECIALLY ADAPTED FOR CHILDREN
    • A47D9/00—Cradles ; Bassinets
    • A47D9/02—Cradles ; Bassinets with rocking mechanisms
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output

Abstract

The present invention relates to a kind of Intelligent cradle system based on STM32, it is characterised in that：It swings module, sound detection module, photosensitive antiglare module, strain monitoring module, infrared alarm module using STM32 microcontrollers, touch LCD screen, 3-axis acceleration sensor, three-axis gyroscope sensor, motor, foil gauge, sound transducer, phototriode, cape, infrared sensor, LED light, buzzer composition intelligent control module, intelligence.The data of multiple sensors are gathered using STM32 microcontrollers and carry out calculating processing, obtain the situation data of baby, cradle and surrounding environment, corresponding function control is carried out according to these data, realize intelligent swings of cradle, sound monitoring, pressure detecting, the intelligence function such as shading and alarm, the environment of safety and comfort is provided to baby, mitigates the burden of adult and reduces the careless omission that adult is in treatment baby.

Description

A kind of Intelligent cradle system based on STM32
Technical field
The present invention relates to a kind of Intelligent cradle system based on STM32, the system can preferably aid in adult to look after baby Youngster, mitigates the burden of adult, belongs to electronic technology field while providing a home from home to baby.
Background technology
With the development of science and technology intelligentized product is increasingly valued by people, intelligentized product can by people from Freed in repetitive work, very big facility is brought to life, work.Cradle is the work for being convenient for people to look after baby Having, traditional cradle function is seldom and needs shake manually, while the treatment of the more individual's extreme cares of baby's needs, and people Energy is limited inevitably to be neglected.Intelligentized cradle can aid in adult preferably to look after baby and reduce careless mistake, intelligentized Cradle can be realized using multiple sensors the automatic swing of cradle, instant detection baby state and timely remind big People.
STM32F103RCT6 is a low-power consumption, high performance stm32 microcontrollers, this microcontroller carried AD conversion, The functions such as DMA transfer, SPI communication, I2C communications, timer, high accuracy, sophisticated functions can be realized by being combined with software program Control, intuitively control and presentation of information can be realized with the use of touch LCD screen.Common communication has WiFi Communication, 2.4G communications, infrared signal transmission etc., the sleep of WiFi communication, 2.4G communications for baby have an impact, and infrared signal passes It is defeated minimum on baby's influence.Baby just can sleep comfortably in light is than milder environment, so increasing shading on cradle Design.Feed the baby with milk, look after infant sleep and stool and urine is comparatively laborious and often, adult sometimes can be due to fully occupied And forget so it is necessary that increase, which records these events and sets reminder time prompting adult, in cradle design.Intelligence The cradle of change can help adult to save many time and efforts, and the baby that such adult not only can timely look after can also be handled Other important things.
The content of the invention
It is an object of the invention to provide a kind of Intelligent cradle system based on STM32, and one kind is using STM32 microcontrollers as core The heart, the intelligentized control method of cradle is realized with reference to multiple sensors, motor, touch LCD screen, Infrared Transmission etc., is gathered using MCU The data of multiple sensors simultaneously carry out calculating processing, the situation data of baby, cradle and surrounding environment are obtained, according to these data Corresponding function control is carried out, realizes intelligent swings of cradle, sound monitoring, pressure detecting, the intelligence work(such as shading and alarm Can, the environment of safety and comfort is provided to baby, mitigates the burden of adult and reduces the careless omission that adult is in treatment baby.
Patent of the present invention is achieved by following scheme：
A kind of Intelligent cradle system based on STM32 swings module, sound detection module, photosensitive by intelligent control module, intelligence Antiglare module, strain monitoring module, infrared alarm module composition, software journey is coordinated using STM32 microcontrollers as control core The data of ordered pair sensor are acquired and cradle allomeric function are controlled, and realize the intelligentized control method of cradle.
Intelligent control module described in system is made of MCU chip and touch LCD screen, has simulation to grasp on touch LCD screen The function that cradle can be had with the function button simulated by making interface carries out operation manually and the selection of automatic running, Ke Yiji Infant drinks, sleep, the event of stool and urine and time are recorded, event reminder time can be set, can show important data letter Breath, can play the baby that music roars of laughter are cry and screamed, and the STM32F103RCT6 that MCU chip is selected in STM32 microcontrollers coordinates software journey The allomeric function of ordered pair cradle system is controlled.
Intelligence described in system swings module and is made of 3-axis acceleration sensor, three-axis gyroscope sensor and motor, In cradle automatic swing, instant collection 3-axis acceleration sensor, the data of three-axis gyroscope sensor are calculated and currently shaken Basket full swing angle and swaying direction, control motor the maximum dynamic angle of cradle pendulum is realized between maintaining 20 degree to 30 degree and shake The function that basket is intelligently swung.Cradle also has the function of to swing timing and self-braking when that can only swing, in cradle from movable pendulum Swing timing can be set when dynamic, be automatically stopped swing when the time is up, in the case where being not provided with swinging timing cases, microcontroller can be examined Survey whether baby sleep soundly, swing is automatically stopped after baby sleep soundly.
Strain monitoring module described in system is made of five foil gauges, amplifying circuit and MCU, and five foil gauges are placed on Cradle bottom corresponds to the leg, back, shoulder position of baby respectively, and when the pressure change on foil gauge, its magnitude of voltage can be sent out Changing, gathers the pressure value of five foil gauges with MCU and is AD converted, set pressure threshold and change threshold, work as pressure Be to mean that to have baby in cradle more than pressure threshold, the pressure value in each foil gauge one minute recorded with MCU, to it is each should The pressure value become in piece one minute carries out the calculating of dispersion, means that baby may be from ripe when dispersion exceedes change threshold Wake up in sleeping.Sound detection module described in system is using sound transducer as core, sound transducer detection cradle ambient sound Size, when voltage change can occur for baby crying or while having bigger noise, MCU gathers the voltage data of sound transducer Adult is reminded when a threshold is exceeded.
Photosensitive antiglare module phototriode, cape and motor composition described in system, phototriode detection baby head The light intensity in the cradle region where portion, it is that baby blocks stronger light to start motor when light intensity is bigger to rise cape, Cape is packed up automatically when environment is dim, and the function of intelligent shading is realized to the sleeping environment that baby's manufacture is comfortable, light is soft.
Infrared alarm module described in system, it is made of infrared sensor, LED light, buzzer, when MCU is according to sensing The data of device judge baby awake, cry, ambient noise it is bigger, set event reminder time can then start infrared report Alert module carries out warning reminding adult and pays attention to infantile state, and real according to the LED light of different prompting reason flicker different colours Existing infrared alarm function.
Brief description of the drawings
Fig. 1 is a kind of cradle front view of the Intelligent cradle system based on STM32, is illustrated in figure as follows：1.STM32 2. sound transducer of microcontroller, 3. motor 4.MP3 music modules.
Fig. 2 is a kind of cradle left view of the Intelligent cradle system based on STM32, is illustrated in figure as follows：7. cape 8. 9. 3-axis acceleration sensor of motor, 10. three-axis gyroscope sensor, 11. infrared sensor.
Fig. 3 is a kind of cradle top view of the Intelligent cradle system based on STM32, is illustrated in figure as follows：5. photoelectricity 6. foil gauge of triode.
Fig. 4 is a kind of overall control flow chart of the Intelligent cradle system based on STM32.
Fig. 5 is a kind of touch LCD screen control interface design drawing of Intelligent cradle system based on STM32.
Embodiment
Patent of the present invention is further illustrated with reference to attached drawing.
Patent of the present invention by STM32 microcontrollers, touch LCD screen, 3-axis acceleration sensor, three-axis gyroscope sensor, Motor, foil gauge, sound transducer, phototriode, cape, infrared sensor, LED light, buzzer composition, use Core of the STM32F103RCT6 microcontrollers as intelligent control, using touch LCD screen simulation control interface realize function select, Record and display data.Employed in system design to microcontroller, sensor, motor, the important devices such as cape put position Put as shown in Figure 1, Figure 2, Fig. 3.The overall control flow of system is as shown in Figure 4.Touch screen operation interface is as shown in figure 5, on touch-screen There is the function button of " swing " " sound " " light intensity " " pressure " " record ", each function also has the pattern choosing of " automatic " and " manual " Select, the analogue-key of " having milk " " stool and urine " " timing length " of also " sleeping " under " record " function, " swing " function can be with Set " swing timing ", when adult will leave when cradle handles other things or needs intelligent function auxiliary to look after baby can be with The function of oneself being needed in selection " swing " " sound " " light intensity " " pressure " " record " as needed is set to " automatic " mould Formula, corresponding automatic function can be closed and can only used manually when being arranged to " manual " pattern.
When " pressure " function is arranged to automatic, STM32F103RCT6 can start timer, every to each foil gauge 500ms gathers a pressure value, and it is just a minutes continuously to record 120 pressure values.System is used using five foil gauges To detect pressure, five foil gauges are placed on the leg, back, shoulder position that cradle bottom corresponds to baby respectively, in Fig. 3 Shown in numbering 6, the pressure value very little of foil gauge and have almost no change during no baby inside the cradle, when there is baby in cradle Childhood can because the reason for weight pressure value is become larger, baby it is very stable when sleeping soundly thus pressure amplitude change can very little, But trick likes tampering the amplitude change meeting of pressure at this time very greatly when baby awake comes.Pressure threshold is set to be used for judging cradle In either with or without baby, by the pressure value collected compared with pressure threshold, meant that when pressure value exceedes pressure threshold There is baby in cradle.The pressure value of 120 in record one minute, calculates the variance of this pressure value of 120 and very poor, variance and The very poor intensity of variation that can embody data but to be single use application condition big, with very poor come correct can on the basis of variance The advantages of with comprehensive two data, more obviously represent the situation of change of pressure magnitude in one minute, by this data with from Divergence represents, sets change threshold, when dispersion is less than change threshold, means that baby is sleeping soundly very stable, works as dispersion Meaning that baby may wake up during higher than change threshold reminds adult to pay attention to infantile state, and the calculation formula of dispersion is：
+ (2)
(2) in formula, d is dispersion, and M is the average of all pressure values in one minute, F1…FnRepresent the institute in one minute Some pressure values, n are the data amount check that gathers in one minute, FmaxFor pressure value maximum in this minute, FminFor this point Minimum pressure value in clock.
When " swing " function is arranged to automatic and is provided with swing duration, STM32F103RCT6 is first detected in cradle Whether there is baby, if being waited without if, make cradle swing if baby's microcontroller can start motor and start Timer, while microcontroller reads 3-axis acceleration sensor and the data of three-axis gyroscope sensor calculate current cradle pendulum Maximum angle and swaying direction are moved, motor is closed when full swing angle is more than 30 degree and is reduced by cradle by bobbing Energy consumption, when full swing angle is less than 20 degree, then when cradle is swung upward, startup motor accelerate until full swing angle Spend for 30 degree, when swinging duration, then " swing " function setting can be " manual " pattern by microcontroller.If it is not provided with swinging Duration, microcontroller can be recorded in one minute when cradle swings to extreme lower position i.e. 3-axis acceleration sensor Z-direction weight Pressure value when power acceleration value is maximum, can influence the accurate of pressure value when cradle is swung due to swing and inertia Property, but this influence very little when cradle swings to extreme lower position, so pressure data meter of the collection cradle in this position Calculate the dispersion in this minute and judge whether baby sleep soundly, by " swing " function setting be " manual " mould when baby sleep soundly Formula, allow cradle stop swinging reduce energy consumption prevent cradle from swinging down always.3-axis acceleration sensor can be tri- to X, Y, Z The acceleration of gravity in direction, which is AD converted generation, 16 data of symbol, and three-axis gyroscope sensor can be with angular velocity value Being AD converted generation has 16 data of symbol, and collection three-axis gyroscope sensor Z axis turns to the magnitude of angular velocity in X-direction With 3-axis acceleration sensor X, Y, Z both direction gravity acceleration value, these 16 data for having symbol are changed into no symbol Number 16 data and obtain the direction use+1 and -1 of data and represent, calculate the angle that current cradle swings according to these data Degree realizes the intelligent oscillating function of cradle, and the rate-determining steps intelligently swung are as follows：
(1) the acceleration of gravity data in tri- directions of 3-axis acceleration sensor X, Y, Z are gathered
(2) angular velocity data in three-axis gyroscope sensor Z axis steering X-direction is gathered
(3) the direction use+1 and -1 for obtaining acceleration of gravity data represents
(4) the direction use+1 and -1 for obtaining angular velocity data represents
(5) full swing angle and swaying direction are calculated
The formula of angle calculation is：
(1)
(1) in formula, n is the angle value calculated, axFor the gravity acceleration value of 3-axis acceleration sensor X-direction, sxIt is Its direction, azFor the gravity acceleration value of 3-axis acceleration sensor X-direction, szIt is its direction, gzxFor three axis accelerometer Instrument sensor Z turns to the magnitude of angular velocity in X-direction, szxIt is its change direction, m is 3-axis acceleration sensor X-direction The correction value of acceleration of gravity, smFor its direction, repeatedly calculate angle value n and compare and draw maximal angle value, work as maximum angular Angle value starts motor when being less than 20 degree and accelerates, and stops motor when maximal angle value reaches 30 degree and relies on bobbing by cradle.
When " sound " function is arranged to automatic, microcontroller can start sound transducer to monitor the sound around cradle Sound, the voltage change of sound transducer is bigger when having bigger noise when baby awake is to cry or around cradle, single The magnitude of voltage and setting threshold value of piece machine collection sound transducer are compared, and will remind adult when a threshold is exceeded.
When " light intensity " function is arranged to automatic, microcontroller can start baby head institute in phototriode detection cradle Light intensity can be changed into voltage signal by the light intensity in region, phototriode, and microcontroller gathers this voltage signal and by putting After big circuit amplification compared with the threshold value of setting, it is baby's shading that cape can be then risen if above threshold value.Light is too strong Baby's eyes can be allowed not feel well, when infant sleep is liked than milder environment but cannot be completely black, so the voltage collected Value can start 10% that motor rises cape covering cape energy overlay area when being higher than threshold value, then collection voltages and threshold value ratio again Compared with, rise 10% again if being also above threshold value until voltage is less than threshold value, soft environment can be so provided for baby and It is unlikely to completely black.
When " record " function is arranged to automatic, adult can pass through " sleep " " having milk " " stool and urine " on touch-screen To record baby's event and set prompting duration by " timing length ", microcontroller opening timing device carries out timing when prompting Duration can then remind adult and include important event information on touch LCD screen.Music module is carried in system, when When cradle is in automatic mode, if baby wake up from sleeping soundly cry and scream microcontroller can automatically turn on music module play music, Adult also can play music manually by " broadcasting " button.The system realizes alarm using infrared alarm module, reminds adult to note Meaning infantile state, when the dispersion of pressure value is more than change threshold, microcontroller can start infrared alarm flash red LED light, sound Buzzer is played, microcontroller can start infrared alarm flicker blue led when the voltage signal due to sound transducer is more than threshold value Lamp, sound buzzer, when due to event reminder time, then microcontroller can start infrared alarm blinking green LED light, bee of sounding Ring device, and infrared alarm can reduce the influence that wireless environment comes to baby harness, while timely remind adult to reduce carelessness.
Patent of the present invention can realize intelligent control cradle, and auxiliary adult preferably looks after baby, there is extraordinary application Prospect.

Claims (8)

  1. A kind of 1. Intelligent cradle system based on STM32, it is characterised in that：It is by STM32 microcontrollers, touch LCD screen, three axis Acceleration transducer, three-axis gyroscope sensor, motor, foil gauge, sound transducer, phototriode, cape, infrared sensing Device, LED light, buzzer composition, coordinate software program to carry out the data of sensor using STM32 microcontrollers as control core Gather and cradle allomeric function is controlled, realize the intelligentized control method of cradle.
  2. A kind of 2. Intelligent cradle system based on STM32 according to claim 1, it is characterised in that：The touch liquid Have on crystalline substance screen the function that can have to Intelligent cradle of function button of simulated operation interface and simulation carry out operation manually and from The selection of dynamic operation, can record infant drinks, sleep, the event of stool and urine and time, can set event reminder time, can To show important data message.
  3. A kind of 3. Intelligent cradle system based on STM32 according to claim 1, it is characterised in that：There are three axis to add for it Velocity sensor, three-axis gyroscope sensor and motor, STM32 microcontrollers collection three axis instant in cradle automatic swing add The data of velocity sensor, three-axis gyroscope sensor, calculate current cradle full swing angle and swaying direction, control electricity Machine, which rotates, makes cradle full swing angle maintain the intelligent oscillating function for realizing cradle between 20 degree to 30 degree, intelligently swings Rate-determining steps are as follows：
    Gather the acceleration of gravity data in tri- directions of 3-axis acceleration sensor X, Y, Z
    Gather the angular velocity data in three-axis gyroscope sensor Z axis steering X-direction
    The direction use+1 and -1 for obtaining acceleration of gravity data represents
    The direction use+1 and -1 for obtaining angular velocity data represents
    Calculate full swing angle and swaying direction
    The angle of current cradle swing, angle calculation can be calculated according to these acceleration of gravity data and angular velocity data Formula be：
    <math display = 'block'> <mrow> <mi>n</mi> <mo>=</mo> <msup> <mi>tan</mi> <mrow> <mo>&amp;minus;</mo> <mn>1</mn> </mrow> </msup> <mo stretchy='false'>(</mo> <mfrac> <mrow> <msub> <mi>a</mi> <mi>x</mi> </msub> <mo>&amp;lowast;</mo> <msub> <mi>s</mi> <mi>x</mi> </msub> <mo>&amp;minus;</mo> <mi>m</mi> <mo>&amp;lowast;</mo> <msub> <mi>s</mi> <mi>m</mi> </msub> <mo>+</mo> <msub> <mi>g</mi> <mi>zx</mi> </msub> <mo>&amp;lowast;</mo> <msub> <mi>s</mi> <mi>zx</mi> </msub> </mrow> <mrow> <msub> <mi>a</mi> <mi>z</mi> </msub> <mo>&amp;lowast;</mo> <msub> <mi>s</mi> <mi>z</mi> </msub> </mrow> </mfrac> <mo stretchy='false'>)</mo> <mo>&amp;lowast;</mo> <mo stretchy='false'>(</mo> <mfrac> <mrow> <mn>180</mn> <mi>&amp;deg;</mi> </mrow> </mfrac> <mo stretchy='false'>)</mo> </mrow> </math> (1)
    (1) in formula, n is the angle value calculated, axFor the gravity acceleration value of 3-axis acceleration sensor X-direction, sxIt is it Direction, azFor the gravity acceleration value of 3-axis acceleration sensor X-direction, szIt is its direction, gzxFor three-axis gyroscope Sensor Z turns to the magnitude of angular velocity in X-direction, szxIt is its change direction, m is the weight of 3-axis acceleration sensor X-direction The correction value of power acceleration, smFor its direction, repeatedly calculate angle value n and compare and draw maximal angle value, work as maximum angle Value starts motor when being less than 20 degree and accelerates, and stops motor when maximal angle value reaches 30 degree and relies on bobbing by cradle.
  4. A kind of 4. Intelligent cradle system based on STM32 according to claim 3, it is characterised in that：Cradle is in intelligent pendulum Also have the function of that swing is periodically and self-braking when dynamic, swing timing can be set in cradle automatic swing, when the time is up Swing is automatically stopped, in the case where being not provided with swinging timing cases, microcontroller can detect whether baby sleep soundly, after baby sleep soundly certainly It is dynamic to stop swinging.
  5. A kind of 5. Intelligent cradle system based on STM32 according to claim 1, it is characterised in that：It uses foil gauge To gather pressure change in cradle, five foil gauges are placed on the leg for corresponding to baby in cradle respectively, back, shoulder position, When the pressure change on foil gauge, its magnitude of voltage can change, and the pressure value that five foil gauges are gathered with microcontroller is gone forward side by side Row AD conversion, sets pressure threshold, change threshold, is to mean that to have baby in cradle when pressure exceedes pressure threshold, uses list Piece machine records the pressure value in each foil gauge one minute, and variance calculating is carried out to the pressure value in each foil gauge one minute, And variance is modified to obtain dispersion with very poor, mean that baby may be from ripe when this dispersion exceedes change threshold Wake up in sleeping, realize that state of the monitoring baby in cradle, the calculation formula of dispersion are in real time：
    + (2)
    (2) in formula, d is dispersion, and M is the average of all pressure values in one minute, F1…FnRepresent all in one minute Pressure value, n is the data amount check that gathers in one minute, FmaxFor pressure value maximum in this minute, FminFor this minute Interior minimum pressure value.
  6. A kind of 6. Intelligent cradle system based on STM32 according to claim 1, it is characterised in that：The sound passes Sensor is used for detecting cradle ambient sound size, single when voltage change can occur for baby crying or while having bigger noise Piece machine according to the voltage change of sound transducer may determine that baby awake come or noise it is too big.
  7. A kind of 7. Intelligent cradle system based on STM32 described in claim 1, it is characterised in that：Use phototriode, bucket Paulin and motor realize the function of intelligent shading, and the light intensity in the cradle region where phototriode detection baby head, works as light intensity It is intelligent infant shading to start motor when bigger to rise cape, and cape is packed up automatically when environment is dim, is relaxed to baby's manufacture Sleeping environment suitable, light is soft.
  8. A kind of 8. Intelligent cradle system based on STM32 described in as requested 1, it is characterised in that：Using infrared sensor, LED light, buzzer realize infrared alarm function, when baby awake comes, crys, ambient noise is bigger, event reminder time then Start infrared alarm module progress warning reminding adult and pay attention to infantile state.
CN201711188413.7A 2017-11-24 2017-11-24 A kind of Intelligent cradle system based on STM32 Pending CN107951276A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108851765A (en) * 2018-06-21 2018-11-23 佛山市豪洋电子有限公司 A kind of bassinet nurse robot
US10238341B2 (en) 2016-05-24 2019-03-26 Graco Children's Products Inc. Systems and methods for autonomously soothing babies
CN109645971A (en) * 2018-12-29 2019-04-19 福建叮叮管家电子科技有限公司 A kind of baby monitoring system and method based on smart home
CN113256954A (en) * 2021-05-10 2021-08-13 台州学院 Control method based on wireless intelligent equipment
CN113712754A (en) * 2021-09-06 2021-11-30 张东艳 Multifunctional pediatric shaking bed helpful for sleep and recuperation of children

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10238341B2 (en) 2016-05-24 2019-03-26 Graco Children's Products Inc. Systems and methods for autonomously soothing babies
CN108851765A (en) * 2018-06-21 2018-11-23 佛山市豪洋电子有限公司 A kind of bassinet nurse robot
CN109645971A (en) * 2018-12-29 2019-04-19 福建叮叮管家电子科技有限公司 A kind of baby monitoring system and method based on smart home
CN113256954A (en) * 2021-05-10 2021-08-13 台州学院 Control method based on wireless intelligent equipment
CN113712754A (en) * 2021-09-06 2021-11-30 张东艳 Multifunctional pediatric shaking bed helpful for sleep and recuperation of children

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Application publication date: 20180424