CN108497833A - A kind of three-dimensional mobile automatic milk-feeding apparatus - Google Patents
A kind of three-dimensional mobile automatic milk-feeding apparatus Download PDFInfo
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- CN108497833A CN108497833A CN201810296210.8A CN201810296210A CN108497833A CN 108497833 A CN108497833 A CN 108497833A CN 201810296210 A CN201810296210 A CN 201810296210A CN 108497833 A CN108497833 A CN 108497833A
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- milk
- feeding bottle
- feeding
- screw
- feeding apparatus
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- 239000008267 milk Substances 0.000 claims abstract description 73
- 210000004080 milk Anatomy 0.000 claims abstract description 73
- 235000013336 milk Nutrition 0.000 claims abstract description 73
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 230000003028 elevating effect Effects 0.000 claims description 24
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 22
- 230000005540 biological transmission Effects 0.000 claims description 5
- 210000000481 breast Anatomy 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 10
- 206010011469 Crying Diseases 0.000 description 9
- 239000004020 conductor Substances 0.000 description 8
- 238000012549 training Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000009835 boiling Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000007769 metal material Substances 0.000 description 3
- 229920003023 plastic Polymers 0.000 description 3
- 239000004033 plastic Substances 0.000 description 3
- 239000000843 powder Substances 0.000 description 3
- 238000010438 heat treatment Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 210000002445 nipple Anatomy 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 229910000967 As alloy Inorganic materials 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001815 facial effect Effects 0.000 description 1
- 230000008921 facial expression Effects 0.000 description 1
- 235000013350 formula milk Nutrition 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 210000002569 neuron Anatomy 0.000 description 1
- 230000035935 pregnancy Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47D—FURNITURE SPECIALLY ADAPTED FOR CHILDREN
- A47D15/00—Accessories for children's furniture, e.g. safety belts or baby-bottle holders
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J9/00—Feeding-bottles in general
- A61J9/06—Holders for bottles
- A61J9/0653—Holders for bottles characterised by the type of support
- A61J9/0661—Holders for bottles characterised by the type of support attachable to other devices or furniture, e.g. crib, commode or stroller
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J9/00—Feeding-bottles in general
- A61J9/06—Holders for bottles
- A61J9/0653—Holders for bottles characterised by the type of support
- A61J9/0684—Holders for bottles characterised by the type of support having a self-supporting base
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Pediatric Medicine (AREA)
- Medical Preparation Storing Or Oral Administration Devices (AREA)
Abstract
The invention discloses a kind of three-dimensional mobile automatic milk-feeding apparatus, including infanette, the infanette is fixed with holder on four corners, a fence is installed on the holder, the automatic milk-feeding apparatus further includes having three-dimensional moving device, feeding bottle, control unit, positioning device, it is provided with three-dimensional moving device on the fence of the infanette, it is removably installed feeding bottle on the three-dimensional moving device, the positioning device is used to position the position of baby's mouth, and position is sent to described control unit, described control unit controls the three-dimensional moving device and moves feeding bottle to baby's mouth position；Wherein, the three-dimensional moving device is arranged in the bed fence between arbitrary two opposite fences, and carries out three-dimensional movement by turn-screw mechanism or pulley mechanism.The present invention may be implemented feeding bottle is mobile in three-dimensional and be fed the baby with milk according to accurate positioning, is participated in without artificial, liberates the both hands of mothers completely, improves life efficiency and quality.
Description
Technical field
The present invention relates to articles for babies field, more particularly to a kind of three-dimensional mobile automatic milk-feeding apparatus.
Background technology
Present workplace mothers have such experience, and arduous working, will also get up breast-feed to baby at night daytime, even if
It during maternity leave, wakes up breast-feed many times every night, and extremely arduous thing；And work as evening baby and wake up, it cries but also makes a noise not only and want
When having milk, mothers, which need to hurry on one side, rushes milk powder, fools baby, very arduous trouble, especially cold winter, parent on one side
Need midnight to get up to brew milk powder, and should ensure the temperature of milk, ensureing again cannot be too boiling hot, often because rush milk powder when
Between it is too long, and baby is made to wail without ceasing；Especially milk brews that needs are artificial to be participated in, and time-consuming and laborious, and while breast-feeding needs
It manually to participate in.
In view of the above problems, the present disclosure provides a kind of baby's automatic milk-feeding system and method, entirely without
Parents are needed to get up, you can to complete infant feeding；Particularly, the present invention provides a kind of three-dimensional mobile automatic milk-feeding apparatus, nothings
It need to manually participate in, you can be automatically performed milk brews overall process.
Invention content
In view of the above problems, the present invention proposes a kind of three-dimensional mobile automatic milk-feeding apparatus, is participated in without artificial, you can
Be automatically performed milk brews overall process, liberates the both hands of mothers completely, improves life efficiency and quality.
The present invention provides a kind of three-dimensional mobile automatic milk-feeding apparatus, including infanette, four corners of the infanette
On be fixed with holder, a fence is installed, the automatic milk-feeding apparatus further includes having three-dimensional moving device, milk on the holder
Bottle, control unit, positioning device, are provided with three-dimensional moving device on the fence of the infanette, on the three-dimensional moving device
It is removably installed feeding bottle, the positioning device is used to position the position of baby's mouth, and position is sent to the control list
Member, described control unit control the three-dimensional moving device and move feeding bottle to baby's mouth position；
Wherein, the three-dimensional moving device is arranged in the bed fence between arbitrary two opposite fences, and passes through
Turn-screw mechanism or pulley mechanism carry out three-dimensional mobile.
Preferably, the three-dimensional moving device includes:Guide rod, slide, turn-screw mechanism, turn-screw mechanism packet
Screw rod and nut are included, screw rod is arranged between two adjacent holders, and nut is set on screw rod, and nut cooperates with screw rod,
By rotating screw rod, controls the feeding bottle and move in the Y direction；It is connected at least two between opposite two nut of bed fence
The slide is arranged on guide rod in the guide rod of horizontal parallel, and the slide includes horizontal lead screw nut block and the company of being secured to
The down-feed screw nut block connect, horizontal lead screw nut block coordinate with the guide rod, are moved in the X direction for controlling feeding bottle, hang down
Raw silk rings stem nut block top is equipped with elevating mechanism, and the elevating mechanism moves in z-direction for controlling feeding bottle, the feeding bottle
It is fixedly mounted on the elevating mechanism.
Preferably, the elevating mechanism includes lifting motor and elevating lever, and lifting motor is mounted on elevating lever top,
Elevating lever is matched with down-feed screw nut block, is moved in z-direction for controlling feeding bottle, is movably set with and is used on elevating lever
The fixed ring of the fixed feeding bottle.
Preferably, the screw rod, guide rod are respectively connected with motor, are moved in y and x direction for controlling the feeding bottle.
Preferably, motor controlled unit control, and controlled successively according to the coordinate of positioning device the X in three-dimensional,
Y, Z ties up motor rotation so that feeding bottle reaches the coordinate, and the motor and lifting motor are servo motor or direct current generator.
Preferably, the positioning device determines the position of baby's mouth by recognition of face.
Preferably, the turn-screw mechanism is normal spiral pair or Precision High-speed Ball Screw.
Preferably, for the holder on the infanette both sides as left and right limited block, the turn-screw mechanism includes ball wire
Thick stick, the ball-screw are fixed on by left limit block and right limit block on a fence, and the nut is by motor in ball wire
It is moved on thick stick.
Preferably, the infanette be equipped with fixed plate between bed fence, be provided in the fixed plate hot water tank,
Milk block box, the feeding bottle are in open state；Several pieces of milk blocks are housed in the milk block box, it is opening down, it is directed at the feeding bottle and opens
At mouthful, and control whether the milk block falls into the feeding bottle by first switch；The hot water tank bottom is equipped with leading for water outlet
Water pipe；The aqueduct, for the hot water in hot water tank to be led into the feeding bottle, and by second switch control described in lead
The turn-on and turn-off of water pipe；Described control unit also controls the state of first switch and the second switch.
Preferably, described device further includes the switch button for having connection described control unit, and described control unit is receiving
To switch button by after the automatic milk-feeding instruction by signal or system transmission, then first switch and the second switch is opened successively
It is closed after a period of time, controls milk block and hot water enters in the feeding bottle, complete milk and brew, and be provided on the feeding bottle
Temperature sensor is used for real-time sensing milk temperature；Described control unit controls three-dimensional according to the temperature that temperature sensor senses
Automatic milk-feeding apparatus is breast-feeded.
Compared with prior art, baby's automatic milk-feeding system of the present invention and the automatic coffee making for breast-feeding of offer
Device, advantageous effect include：
(1) three-dimensional mobile automatic milk-feeding apparatus provided by the invention may be implemented feeding bottle in the mobile simultaneously basis of three-dimensional
Accurate positioning feeds the baby with milk, and is participated in without artificial, liberates the both hands of mothers completely, improves life efficiency and quality；
(2) present invention increases automatic coffee making device and is participated in without artificial on the basis of the above, can be automatically performed milk
Brew, complete full-automatic infant feeding, completely discharge mothers pressure.
The aspects of the invention or other aspects can more straightforwards in the following description.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those skilled in the art, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the principle schematic of one baby's automatic milk-feeding system of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of two automatic coffee making device of the embodiment of the present invention；
Fig. 3 is the operation principle schematic diagram of first switch in two automatic coffee making device of the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of three milk-feeding apparatus of the embodiment of the present invention；
Fig. 5 is the structural schematic diagram of turn-screw mechanism in three milk-feeding apparatus of the embodiment of the present invention；
Fig. 6 is image recognition principle schematic diagram in the embodiment of the present invention four；
Description of the drawings：1- infanettes, 2- bottom plates, 3- holders, 4- fences, 5- screw rods, 6- nuts, 7- guide rods, 8- milk
Bottle, 9- horizontal lead screw nut blocks, 10- down-feed screw nut blocks, 11- elevating mechanisms, 12- fixed rings, 13- ball-screws, 14- axis
It holds；101- control devices, 102- crying identification devices, 103- face recognition devices, 104- automatic coffee making devices, 105- breast-feed dress
It sets；201- negative conductors, 202- positive conductors, 203- milk block boxes, 204- first switches, 205- fixed frames, 206- aqueducts, 207-
Two switches, 208- vacuum flask, 209- temperature sensors, 210- milk lumps, 211- first switches hole.
Specific implementation mode
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those skilled in the art are not having
There is the every other embodiment obtained under the premise of making creative work, shall fall within the protection scope of the present invention.
Wherein, the drawings are for illustrative purposes only and are merely schematic diagrams rather than pictorial diagram, should not be understood as to this
The limitation of patent；Embodiment in order to better illustrate the present invention, the certain components of attached drawing have omission, zoom in or out, not
Represent the size of actual product；It will be understood by those skilled in the art that certain known features and its explanation may be omitted and be in attached drawing
It is appreciated that.
Present embodiment provides the system of breast-feeding with automatic milk-feeding function, as shown in Figure 1, being the embodiment of the present invention
The structural schematic diagram of one baby's automatic milk-feeding system, baby's automatic milk-feeding system, includes for the infanette for infant sleep
1, which further includes：
Crying identification device 102, in real time acquire environment voice messaging, and by the voice messaging of acquisition with prestore
Vagitus be compared, and judge whether it is that baby is crying according to comparison result；
Control device 101, for according to 102 judging result of crying identification device, controlling other devices and being grasped accordingly
Make；
Automatic coffee making device 104 carries out milk automatic coffee making for the instruction according to control device 101 in milk bottle；
Face recognition device 103, for after automatic coffee making device 104 brews milk, to known seat on infanette
Target regional area carries out face recognition, and the coordinate position of baby's mouth is obtained according to face recognition result.
Milk-feeding apparatus 105, the milk bottle neck for brewing automatic coffee making device 104 pass through two in three-dimensional mobile system
Dimension is moved to the corresponding coordinate position of baby's mouth, and senses the milk mouth close to baby's mouth by proximity sensor
Distance, and distance described in Real-time Feedback is controlled another in the three-dimensional mobile system by control device to control device
Dimension movement, until the milk mouth is sent into baby's mouth.
Further, the crying identification device 102 includes sequentially connected voice messaging acquisition module and voice messaging
Processing module, the voice messaging acquisition module acquire the voice messaging in ambient enviroment in real time；The speech signal analysis mould
Block, after the voice messaging of acquisition is carried out speech processes, for example, the speech signal analysis module is by collected voice messaging
Ambient sound is removed, and voice messaging is compared with pre-stored vagitus by treated, if comparison result difference exists
In threshold range, then judges that baby is crying, need to breast-feed；If comparison result difference except threshold range, judges that baby does not have
It cries, without breast-feeding, and will determine that result is sent to control device 101.
The comparison includes being compared, sound size being compared and by sound variation to the tone of voice messaging
Trend is compared；Treated voice messaging with the pre-stored vagitus information compare and is specifically included：
By treated voice messaging is first the divided into speech frame, 100 milliseconds of frame length, it is 50 milliseconds that frame, which moves, then make plus Hanning window at
Reason, such as can be：W (n)=0.5* (1-cos (2*pi*n/ (N-1))) finally carries out fast Fourier change to every frame voice
It changes, the ratio between 1kHz to 3kHz frequency bands energy and a frame energy summation is calculated, by ratio and pre-stored baby cried
Acoustic intelligence is compared and is judged；The difference that comparison is judged is removed one frame energy of pre-stored vagitus information and is sentenced again
Whether the result of breaking is in threshold range；Preferably, it sets the threshold range and is less than 30%；This that is, if it is determined that
As a result it is less than 30%, illustrates the voice messaging detected relatively pre-stored vagitus, then judge that baby is crying, otherwise
It is not then, and the judging result is sent to the control device 101.
Further, for the control device 101 after the judging result for receiving crying identification device 102, control is automatic
Brewing device 104 is operated accordingly；
Automatic coffee making device 104 carries out milk automatic coffee making for the instruction according to control device 101 in milk bottle,
Concrete operations are as follows：
As shown in Fig. 2, brewing the structural schematic diagram of milk, the automatic punching for two automatic coffee making device of the embodiment of the present invention
Bulb apparatus 104 includes feeding bottle 8, negative conductor 201, positive conductor 202, milk block box 203, first switch 204, fixed frame 205, aqueduct
206, second switch 207, vacuum flask 208, temperature sensor 209, the feeding bottle 8 is the milk that the metal material that bottom of bottle is opened makes
Bottle, is removably mounted in fixed ring 12.
The vacuum flask 208 is used to contain boiling water, is provided with fixed frame 205, described for fixing milk block box 203
Milk block box 203 is fixed plastics part, wherein being equipped with polylith milk lumps 210, each piece of milk lumps 210 are mixed with 40ml warm water, i.e.,
The milk that suitable baby absorbs can be allotted；It is provided with first switch hole 211 on the milk block box 203, and is aside matched with it
Set is provided with first switch 204, for controlling in milk block box 203 skidding off for each piece of milk lumps 210；
Preferably, as shown in figure 3, the first switch 204 is the waddy that relay or motor control, in milk lumps
Before 210 do not drop out, the waddy passes through the first switch hole 211 on the milk block box 203, and by institute by way of pressing
The first piece of milk lumps 210 stated in milk block box 203 are controlled in outlet edge, are not skidded off；Once first switch 204 receives control
The instruction of device, such as：Come when needing automatic coffee making milk, first switch 204 can control the waddy and unclamp baby awake, towards remote
Direction movement from first piece of milk lumps, and back move rapidly, at this point, first piece of milk lumps is with the shadow of gravity
Sound drops out milk block box 203, falls in the feeding bottle 8；Second piece of milk lumps waits for that it slides into described first piece with Gravitational sliding
When the position that milk lumps stopped originally, the first switch is returned rapidly, and passes through the first switch hole 211, by institute
Second piece of milk lumps pressing is stated on the wall of the milk block box 203；
The time of first switch folding is set as milk lumps does the movement of falling object and passes through a milk lumps down
Height time, specifically, the milk lumps height be h, local gravitational acceleration g, then be arranged first switch folding
Time, t1 was：
Preferably, vacuum flask 208 offer hole, and pass through water guide for containing boiling water in 208 downside of the vacuum flask
Pipe 206 flows into feeding bottle 8.It is provided with second switch 207 on the aqueduct 206, is flowed into for controlling the boiling water in aqueduct 206
Feeding bottle 8 is turned off and on；207 controlled device 101 of the second switch controls；It is fed when control device 101 receives needs
After the signal of milk, the second switch 207 is sent instructions to, controls the opening of the second switch 207, and after a fixed time,
The second switch 207 is closed, the time that the time is the water flowed out in aqueduct when being 40ml, due to water guide bore
Sectional area can calculate, and be s square metres, and the speed of aqueduct flow rule of thumb or according to aqueduct makes manufacturer
Experience can be known as v meter per seconds, thus can calculate the time t2 that the second switch 207 is opened every time and be：
The fixed ring forms for forward and backward two parts metal half-rings, and the forward and backward semi-ring is made of metal material, passes through
Two plastic buckles connect to form annulus, and the fixed feeding bottle 8 is on elevating mechanism 11, wherein the preceding semi-ring passes through just
Conducting wire 202 connects positive pole and third switch 210, it is described after semi-ring power cathode is connected by negative conductor 201, it is forward and backward partly
The plastic part being snapped between ring separates；
Preferably, temperature sensor 209 is provided on the feeding bottle 8, the setting of the temperature sensor 209 is leaned in feeding bottle 8
Feeding bottle near nearly nipple says that, the temperature for sensing feeding bottle, when control device 101 controls first switch 204 and second
After switch 207 opens t1 the and t2 times respectively, control device 101 starts to collect the temperature value that temperature sensor 209 senses,
When the temperature is when 30-35 is spent, startup milk-feeding apparatus 105, which proceeds by, breast-feeds.
When the temperature value that the temperature sensor 209 senses is less than 30 degree, control device 101 controls third switch 210
It is closed, at this point, the positive and negative electrode of power supply is loaded directly by positive conductor and negative conductor on forward and backward semi-ring, and passes through front and back semi-ring
It being loaded directly on feeding bottle, the feeding bottle is made of high-resistance metal material, such as alloy conductive material, therefore, and after energization, feeding bottle
It under the action of positive and negative power supply, directly generates heat, to give Milk During Heating；Milk described in 209 real-time sensing of the temperature sensor
Bottle temperature, and the control device is fed back to, when sensing the temperature and being higher than 40 degree, control third switch 210 is opened, and is stopped
Heating.
In another embodiment, the brewing device further includes having controller, and the controller is for controlling first switch
With the state of second switch.
Preferably, the brewing device further includes having the switch button for connecting the controller, the controller receiving
To switch button by after the automatic milk-feeding instruction by signal or system transmission, then first switch and the second switch is opened successively
It is closed after a period of time, controls milk block and hot water enters in the feeding bottle.
Preferably, the shaking device or mobile device of connection controller, the vibrations are provided on the brewing device
Device either mobile device for controlling the milk in the feeding bottle by shaking or moving and uniformly shaking.
The feeding bottle is top or bottom opening, and equipped with lid, and the lid is described for being screwed into
Baby bottle top or bottom.
In another embodiment, the embodiment of the present invention three provides a kind of three-dimensional mobile automatic milk-feeding apparatus 105, with reference to figure
4~Fig. 5, the milk-feeding apparatus 105 include infanette 1, and the infanette is fixed with holder 3 on four corners, is equipped on holder 3
Bed fence 4, bed fence 4 includes four frameworks, and arbitrary two opposite framework lower ends are both provided with driving wire in the bed fence 4
Thick stick mechanism, turn-screw mechanism include screw rod 5 and nut 6, and screw rod 5 is arranged between two adjacent holders 3, and nut 6 is located at spiral shell
On bar 5, nut 6 cooperates with screw rod 5, and by rotating screw rod 5, control feeding bottle moves in the Y direction；In addition, opposite two spiral shells
It is connected with the guide rod 7 of at least two horizontal parallels between mother 6, is provided with slide on guide rod 7, the slide includes horizontal lead screw
Nut block 9 and the down-feed screw nut block 10 for being secured to connection, horizontal lead screw nut block 9 coordinates with guide rod 7, for controlling
Feeding bottle moves in the X direction, and 10 top of down-feed screw nut block is equipped with elevating mechanism 11, and elevating mechanism 11 includes lifting electricity
Machine and elevating lever, lifting motor are mounted on elevating lever top, and elevating lever is matched with down-feed screw nut block 10, for controlling
Feeding bottle moves in z-direction, and the fixed ring 12 for fixing the feeding bottle 8 is movably set on elevating lever.The screw rod 5 is led
Bar 7 is respectively connected with motor.
Specifically, as shown in figure 5, turn-screw mechanism by ball-screw 13, holder 3, bed fence 4, screw rod 5, nut 6,
Guide rod 7 and bearing 14 form, and the holder 3 on wherein both sides is also used as left and right limited block, and ball-screw 13 passes through left limit block
It is fixed on a fence 4 with right limit block, nut 6 is moved by motor on ball-screw 13.Turn-screw mechanism can be general
Logical screw pair, can also be Precision High-speed Ball Screw.
Further, the three-dimensional moving device is arranged in the bed fence between arbitrary two opposite fences, and
It is carried out by turn-screw mechanism or pulley mechanism three-dimensional mobile.
Further, the top and bottom of the nut 6 are symmetrically arranged with two matched screw rods 5, and two screw rods 5 exist
It is parallel on vertical direction.
The screw rod 5 is connected to stepper motor, and guide rod 7 is connected to linear motor, and lifting motor 12 is stepper motor, stepping
Motor is connect with control device 101 with linear motor, is acted according to the instruction of control device 101, to control feeding bottle 8
Reach specified coordinate.
In the present embodiment, the rotation that guide rod 7 and screw rod 5 can be driven by stepper motor, to realize slide and spiral shell
The movement of mother 6 respectively in the x, y direction, the amount of feeding of guide rod 7 and screw rod 5 can then be controlled by adjusting the rotating speed of stepper motor, into
And feeding bottle 8 is controlled in the coordinate of X/Y plane, and elevating mechanism 11 is also connected with stepper motor, and feeding bottle 8 may be implemented completely in Z
Linear displacement in axial direction, by the structure design to three dimension directions of the platform, realizing feeding bottle 8 three, space
The movement of dimension, each motor also transfer to control device 101 to control, and realization is automatically breast-feeded.
In another embodiment, the embodiment of the present invention four provides a kind of image recognition positioning device, concrete principle schematic diagram
Refer to Fig. 4 and Fig. 6；The face recognition device 103, for after automatic coffee making device 104 brews milk, to baby
The regional area of known coordinate carries out face recognition on bed, and the coordinate position of baby's mouth is obtained according to face recognition result；
Preferably, the face recognition device 103 includes image acquisition unit, image processing unit and storage unit,
Described image acquiring unit sends an image to image processing unit for shooting image, and described image processing unit is to obtaining
The image taken carries out face detection and processing, and captures representative facial characteristics, such as mouth, by the image of acquisition and known seat
Target initial pictures are compared, and obtain the coordinate position of representative face feature.
Wherein, which is executed using face detection algorithm, before this, the face recognition device 103
Multiple training has been carried out, face recognition has been carried out to thousands of up to a hundred babies using artificial neuron training algorithm, and generation has face
The training set of portion's image is stored in storage unit as the face recognition training set that system carries；And it buys the baby and feeds automatically
After the user of milk system buys back, need to carry out face recognition to baby for the first time, and according to the training set of existing neural network, it is right
Than the representative face feature for detecting the baby, user judges the representative face feature of detection, for example sentences
Whether the open close baby's mouth that detected after face recognition for the first time is correct, if incorrect, can be taking human as manual modification
Correct position, if correctly, can directly use the result；And it is stored in above-mentioned testing result as the first reduced value
Storage unit；Preferably, the face recognition for the first time can carry out repeatedly, and when baby is in different facial expressions respectively into
Row, in this way, can store to the baby cry, laugh at, the correct testing result under normal condition, and deposited as the first reduced value
Storage is in storage unit.
After obtaining baby's face detection result for the first time, subsequently each time face recognition when, first by the image of acquisition
It is compared with the first reduced value, to correctly detect baby's representative face feature position, including baby's mouth place
Position；If representative face feature can not be got, then face recognition training set that the image and system are carried into
Row comparison, to obtain baby's representative face feature position.
Certain distance above the centre for the bedside position that described image acquiring unit is located at the infanette 1 is set,
When the distance is shot, described image acquiring unit just shoots the bedside position overall picture of the infanette 1.Image acquisition unit exists
The position is fixed, and image acquisition unit 10 shoots the overview image of the bedside position of infanette 1 when having time bed in advance, and certainly
The coordinate of each position is defined, specifically as shown in Fig. 6 left figures, the coordinate of Fig. 6 is the bedside position of infanette 1 in Fig. 4
Coordinate, and the result is stored in storage unit；When subsequent control device 101 provides instruction and needs automatic milk-feeding, start image
Acquiring unit, which to the bedside position of the infanette take pictures, obtains image, as shown in the right of Fig. 6, obtains baby head and exists
The head of a bed coordinate position figure, and baby's mouth is detected by recognition of face, by the blank sheet of the figure and the known coordinate of left figure point
As being compared, knows the coordinate position of baby's mouth, therefore, the right image in Fig. 6 is compared with left image, you can
The coordinate value for determining the every bit in Fig. 6 on baby's mouth takes wherein one point A, such as a bit intermediate, as anchor point, then leads to
The coordinate value (x1, y1) of A points can be obtained by crossing comparison.
In next step, control device 101 controls the automatic of three-dimensional movement according to the coordinate value (x1, y1) of the A points of the acquisition
It is rotated with the X servo motors to match to transmission shaft and Y-direction rotation axis in milk-feeding apparatus 105, controls the arrival of the feeding bottle 8
(x1, y1) point in the coordinate system of the directions XY in three dimensions, in this whole process, the motor of Z-direction is motionless, controls always
Feeding bottle moves in X/Y plane.
Hereafter, start proximity sensor 301, sense distance of the feeding bottle 8 close to baby's mouth, and the distance is sent
To control device 101；The control device 101 controls the direction of the past close baby of the feeding bottle 8 vertically downward；The close biography
Sensor is mounted on feeding bottle front close to milk mouth position, when the proximity sensor senses baby's mouth from proximity sensor
Distance only nipple length apart from when, then it is slowly close down, until crying identification device detect vagitus stop or
Person moves 3-4cm and then stops again down.
In the present invention, described control unit, controller, control device can be set together as a control unit.
Automatic milk-feeding system provided by the invention can be not necessarily to artificial participation completely, can be automatically finished feeding for baby
Milk discharges the pressure of mothers completely, improves life efficiency and quality.
Obviously, the above embodiment of the present invention is just for the sake of clearly demonstrating examples made by the present invention, and is not
Restriction to embodiments of the present invention.For those of ordinary skill in the art, on the basis of the above description also
It can make other variations or changes in different ways, there is no necessity and possibility to exhaust all the enbodiments.It is all
All any modification, equivalent and improvement made by within the scope of the spirit and principles in the present invention etc. should be included in power of the present invention
Within the protection domain that profit requires.
Claims (10)
1. a kind of three-dimensional mobile automatic milk-feeding apparatus, including infanette, the infanette are fixed with holder on four corners, institute
It states and a fence is installed on holder, it is characterised in that:The automatic milk-feeding apparatus further includes having three-dimensional moving device, feeding bottle, control
Unit processed, positioning device, are provided with three-dimensional moving device on the fence of the infanette, detachable on the three-dimensional moving device
Ground is equipped with feeding bottle, and the positioning device is used to position the position of baby's mouth, and position is sent to described control unit, described
Control unit controls the three-dimensional moving device and moves feeding bottle to baby's mouth position；
Wherein, the three-dimensional moving device is arranged in the bed fence between arbitrary two opposite fences, and passes through transmission
Screw mechanism or pulley mechanism carry out three-dimensional mobile.
2. according to the automatic milk-feeding apparatus described in claim 1, it is characterised in that:The three-dimensional moving device includes:Guide rod,
Slide, turn-screw mechanism, the turn-screw mechanism include screw rod and nut, and screw rod is arranged between two adjacent holders,
Nut is set on screw rod, and nut cooperates with screw rod, by rotating screw rod, is controlled the feeding bottle and is moved in the Y direction；
It is connected with the guide rod of at least two horizontal parallels between opposite two nut of bed fence, the slide, the cunning are set on guide rod
Seat includes horizontal lead screw nut block and the down-feed screw nut block for being secured to connection, and horizontal lead screw nut block is led with described
Bar coordinates, and is moved in the X direction for controlling feeding bottle, down-feed screw nut block top is equipped with elevating mechanism, the elevator
Structure moves in z-direction for controlling feeding bottle, and the feeding bottle is fixedly mounted on the elevating mechanism.
3. according to the automatic milk-feeding apparatus described in claim 2, it is characterised in that:The elevating mechanism includes lifting motor
And elevating lever, lifting motor are mounted on elevating lever top, elevating lever is matched with down-feed screw nut block, for controlling feeding bottle
It moves in z-direction, the fixed ring for fixing the feeding bottle is movably set on elevating lever.
4. according to the automatic milk-feeding apparatus described in claim 3, it is characterised in that:The screw rod, guide rod are respectively connected with motor,
It is moved in y and x direction for controlling the feeding bottle.
5. according to the automatic milk-feeding apparatus described in claim 4, it is characterised in that:The motor controlled unit control, and
Control X, Y, Z dimension motor rotation in three-dimensional successively according to the coordinate of positioning device so that feeding bottle reaches the coordinate, the electricity
Machine and lifting motor are servo motor or direct current generator.
6. according to the automatic milk-feeding apparatus described in claim 2, it is characterised in that:The positioning device is true by recognition of face
The position of fixed baby's mouth.
7. according to the automatic milk-feeding apparatus described in claim 2, it is characterised in that:The turn-screw mechanism is normal spiral
Secondary or Precision High-speed Ball Screw.
8. according to the automatic milk-feeding apparatus described in claim 2, it is characterised in that:The holder conduct on the infanette both sides
Left and right limited block, the turn-screw mechanism includes ball-screw, and the ball-screw is solid by left limit block and right limit block
It is scheduled on a fence, the nut is moved by motor on ball-screw.
9. according to the automatic milk-feeding apparatus described in claim 2, it is characterised in that:The infanette is equipped with fixed plate in bed
Between fence, hot water tank, milk block box are provided in the fixed plate, the feeding bottle is in open state；It is equipped in the milk block box
Several pieces of milk blocks, it is opening down, be directed at the feeding bottle opening, and by first switch control the milk block whether fall into it is described
In feeding bottle；The hot water tank bottom is equipped with the aqueduct of water outlet；The aqueduct, for guiding the hot water in hot water tank
Into the feeding bottle, and control by second switch the turn-on and turn-off of the aqueduct；Described control unit also controls first and opens
Close the state with second switch.
10. according to the automatic milk-feeding apparatus described in claim 9, it is characterised in that:Described device further includes having described in connection
The switch button of control unit, described control unit are receiving being fed by signal or the automatic of system transmission for switch button
After milk instruction, then first switch and the second switch is opened successively and is closed afterwards for a period of time, milk block is controlled and hot water enters the milk
In bottle, completes milk and brew, and temperature sensor is provided on the feeding bottle, be used for real-time sensing milk temperature；The control
The three-dimensional automatic milk-feeding apparatus of temperature control that unit processed is sensed according to temperature sensor is breast-feeded.
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| CN201810296210.8A CN108497833B (en) | 2018-04-03 | 2018-04-03 | Three-dimensional moving automatic milk feeding device |
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| CN201810296210.8A CN108497833B (en) | 2018-04-03 | 2018-04-03 | Three-dimensional moving automatic milk feeding device |
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| CN108497833B CN108497833B (en) | 2022-06-03 |
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| Publication number | Publication date |
|---|---|
| CN108497833B (en) | 2022-06-03 |
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