CN1919109A - Rock control device for rock body - Google Patents
Rock control device for rock body Download PDFInfo
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- CN1919109A CN1919109A CN 200610126258 CN200610126258A CN1919109A CN 1919109 A CN1919109 A CN 1919109A CN 200610126258 CN200610126258 CN 200610126258 CN 200610126258 A CN200610126258 A CN 200610126258A CN 1919109 A CN1919109 A CN 1919109A
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Abstract
The present invention provided an oscillation control device for a rocker which achieves cost reduction and materializes desired oscillation without requiring complicated labor. A sensor part 14 is provided with a reflector 141 which is arranged in an oscillator and has a reflection-transmission pattern part 1411 over a predetermined range of substantially half in the rocking direction of the rocker, and one optical sensor 142 for outputting a pulse signal S142 in response to a light receiving level by receiving light reflected by the reflector 141. A control circuit 15 counts the continuous time when no waveform is produced and the change point on the basis of a pulse signal waveform by the optical sensor. The rocking amplitude is recognized through the count of a pulse signal for one period. When the time at which no waveform is produced continues for a prescribed time, the recognition of an off-time is made to determine the completion of one period. The circuit starts driving from next pulse. At the time of stopping rocking, fade-out control is executed in which the rocking amplitude is gradually lowered to be stopped in accordance with the degree of rocking amplitude to be set.
Description
Technical field
The present invention relates to control the control device for rock of the rock body that rock bodies such as cradle shake.
Background technology
In recent years, can allow the child take also movable apparatus and no doubt need not speak more, also oneself supplies practical application to the infant that can use as cradle with chair.
This infant with the drive system of chair have be installed in the infant with the driving in the chair with solenoid, and detection shake the photodiode used at the center etc.
The block diagram that Fig. 1 uses with the control device for rock formation example of chair drive system for the existing infant of expression.
This control device for rock 1 has as shown in Figure 1: cradle 2, optical sensor 3, timer 4 and solenoid drive circuit 5.
In this control device for rock 1, shake the cradle 2 that the infant takes, for example shake the center utilizing when shaking the center photodiode 3 to detect, to timer 4 output detection signal S3.
Drive circuit 5 is received driving pulse S4 with an end of predetermined drive force cradle (push away or draw), by like this, shakes cradle 2.
So still, in the above-mentioned existing control device for rock 1, though body weight according to taking infant, in other words, promptly according to the correspondingly mode of the shaking difference of cradle 2 of bearing a heavy burden, but the detection signal S3 that detects the photodiode 3 at the center of shaking according to expression utilizes fixing driving pulse S4 to drive solenoid, changes so shake amplitude because of the body weight of infant in the cradle 2, so the problem that exists is the control of shaking that can not expect.
In addition, because utilize fixing driving pulse S4 to drive solenoid, so the problem that exists is to accomplish dull shaking.
Because of therefore, the applicant once proposed a kind of scheme, and this scheme is for having a plurality of sensors, even taking the different infant of body weight etc., still can with the corresponding control device for rock (with reference to patent documentation 1) that drives the rock body of control reliably of heavy burden.
Patent documentation 1: Te Open 2003-93758 communique
But, in the above-mentioned existing control device for rock 1, even there is the different infant of body weight taking, just because of can with the corresponding this advantage of control that drive reliably of bearing a heavy burden, by using a plurality of optical sensors, thereby cost increases, in addition, the difference of the relative sensitivity of two sensors has influence on performance, so will use the part screening, the problem of existence is that trouble is wanted spended time.
The object of the present invention is to provide a kind of control device for rock of rock body, this device can reduce cost and not need spended time troublesomely, wait still and can drive control reliably even taking the different infant of body weight, and can realize desired shaking with heavy burden is corresponding.
Summary of the invention
In order to achieve the above object, the application's the 1st aspect is the control device for rock of a kind of axle with regulation rock body that to be the center shake along the direction of subtend mutually, comprising: the driver element with drive force described rock body corresponding with the driving pulse of being supplied with; Detect the sensor portion that described rock body shakes amplitude; And according to shaking amplitude and the predefined desired value of shaking is obtained and driven the pulsewidth that described rock body uses in after this timing and generate described driving pulse by described sensor portion is detected, supply with the control module of described driver element, described sensor portion has: be configured on the described rock body, shake the light transport part that forms light transmission of graphical portion in half the prescribed limit in fact of direction spreading all over this rock body; And to described smooth transport part irradiates light, acceptance is by an optical sensor of the light output of the light transport part transmission pulse signal corresponding with sensitization intensity, described control module is according to the pulse signal waveform of described optical sensor, the continuation time and the change point that do not produce waveform are counted, and by the pulse in 1 cycle is counted, amplitude is shaken in identification, if the time remaining stipulated time that does not produce waveform, then be identified as the intermittent time, be judged as 1 end cycle, and pulse hereafter rises and begins to drive, when stopping to shake, the control of withdrawing from gradually makes according to the degree of setting of shaking amplitude, stops after amplitude is shaken in reduction at leisure again.
Preferably have and to set the operating portion that shakes amplitude, described control module is in the control of withdrawing from gradually, the amplitude of setting with described operating portion begins to shake action, behind the process certain hour, no matter the setting of described operating portion how, the minimum of a value of shaking the amplitude degree is shaken action as shaking desired value control, and once stopping automatically to the concluding time.
Best described control module comprises the one-period timer, and this one-period timer finishes to carry out the processing in cycle after this as one-period again under the situation that time is up.
The additional 1/f of best described control module waves the back and sets pulsewidth.
Utilize the present invention to have following advantage, then can reduce cost, and do not need spended time troublesomely, can correspondingly with heavy burden drive control reliably, can realize desired shaking accurately again even there is the infant of different weight taking still.
Description of drawings
Fig. 1 constitutes the block diagram that example is used for the existing infant of expression with control device for rock in the chair system.
The schematic diagram that Fig. 2 the present invention relates to for expression is equipped with as infant's chair drive system one embodiment of the cradle of rock body.
The block diagram that the infant that Fig. 3 the present invention relates to for expression constitutes with chair drive system major part.
The figure that Fig. 4 uses for the formation example of the reflecting surface of the reflecting plate that relates to of expression present embodiment.
The figure that the waveform example of the output pulse signal of optical sensor was used when Fig. 5 shook infant as cradle with chair for expression.
The figure that Fig. 6 uses for the formation example of representing the operating portion that present embodiment relates to.
Fig. 7 is for schematically representing the figure that function that action withdraws from is gradually used that shakes of present embodiment.
Fig. 8 is the flow chart of the action usefulness of the control device for rock that relates to of explanation present embodiment.
Fig. 9 is the flow chart of the action usefulness of the control device for rock that relates to of explanation present embodiment.
Figure 10 is the flow chart of the action usefulness of the control device for rock that relates to of explanation present embodiment.
Figure 11 is the flow chart of the action usefulness of the control device for rock that relates to of explanation present embodiment.
Figure 12 is the flow chart of the action usefulness of the control device for rock that relates to of explanation present embodiment.
Figure 13 is the flow chart of the action usefulness of the control device for rock that relates to of explanation present embodiment.
The figure that Figure 14 uses for the example as a result that the control device for rock that expression relates to present embodiment is estimated.
Figure 15 sets the pulsewidth after additional 1/f waves for explanation and drives the flow chart of the control usefulness of solenoid 121.
Figure 16 waves the figure that frequency spectrum is used for explanation 1/f.
Label declaration
10 ... the infant uses the chair drive system
11 ... base
12 infant's chairs
121 ... the driving solenoid
122 ... drive circuit
14 sensor portions
141 ... reflecting plate
1411 ... reflective graphics portion
142 reflection type optical sensors
1421 ... light-emitting component
1422 ... photo-sensitive cell
15 ... control circuit
16 ... operating portion
The specific embodiment
Below, with reference to accompanying drawing embodiments of the present invention are described.
Fig. 2 the present invention relates to for expression is equipped with as the infant of the cradle of rock body schematic diagram with chair drive system one embodiment.The block diagram that the infant that Fig. 3 the present invention relates to for expression constitutes with chair drive system major part.
This infant is equipped with and can uses chair 12 as the infant that cradle is used on the top of base 11, but and can set stationary state selectively for and can shake state with chair drive system 10 as shown in Figure 2.
Wheel 13a, 13b are installed below base 11 again.
Use in the chair drive system 10 this infant, the structure of infant's usefulness chair 12 as mentioned above, can utilize not shown fixed part to fix, under the situation that the function used as cradle is played a role, when removing the stationary state of fixed part, can be that the center is shaken along the direction (among Fig. 2, being left and right directions) of mutual subtend with the axle of not shown regulation.
Drive with solenoid 121 and drive circuit 122 thereof and be installed in the infant with in the chair 12.In addition, a generation and the part of infant with the sensor portion 14 of the suitable pulse signal of the amplitude of shaking of chair 12 are installed on the bottom surface of infant with chair 12.
In addition, go back on the base 11 sensor installation portion 14 another part, as control circuit (CPU) 15 of the driver element that the infant is driven control usefulness with chair 12 in interior control system, reach power supply etc.
In addition, base 11 is also installed switch, regulates volume of music or is shaken the degree (grade) of amplitude and the operating portion 16 of energy supply control circuit 15.
The structure of solenoid 121 is made: its moving part for example has two iron cores, and there is the space in central authorities, and near the center, the direction that strengthens along the amplitude that makes the infant with chair 12 acts on all the time effectively.
Sensor portion 14 has reflecting plate 141 and reflection type optical sensor 142 as shown in Figures 2 and 3.
Reflecting plate 141 is towards disposing the 1st 141a as the infant who shakes portion on the bottom surface in the base 11 of chair, makes the light of itself and reflection type optical sensor 142 inject injection part 142a subtend.
The figure that Fig. 4 uses for the formation example of representing reflecting plate 141 reflectings surface that present embodiment relates to.
Reflecting plate 141 only on the approximately half zone of the 1st 141a, disposes a plurality of rectangular reflective graphics that separates predetermined distance formation as shown in Figure 4, forms the reflective graphics portion 1411 as the light transmission of graphical.
Also have, the zone that its reflective graphics portion 1411 of the 1st 141a of reflecting plate 141 forms beyond the zone forms by compare the very low material of reflectivity with reflective graphics 1411a.
For example, reflective graphics portion 1411 is attached on the low substrate of reflectivity.Or, constitute reflecting plate 141 by forming with methods such as evaporations.
Reflection side optical sensor 142 as shown in Figure 3, have light-emitting component 1421 and photo-sensitive cell 1422, photo-sensitive cell 1422 is accepted the reverberation of the light of light-emitting component 1421 ejaculations in the reflection of reflective graphics portion 1411 places of reflecting plate 141, to the control circuit 15 outputs pulse signal S142 corresponding with sensitization intensity.
Also have, when optical sensor 142 stopped under the original state of infant with chair 12 of not shaking as cradle, the configuring area of light-emitting component 1421 and photo-sensitive cell 1422 was configured in than near more close its end of the central authorities of the reflective graphics portion 1411 of the reflecting plate shown in Fig. 3 141.
The figure that the waveform example of pulse signal S142 was used when Fig. 5 shook infant as cradle with chair 12 for expression.
Since reflective graphics portion 1411 be formed at reflecting plate 141 the 1st 141a shake the approximately half zone of direction (length direction of reflecting plate 141), so when shaking infant as cradle, obtain sensor output waveform as shown in Figure 5 with chair 12.
Among Fig. 5, the moment of representing with T1 be the time point that begins to shake constantly, represent with T2 do not have pulse during when shaking to maximum for the time longer than other pulse, the moment of representing with T3 is after this zero hour in cycle.
Control circuit 15 shakes amplitude (shaking amplitude) by the pulse of one-period being counted can discern.
In addition, on the output waveform of sensor as shown in Figure 5, exist in one-period time PTM during do not produce and be called ' the time-domain of the waveform of intermittent time OFTM '.
Control circuit 15 is accepted the pulse signal S142 of the reflection type optical sensor 142 of sensor portion 14, according to pulse signal waveform, judge and shake direction and variation thereof, in order to drive according to the desired value of shaking that presets, from the table that presets, read desired value (for example count number is carried out in pulse), with this, previous pulse carries out count number and relatively waits and obtain the pulsewidth that drives constantly at next, to the driving pulse S15 of drive circuit 122 output gained pulsewidths.
Control circuit 15 is accepted the output pulse signal S142 of optical sensor 142, carries out control and the control of one-period time of so-called intermittent time.
(1) controls according to the intermittent time
Control circuit 15 is accepted the output pulse signal S142 of optical sensor 142, confirm continuation time of 0 of so-called data and change point is counted, for example be continuation time (time of waveform does not take place) of 0 if continue the stipulated time for example 200ms then be identified as intermittent time OFTM, judge 1 end cycle, pulse hereafter rises and begins to drive.
Control circuit 15 is counted by the pulse to one-period, shakes amplitude (shaking amplitude) thereby can discern.
Control circuit 15 utilizes the pulsewidth and the moment of the driving pulse S15 that should drive in the above information decision cycle afterwards.
(2) control according to the one-period time
Under the situation that the infant that can use as cradle diminishes with the amplitude of shaking of chair 12, the value when the intermittent time diminishes, and the time that does not produce pulse might can't detect the intermittent time when shortening.
In this case, utilize the infant to be almost necessarily with the cycle of shaking of chair 12, oneself then carries out later period treatment as 1 end cycle at the one-period timer time.
Also have, control circuit 15 has pulse and carries out counter, intermittent time measurement timer, one-period timer, intermittent time counter, sensor sign, negative sense sign, the 1st sign etc., according to the situation of these counters, timer, sign, carry out according to the control of above-mentioned intermittent time and according to the control of 1 cycle time.
Concrete control will be elaborated with reference to flow chart afterwards.
In addition, control circuit 15 when stopping to shake owing to stop to wake up with a start just sleeping child suddenly, thus according to the degree of setting on the operating portion 16 of shaking amplitude, corresponding make to shake stop after amplitude slowly descends, just carry out the so-called control of withdrawing from gradually.
Fig. 6 represents that the operating portion 16 of present embodiment constitutes the figure that example is used.
The operating portion 16 of Fig. 6 has switch (ON/OFF) 161, volume and shakes 162,4 sections LED display parts 163 of regulator potentiometer switch (,+).
Utilize volume to shake regulator potentiometer switch 162, set the degree of shaking amplitude.Fig. 6 (A) expression is set at the state of minimum degrees of shaking 1, and Fig. 6 (B) expression is set at the state of maximum degrees of shaking 4.
In this example, degrees of shaking (shaking grade) can be set 1,2,3,4 four rank for
Control circuit 15 is withdrawing from the control gradually, and for example switch 161 is connected, and when when it is moved, shakes the amplitude that regulator potentiometer switch 162 configures according to volume and begins to shake action.
So, when through certain hour, no matter the setting of potentiometer/switch 162 how, is shaken action with potentiometer grade (degree) 1 for shaking desired value control.
If to the concluding time, just stop automatically.
Fig. 7 moves the figure that exit function gradually uses for schematically representing shaking of present embodiment.
In this example, for example setting minimum before 45 seconds in predefined dwell time, to shake grade be 1, for example made to shake gradually through 15 seconds to reduce, and after for example only shaking for 30 seconds with minimum level 1, is assumed to be and stops automatically then reducing at leisure until stopping again.
Also have, also can adopt the formation of the following stated about withdrawing from control gradually.
(1) imports one group of desired value in advance, desired value is reduced by stages.To certain certain moment, every one-period is just read desired value in one group of desired value from have memory successively, and its desired value as this cycle is set from timer conter.
By like this, accompany or follow the desired value amplitude that diminishes by stages and also constantly become little, until stopping lentamente.
(2) incident is taken place at timer conter to certain certain moment, will for example change the value littler (for example grade 3) into before this than class 4 for the degrees of shaking of class 4 (value of potentiometer).
By like this, desired value diminishes, along with the amplitude that diminishes of desired value also reduces.
The desired value that reaches after the change will be vacated time enough, utilizes timer conter that incident is taken place again, changes over littler potentiometer value (for example grade 2) again.
By like this, desired value diminishes again, and amplitude also reduces.
Like this repeatedly, reduce down potentiometer value always,, vacate appropriate time, utilize timer conter that incident is stopped from the moment of the desired value 1 that reaches the minimum level device until minimum.
(3) be certain certain moment from timer conter, reduced down the maximum drive time (maximum adds the time) always according to each cycle or all period interval that certain is certain.
By like this, driving force constantly reduces, and can't reply and stops until amplitude.
(4) be certain certain moment from timer conter, impressed current reduced down always according to each cycle or all period interval that certain is certain.
By like this, driving force constantly reduces, and can't reply and stops until amplitude.
The hardware controls concrete about control circuit will describe in detail with reference to flow chart afterwards again.
It is that the infant uses chair 12 that drive circuit 122 has the drive force cradle corresponding with the pulsewidth of driving pulse S15.
Below, be the center with reference to the flow chart of Fig. 8～Figure 13 with the control action of control circuit, the concrete action of the control device for rock of present embodiment is described.
At first, as shown in Figure 8, when not shown power connection, each several part is carried out initial setting (ST1), differentiate whether to have and make cradle begin to move the switch input (ST2, ST3) of usefulness.Also have, begin input when whenever pressing this switch, stop input just alternately once.
At step ST3, when the differentiation Push switch has input, carry out indexed variable initialization, the inspection of beginning front sensor, potentiometer inspection (ST4).
Then, for example indicate (ST6) for driving not shown music generating unit and play music (sending the state of music) (ST5), check to drive.
At step ST6, when the differentiation driving is masked as ON, then differentiate whether once again input (ST7, ST8) of switch.
At step ST8, differentiating not Push switch, under the situation that the time does not arrive (ST9), send solid-state relay (the Solid State Relay that generation driving pulse S15 is used; Abbreviate SSR later on as) permission (ST10) of ON.By like this, SSR permission flag ON goes to the processing of step ST11, and SSR is ON then.
So, because be not arrive the time, be not the SSR illegal state, so generate the driving pulse S15 of the umber of pulse that should drive and, drive infants' usefulness chair 12 by solenoid 121 to drive circuit 122 outputs.
By like this, shake the infant and use chair 12, the figure input control circuit 15 that the pulse signal S142 that reflection type optical sensor 142 produces has regulation.
Then, as shown in Figure 9, whether the signal of differentiating optical sensor 142 generations is high level (ST12).Promptly differentiate the reflective graphics portion 1411 that whether detects.
When step ST12 differentiation detects reflective graphics portion 1411 for high level, whether the level of differentiating a preceding sensor signal S142 is high level (ST13).
Here, if differentiate, then suppose from high level to detect high level (from H to H) later on again OFF time measurement timer zero clearing (ST14) for high level.
Whether then, differentiate the 1st sign is ON (ST15).The 1st sign is the sign of OFF with hand propelled chair 12 time, just becomes ON the 1st time.
Then, as OFF, whether timing finishes (ST16) to differentiate 1 cycle timer with the 1st sign.
When 1 cycle timer timing finishes, 1 cycle timer and OFF timer conter zero clearing (ST17).
So, as 1 end cycle, the negative sense sign is set, send SSR and disapprove, stop to export the driving pulse S15 of solenoid 121, under the state that the preservation pulse is counted, return the processing (ST18) of step ST12.
At step ST12, when the signal S142 that differentiates optical sensor 142 was not high level, whether the level of differentiating a preceding sensor signal S142 was high level (step ST19).
When differentiating a preceding level and be not high level, suppose to detect low level (from L to L) later on again the whether zero clearing (ST20) of differentiation OFF timer from low level.
Here, when differentiating the timing of OFF timer and finish, 1 cycle timer and the zero clearing of OFF time counter, the 1st time sign remains the processing that OFF forwards step ST18 to.
At step ST19, when the signal S142 that differentiates optical sensor 142 is high level, then suppose to detect low level (from H to L) later on again from high level, OFF time measurement timer and sensor sign zero clearing (ST22), pulse is carried out rolling counters forward and is finished (ST23), forwards the processing of step ST15 to.
At step ST13, when differentiation does not detect reflective graphics portion 1411 for low level, to suppose from low level to detect high level (from L to H) later on again, the zero clearing of OFF time measurement timer is provided with sensor sign (ST24).
Whether then, differentiate Directional Sign is negative (ST25).
Here, when differentiating Directional Sign when negative, from negative beginning as positive direction, 1 cycle timer and the zero clearing of negative sense sign, it is 1 that counter is carried out in pulse, send the processing (ST26) that the SSR permission forwards step ST15 to.
The control action that carries out according to intermittent time and one-period time of the processing of above Fig. 9 and control circuit 15 is suitable.
Below, with reference to the flow chart of Figure 10 and Figure 11 an example of shaking the control action that withdraws from is gradually described.
At first, desired value (ST31) is shaken in setting.
Then, differentiate and to shake SW and whether indicate ON (ST32).
Here, when shaking sign ON, whether time is up (ST33) to differentiate the timer that withdraws from gradually.
When differentiating the timer time withdraw from gradually then, shaking desired value is potentiometer value (rank) 1 (ST34).
At step ST33, the timer time that withdraws from does not gradually arrive, and after step ST34 was set at grade 1 with desired value, whether time is up (ST35) to differentiate the stop timing device again.
At step ST35, time is up to differentiate the stop timing device, shakes SW in addition and indicate that when being not ON, enforcement stops to shake processing (ST36, ST37).
At step ST35, when differentiating the stop timing device time not then, whether direction is shaken in differentiation is negative (ST38).
Here,, send the SSR permission and differentiate whether just sending solenoid action permission (ST39), when permission, differentiate solenoid and whether move (ST40) when differentiation when to shake direction be not negative.
If solenoid moves, then differentiate whether promoted until motivation value (ST41) differentiation driving overtime not (ST42).
So at step ST40, when differentiating solenoid and do not move, whether differentiating pulse, to carry out counter be 2 (ST43), if 2, then solenoid energising is provided with solenoid action sign, and solenoid action timer resets (ST44), is returned to the processing of step ST31.
In addition, at step ST41, when differentiation just is being pushed to motivation value, the solenoid outage, solenoid action sign resets, and takes off solenoid permission flag (ST45).
In addition, at step ST42, when the differentiation driving is overtime, solenoid outage (ST46).
On the other hand,, shake direction when negative, forward the processing of the step ST46 of Figure 11 to when differentiation at step ST38.
Whether differentiate direction at step ST46 negative from just switching to.
Here, when differentiating for from just switching to when negative, the solenoid outage, this count value is previous count value (ST47).
Then, differentiate whether shake count value be maximum 4 (ST48).
When being not maximum 4, whether count value is shaken in differentiation is the 2nd maximum (ST49).
So, when not being the 2nd maximum, give each treatment step ST51, ST52, ST53 (ST50) along separate routes with the value of a preceding count value and a preceding count value and desired value.
At step ST51, it is the situation that the value of a preceding count value and a preceding count value and desired value all equates, be situation about increasing according to the order of desired value, previous count value, a preceding count value, or situation about increasing according to the order of a preceding count value, a preceding count value and desired value.
In this case, do not change motivation value (ST54), a preceding count value and a preceding count value are equated, forward the processing (ST55) of step ST31 to.
At step ST52, be that a preceding count value and a preceding count value equate, desired value is greater than the situation of these values, the situation that to be a preceding count value equate than the big and preceding count value of a preceding count value and desired value, or a preceding count value than a preceding count value big and desired value than a preceding big situation of count value.
In this case, motivation value adds 1 (ST56), whether differentiates motivation value greater than desired value (ST57), be not greater than situation under, forward the processing of step ST55 to, greater than situation under, make motivation value and desired value equate (ST58), forward the processing of step ST55 to.
At step ST53, be that a preceding count value and a preceding count value equate, desired value is less than the situation of these values, the situation that to be a preceding count value equate than the little and preceding count value of a preceding count value and desired value, or a preceding count value than a preceding count value little and desired value than a preceding little situation of count value.
In this case, motivation value subtracts 1 (ST59), forwards the processing of step ST55 to.
In addition, at step ST6, differentiation drives when being masked as OFF, at step ST8, after the running beginning, under the situation that switch is imported once again, carries out the running end process (ST60) shown in Figure 12.
Be specially, close music, SSR outage, take off processing such as driving sign.
In addition, at step ST9, when differentiating, carry out error handling processing shown in Figure 13 (ST61) for time-out.
Be specially, carry out the SSR outage, check potentiometer, processing such as indexed variable initialization.
The figure that the example as a result that the exit function gradually that control device for rock comprised that Figure 14 relates to present embodiment for expression is estimated is used.
In Figure 14, transverse axis is represented the time, and the longitudinal axis is represented the shake pulses number.
So, in Figure 14, with＜1〉and the waveform of expression is measured value (desired value), with＜2〉waveform of expression is desired value, and with＜3〉waveform of expression is motivation value.
In addition, the umber of pulse of motivation value and driving pulse S15 is suitable.
As shown in figure 14, shaking under the maximum situation, by number of drive pulses being set in fact number, thereby can obtain desired value according to measured value near 50.
Equally, shaking under the minimum situation, by number of drive pulses being set in fact, thereby can obtain desired value according to measured value near about 30.
In addition, the function that withdraws from gradually also can fully work to make to shake slowly and stop.
As mentioned above, utilize present embodiment, sensor portion 14 has: be configured in rock body, spreading all over the reflecting plate 141 that direction forms reflection transmission of graphical portion 1411 in fact in half the prescribed limit that shakes of rock body; And the light of accepting reflection on the reflecting plate 141 is exported the optical sensor 142 of the pulse signal S142 corresponding with sensitization intensity, control circuit 15 is according to the pulse signal waveform of optical sensor, the continuation time and the change point that do not produce waveform are counted, identification is counted in the pulse in 1 cycle shaken amplitude, if the continuation time remaining stipulated time that does not produce waveform, then being identified as the intermittent time is judged as 1 end cycle, and pulse hereafter rises and begins to drive, shaking when stopping, the control of withdrawing from gradually, being specially slowly to reduce according to the degree of setting of shaking amplitude makes it stop after shaking amplitude again, so its advantage is: can reduce cost, and do not need spended time troublesomely, still can correspondingly with heavy burden drive control reliably even if taking the infant of different weight, can realize shaking accurately, prevent to stop suddenly and wake up with a start sleeping child.
In addition, control circuit 15 as mentioned above, shake the pulse signal S142 of amplitude part with chair 12 according to the infant, judge that shake direction obtains the pulsewidth that changes along with desired value, but in addition, its structure also can be made: by utilizing program desired value is changed in time, make the driving force of solenoid 121 wave thereby set the pulsewidth that so-called additional 1/f waves.
Figure 15 is for illustrating the flow chart of pulsewidth that the additional 1/f of setting waves and the control usefulness that drives solenoid 121.
In addition, Figure 16 waves the figure that frequency spectrum is used for explanation 1/f.
In this case, at first set initial value (ST71).
Driving the infant with when the chair 12, the parameter of required initial value as described below.
NN: driving time (second) * 100
The lower frequency limit of F1:1/f frequency spectrum
The upper limiting frequency of F2:1/f frequency spectrum
The sinusoidal wave amplitude of AW: frequency F1
YDC: the DC component of waving
Then, set 1/f frequency spectrum (ST72).
Wave and try to achieve after waveform overlaps by the sine wave that makes F1 begin the various frequencies to frequency 100 branches such as grade of F2.
So because of, calculate each sinusoidal wave frequency f
iAnd amplitude A
iBetween relation make frequency spectrum become the relation of 1/f.Simultaneously, in addition, utilize random number to set each sinusoidal wave phase place.
Formula (1)
DF＝(F2-F1)/100
f
i＝F1+DF×i(i＝0，1，2，…，100)
A
i＝{(A
0 2×F1)/f
i}
1/2
Also have, the calculating of trigonometric function is quite time-consuming, so do not carry out in the control, preferably just deposits in the table at first.
Calculate the processing (ST73) of waving then.
Because the infant for example is about 0.8 second with the intrinsic frequency of chair 12, half is essentially 0.4 second so that the time of driving force effect is about it.
So because of, each sinusoidal wave ω t can be represented by the formula.
Formula (2)
ω
it
j＝2πf
i×(360/2π)×0.4×j(j＝0，1，2，…)
And wave Y
iAvailable following formula is tried to achieve
Formula (3)
Below calculate the solenoid processing of action time (ST74).
The 1/f spectrum waveform is transformed into solenoid action time.In this case, timer for example is set at 2 milliseconds (ms).
When in certain action time, shaking the infant, because tens of ms (for example 22ms) are suitable, so driving time T with chair 12
iBe set as follows.
Formula (4)
T
i＝NT
i×2ms＝{(Y
i/5)+0.5}×2ms
Then, confirm to handle with the solenoid-activated of carrying out driving pulse S15a with the central point of chair 12 by the infant.(ST75、ST76)。
By central point, the pulse signal S12 that sends here to drive circuit 122 output transducer portions 14 reaches consistent with the sign of timer drive circuit 122 output driving pulse S15a the infant, and 121 on solenoid is driven in driving time with chair 12.
So, wave from the calculating of step ST73 and to begin till step ST76 solenoid-activated, carrying out always, finish (ST77) up to driving time.
By above-mentioned formation, its advantage is: except controlling this point with corresponding the driving reliably of bearing a heavy burden, can also realize ' 1/f waves ' comfortable mode of shaking like that.
Claims (7)
1. to be the center with the axle of regulation shake along the direction of subtend mutually for the control device for rock of a rock body, described rock body, it is characterized in that, comprising:
Driver element with drive force described rock body corresponding with the driving pulse of being supplied with;
Detect the sensor portion that described rock body shakes amplitude; And
According to by detected amplitude and the predefined desired value of shaking of shaking of described sensor portion, obtain and drive the pulsewidth that described rock body uses in after this timing and generate described driving pulse, supply with the control module of described driver element,
Described sensor portion has:
Be configured on the described rock body, and shake the light transport part that forms light transmission of graphical portion in half the prescribed limit in fact of direction spreading all over this rock body; And
To described smooth transport part irradiates light, accept a optical sensor by the light output of the light transport part transmission pulse signal corresponding with sensitization intensity,
Described control module is according to the pulse signal waveform of described optical sensor, the continuation time and the change point that do not produce waveform are counted, and by the pulse in 1 cycle is counted, amplitude is shaken in identification, if the time remaining stipulated time that does not produce waveform then is identified as the intermittent time, be judged as 1 end cycle, and pulse hereafter rises and begins to drive
When stopping to shake, the control of withdrawing from gradually makes according to the degree of setting of shaking amplitude, stops after amplitude is shaken in reduction at leisure again.
2. the control device for rock of rock body as claimed in claim 1 is characterized in that, have to set the operating portion that shakes amplitude,
Described control module is withdrawing from the control gradually, the amplitude of setting with described operating portion begins to shake action, behind the process certain hour, no matter the setting of described operating portion how, the minimum of a value of shaking the amplitude degree is shaken action as shaking desired value control, and once stopping automatically to the concluding time.
3. the control device for rock of rock body as claimed in claim 1 is characterized in that,
Described control module comprises the one-period timer, and this one-period timer finishes to carry out the processing in cycle after this as one-period again under the situation that time is up.
4. the control device for rock of rock body as claimed in claim 2 is characterized in that,
Described control module comprises the one-period timer, and this one-period timer finishes to carry out the processing in cycle after this as one-period again under the situation that time is up.
5. the control device for rock of rock body as claimed in claim 1 is characterized in that,
The additional 1/f of described control module waves the back and sets pulsewidth.
6. the control device for rock of rock body as claimed in claim 2 is characterized in that,
The additional 1/f of described control module waves the back and sets pulsewidth.
7. the control device for rock of rock body as claimed in claim 3 is characterized in that,
The additional 1/f of described control module waves the back and sets pulsewidth.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2005239662 | 2005-08-22 | ||
| JP2005239662A JP4439008B2 (en) | 2005-08-22 | 2005-08-22 | Oscillator swing control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1919109A true CN1919109A (en) | 2007-02-28 |
| CN100579422C CN100579422C (en) | 2010-01-13 |
Family
ID=37777058
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200610126258A Expired - Fee Related CN100579422C (en) | 2005-08-22 | 2006-08-22 | Rock control device for rock body |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP4439008B2 (en) |
| CN (1) | CN100579422C (en) |
| HK (1) | HK1103949A1 (en) |
| TW (1) | TW200727966A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106362411A (en) * | 2016-08-30 | 2017-02-01 | 昆山百瑞康儿童用品有限公司 | Electric swinging toy |
| CN109450308A (en) * | 2018-10-30 | 2019-03-08 | 昆山乐奇儿童用品有限公司 | Wave drive dynamic control device and method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009131469A (en) * | 2007-11-30 | 2009-06-18 | Tanigawa Shoji:Kk | Baby crib |
-
2005
- 2005-08-22 JP JP2005239662A patent/JP4439008B2/en not_active Expired - Fee Related
-
2006
- 2006-08-21 TW TW095130608A patent/TW200727966A/en not_active IP Right Cessation
- 2006-08-22 CN CN200610126258A patent/CN100579422C/en not_active Expired - Fee Related
-
2007
- 2007-08-07 HK HK07108593.7A patent/HK1103949A1/en not_active IP Right Cessation
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106362411A (en) * | 2016-08-30 | 2017-02-01 | 昆山百瑞康儿童用品有限公司 | Electric swinging toy |
| CN109450308A (en) * | 2018-10-30 | 2019-03-08 | 昆山乐奇儿童用品有限公司 | Wave drive dynamic control device and method |
| CN109450308B (en) * | 2018-10-30 | 2020-11-03 | 昆山乐奇儿童用品有限公司 | Swing drive control device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| HK1103949A1 (en) | 2008-01-04 |
| TWI371307B (en) | 2012-09-01 |
| CN100579422C (en) | 2010-01-13 |
| JP2007056896A (en) | 2007-03-08 |
| JP4439008B2 (en) | 2010-03-24 |
| TW200727966A (en) | 2007-08-01 |
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