JP4439008B2 - Oscillator swing control device - Google Patents

Description

  The present invention relates to a swing control device for a swinging body that controls swinging of a swinging body such as a cradle.

In recent years, infant chairs that can function as a cradle as well as being able to carry and move an infant have been put to practical use.
This infant chair drive system includes a drive solenoid incorporated in the infant chair, a photodiode for detecting the center of swinging, and the like.

FIG. 16 is a block diagram showing a configuration example of a swing control device in a conventional infant chair drive system.
As shown in FIG. 16, the shaking control device 1 includes a cradle 2, a photo sensor 3, a timer 4, and a solenoid drive circuit 5.

In this swing control device 1, when the cradle 2 on which the infant is placed swings, for example, passes through the center of the swing, the center of swing is detected by the photodiode 3, and a detection signal S 3 is output to the timer 4.
When the detection signal S3 is input to the timer 4, a fixed drive pulse S4 determined by a setting volume (not shown) is generated and output to the drive circuit 5.
In the drive circuit 5, one end of the cradle is driven (pushed or pulled) with a predetermined driving force in response to the drive pulse S 4, and thereby the cradle 2 is swung.

However, in the above-described conventional swing control device 1, a photo indicating that the center of the mounted swing has been detected even though the cradle 2 swings differently depending on the weight of the infant to be put on the vehicle, in other words, the load. Since the solenoid is driven by the fixed drive pulse S4 based on the detection signal S3 of the diode 3, the swing width changes depending on the weight of the infant riding on the cradle 2, and the swing control as expected is performed. There is a disadvantage that you can not.
Further, since the solenoid is driven by the fixed drive pulse S4, there is a disadvantage that only monotonous shaking can be realized.

Therefore, the present applicant has proposed a swing control device for a swinging body that has a plurality of sensors and can perform accurate drive control in accordance with a load even when an infant with different weight is placed ( Patent Document 1).
JP 2003-93758 A

  However, the conventional shake control device 1 described above uses a plurality of optical sensors, although there is an advantage that accurate drive control according to the load is possible even when an infant with different weight is placed. As a result, the cost is increased, and the relative sensitivity difference between the two sensors affects the performance. Therefore, there is a disadvantage in that it is necessary to select and use parts, which requires troublesome work. It was.

  The purpose of the present invention is to achieve cost reduction and precise driving control according to the load even if infants with different weights are placed without requiring troublesome work, and also realizes desired swing. An object of the present invention is to provide a swing control device for a swingable body.

  In order to achieve the above object, a first aspect of the present invention is a swing control device for a swinging body that swings in a direction opposite to each other about a predetermined axis, and a driving force corresponding to a supplied driving pulse. Driving means for driving the oscillating body, a sensor unit for detecting the oscillating width of the oscillating body, the oscillating width detected by the sensor unit and a preset expected value of swaying at the next timing. A control means for obtaining a pulse width for driving the oscillating body and generating the drive pulse and supplying the drive pulse to the driving means, and the sensor unit is disposed on the oscillating body, A light transmission part having a light transmission pattern part formed over a predetermined range approximately half of the direction, and irradiating the light transmission part with light, receiving the light transmitted by the light transmission part, and generating a pulse signal corresponding to the received light level. One to output And the control means counts the duration and the change point at which no waveform is generated based on the pulse signal waveform from the optical sensor, and counts the pulses for one period, thereby shaking. It recognizes the amplitude (swing width), recognizes that it is off-time when the waveform does not occur for a predetermined period of time, determines that one cycle is complete, starts driving from the next pulse, and is set when the shaking is stopped. In accordance with the degree of swing amplitude, fade-out control is performed in which the swing amplitude is gradually lowered and then stopped.

  Preferably, the control unit has an operation unit capable of setting a degree of swing amplitude, and the control means starts the swing operation with the amplitude set by the operation unit in fade-out control, and the operation is performed after a predetermined time has elapsed. Regardless of the setting of the part, the swing control operation is performed with the minimum value of the swing amplitude as the swing target value, and is automatically stopped when the end time is reached.

  Preferably, the control means includes a one-cycle timer, and when the one-cycle timer expires, the next cycle processing is performed with the end of one cycle.

  Preferably, the control means sets the pulse width in consideration of 1 / f fluctuation.

  According to the present invention, it is possible to reduce costs, and without requiring complicated labor, accurate driving control according to the load can be performed even when infants of different weights are placed, and desired swing can be accurately performed. There are benefits that can be realized.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic diagram showing an embodiment of an infant chair drive system equipped with a cradle as a rocking body according to the present invention, and FIG. 2 is a block diagram showing a configuration of a main part of the infant chair drive system according to the present invention. It is.

As shown in FIG. 1, the infant chair drive system 10 is set so that the infant chair 12 that can function as a cradle with respect to the upper portion of the base 11 can be selectively fixed and swingable. It is installed so that you can.
Further, wheel portions 13 a and 13 b are attached to the lower side of the base 11.

  In the infant chair drive system 10, the infant chair 12 can be fixed by a fixing unit (not shown) as described above, and when the function as a cradle is exhibited, the fixed state by the fixing unit is set. When released, it is configured to swing in directions opposite to each other (left and right in FIG. 1) about a predetermined axis (not shown).

The infant chair 12 includes a drive solenoid 121 and a drive circuit 122 thereof. In addition, on the bottom surface of the infant chair 12, a part of the sensor unit 14 that generates a pulse signal corresponding to the swing width of the infant chair 12 is mounted.
The base 11 is mounted with a control system, a power source, and the like including a control circuit 15 as a control unit that controls a part of the sensor unit 14 and the baby chair 12.
The base 11 is also equipped with an operation unit 16 that can be supplied to the control circuit 15 by setting an on / off switch, volume adjustment of the melody, and degree of swing amplitude (level).

  The solenoid 121 has a movable part composed of, for example, two iron cores, and has a gap in the center. The solenoid 121 is configured so that a force always acts in the direction of increasing the amplitude of the infant chair 12 near the center. Yes.

As shown in FIGS. 1 and 2, the sensor unit 14 includes a reflecting plate 141 and a reflective optical sensor 142.
The reflection plate 141 is disposed on the bottom surface facing the base 11 of the infant chair as the swinging portion so that the first surface 141a faces the light entrance / exit incident portion 142a of the reflective optical sensor 142. .

FIG. 3 is a diagram illustrating a configuration example of the reflecting surface of the reflecting plate 141 according to the present embodiment.
As shown in FIG. 3, the reflection plate 141 has a plurality of rectangular reflection patterns formed at predetermined intervals only in a substantially half region of the first surface 141 a, and a reflection pattern portion as a light transmission pattern. 1411 is formed.
The first surface 141a of the reflective plate 141 is formed of a material that has a sufficiently lower reflectance than the reflective pattern 1411a in the region other than the region where the reflective pattern portion 1411 is formed.
For example, the reflection plate 141 is configured by attaching the reflection pattern portion 1411 to a substrate having low reflectivity, or forming it by vapor deposition or the like.

As shown in FIG. 2, the reflection-side light sensor 142 includes a light emitting element 1421 and a light receiving element 1422, and the light received from the light emitting element 1421 is reflected by the reflection pattern portion 1411 of the reflecting plate 141. And outputs a pulse signal S142 corresponding to the received light level to the control circuit 15.
Note that when the baby chair 12 serving as a cradle is stopped in the initial state without shaking, the light sensor 142 is arranged so that the arrangement region of the light emitting element 1421 and the light receiving element 1422 is a reflection pattern portion of the reflecting plate 141 shown in FIG. 1411 is arranged in the vicinity of the end from the center.

  FIG. 4 is a diagram showing a waveform example of the pulse signal S142 when the baby chair 12 as a cradle is swinging.

Since the reflection pattern portion 1411 is formed in a substantially half region of the swing direction (longitudinal direction of the reflection plate 141) of the first surface 141a of the reflection plate 141, when the infant chair 12 as a cradle is swinging, The output waveform of the sensor as shown in FIG. 4 can be obtained.
In FIG. 3, when the timing indicated by T1 starts swinging, when the period when there is no pulse at the point indicated by T2 is longer than the other pulses, and the swing is maximum, the timing indicated by T3 is when the next cycle starts. It is.
The control circuit 15 can recognize the swing amplitude (swing width) by counting one period of pulses.
Further, as shown in FIG. 4, the sensor output waveform includes a time zone in which the waveform “off time OFTM” does not occur during one cycle time PTM.

  The control circuit 15 receives the pulse signal S142 from the reflective optical sensor 142 of the sensor unit 14, determines the swing direction and its change based on the pulse signal waveform, and drives according to the preset expected value of the swing. As described above, a target value (for example, the pulse count number) is read from a preset table, and this time, the pulse width to be driven at the next timing is obtained by comparing with the previous pulse count number, and the driving of the obtained pulse width is obtained. The pulse S15 is output to the drive circuit 122.

  The control circuit 15 receives the output pulse signal S142 of the optical sensor 142, and performs control based on a so-called off time and control based on one cycle time.

(1) Control by off-time The control circuit 15 receives the output pulse signal S142 of the optical sensor 142, confirms the so-called zero duration of data, and counts the change points, for example, zero duration (no waveform is generated). If (time) continues for a predetermined time, for example, 200 ms, it is recognized that the off-time OFTM is reached, and it is determined that one cycle has ended, and driving is started from the next pulse.
The control circuit 15 can recognize the swing amplitude (swing width) by counting one period of pulses.
The control circuit 15 determines the pulse width and timing of the drive pulse S15 to be driven in the next cycle based on the above information.

(2) Control by one cycle time When the swing amplitude of the infant chair 12 that can function as a cradle becomes small, the off-time value becomes small, and the off-time can be detected when the time when no pulse is generated becomes short. There is a possibility of disappearing.
In this case, using the fact that the swing cycle of the infant chair 12 is substantially constant, when the one-cycle timer times out, the next cycle processing is performed as the end of one cycle.

The control circuit 15 has a pulse counter, an off-time measurement timer, a one-cycle timer, an off-time counter, a sensor flag, a negative direction flag, a first-time flag, and the like. Then, the control by the off time and the control by one cycle time are performed.
Specific control will be described in detail later in association with a flowchart.

  In addition, the control circuit 15 may gradually wake up when a sleeping infant suddenly stops when the shaking is stopped, so that the control circuit 15 gradually increases according to the degree of the shaking amplitude set by the operation unit 16. So-called fade-out control is performed in which the swing amplitude is lowered and then stopped.

FIG. 5 is a diagram illustrating a configuration example of the operation unit 16 according to the present embodiment.
The operation unit 16 in FIG. 5 includes an on / off switch (ON / OFF) 161, a volume fluctuation adjustment volume switch (−, +) 162, and a four-stage LED display unit 163.
The degree of the swing amplitude is set using the volume swing adjustment volume switch 162. FIG. 5A shows a state where the minimum swing degree 1 is set, and FIG. 5B shows a case where the maximum swing degree 4 is set.
In this example, the degree of shaking (swing level) can be set in four stages of 1, 2, 3, and 4.

In the fade-out control, for example, when the switch 161 is turned on and is manually operated, the control circuit 15 starts the swing operation with the amplitude set by the volume swing adjustment volume switch 162.
When a certain time has elapsed, the swing control operation is performed using the volume level (degree) 1 as the swing target value regardless of the setting of the volume switch 162.
Then, when the end time is reached, it is automatically stopped.

FIG. 6 is a diagram conceptually showing the fade-out function of the shaking operation of the present embodiment.
In this example, setting is made so that the minimum swing level 1 is obtained, for example, 45 seconds before the preset stop time, and the shake is gradually attenuated over, for example, 15 seconds. After swinging only for 2 seconds, it is gradually attenuated and stopped as an automatic stop.

  It should be noted that the configuration described below can be adopted for the fade-out control of shaking.

(1) A target value column is input in advance so that the target value is gradually reduced. From the time point when the timer counter becomes constant, it is sequentially read out from the target value column stored in the memory for each period and set as the target value for that period.
As a result, the amplitude decreases following the target value that decreases stepwise, and the operation gradually stops.

(2) An event is generated when the timer count becomes constant, and the degree of shaking (volume value) that has been level 4 until then is changed to a value smaller than level 4 (for example level 3).
As a result, the target value is reduced, and the amplitude is also reduced following the target value.
After a sufficient time to reach the target value after the change, an event is generated again by the timer counter, and the volume value is changed to a smaller volume value (for example, level 2).
Thereby, the target value is further reduced and the amplitude is also reduced.
These steps are repeated until the minimum volume value is reached, and a stop event is generated by the timer counter after an appropriate time from the point when the minimum volume target value 1 is reached.

(3) The maximum driving time (maximum application time) is reduced every period or at a certain period interval from the time point when the timer counter becomes constant.
As a result, the driving force decreases, and eventually the amplitude cannot be recovered and the driving stops.

(4) The applied current is decreased every period or at a certain period interval from the time point when the timer counter becomes constant.
As a result, the driving force decreases, and eventually the amplitude cannot be recovered and the driving stops.

  Specific fade-out control of the control circuit will be described in detail later in association with a flowchart.

  The drive circuit 122 drives the infant chair 12 that is a cradle with a driving force corresponding to the pulse width of the drive pulse S15.

  Next, a specific operation of the shake control apparatus according to the present embodiment will be described with reference to the flowcharts of FIGS.

First, as shown in FIG. 7, when a power supply (not shown) is turned on, each part is initialized (ST1), and it is determined whether or not there is a switch input for starting the cradle operation (ST2, ST2). ST3). Each time this switch is pressed, start input and stop input are alternately performed.
If it is determined in step ST3 that the switch is pressed and input, flag variable initialization, pre-start sensor check, and volume check are performed (ST4).

Then, for example, a melody generation unit (not shown) is driven to turn on melody (a state where a melody is generated) (ST5), and the drive flag is checked (ST6).
If it is determined in step ST6 that the drive flag is on, it is determined whether or not the switch is input again (ST7 and ST8).
If it is determined in step ST8 that the switch has not been pressed and no timeout has occurred (ST9), permission to turn on a solid state relay (hereinafter referred to as SSR) for generating the drive pulse S15 is permitted. (ST10). Thereby, the SSR permission flag is turned on, the process proceeds to step ST11, and the SSR is turned on.

Since it is not time-out and the SSR is not prohibited, a drive pulse S15 having the number of pulses to be driven is generated and output to the drive circuit 122, and the infant chair 12 is driven by the solenoid 121 (ST15).
As a result, the baby chair 12 swings, and the pulse signal S142 from the reflective optical sensor 142 is input to the control circuit 15 with a predetermined pattern.

Then, as shown in FIG. 8, it is determined whether or not the signal S142 by the optical sensor 142 is at a high level (ST12). That is, it is determined whether or not the reflection pattern portion 1411 has been detected.
If it is determined in step ST12 that the reflection pattern portion 1411 is detected at a high level, it is determined whether or not the level of the previous sensor signal S142 was a high level (ST13).
If it is determined that the level is high, the off-time measurement timer is cleared (ST14), assuming that the detection is from high level to high level (H to H).
Next, it is determined whether or not the first flag is ON (ST15). The first flag is a flag that is turned off when the chair 12 is pushed by hand, and is turned on the first time.
Next, the first flag is turned off, and it is determined whether or not the one-cycle timer is counting up (ST16).
When the 1-cycle timer is counted up, the 1-cycle timer and the off-timer counter are cleared (ST17).
Then, assuming that one cycle has been completed, the negative direction flag is set, SSR disapproval is issued, the output of the drive pulse S15 of the solenoid 121 is stopped, and the pulse count is stored, and the process of step ST12 is performed. Return (ST18).

If it is determined in step ST12 that the signal S142 from the optical sensor 142 is not at a high level, it is determined whether or not the level of the previous sensor signal S142 was at a high level (ST19).
If it is determined that the previous level is not a high level, it is determined whether or not the off-timer has been counted up (ST20), assuming that the detection is from a low level to a low level (L to L).
If it is determined that the off timer has been counted up, the one-cycle timer and the off-time counter are cleared, the first flag is held off, and the process proceeds to step ST18.

  If it is determined in step ST19 that the signal S142 from the optical sensor 142 is at a high level, the off-time measurement timer and the sensor flag are cleared (ST22) because the detection from the high level to the low level (H to L) is detected. Is counted up (ST23), and the process proceeds to step ST15.

If it is determined in step ST13 that the reflection pattern portion 1411 is not detected at the low level, the off-time measurement timer is cleared and the sensor flag is set assuming that the detection is from the low level to the high level (L to H) ( ST24).
Next, it is determined whether or not the direction flag is negative (ST25).
If it is determined that the direction flag is negative, the one-cycle timer and the negative direction flag are cleared from the negative to the positive direction, the pulse counter is set to 1, SSR permission is issued, and the process proceeds to step ST15 ( ST26).

  The above-described processing of FIG. 8 corresponds to the control operation by the off time and one cycle time of the control circuit 15.

  Next, an example of shaking fade-out control operation will be described with reference to the flowcharts of FIGS.

First, a swing target value is set (ST31).
Then, it is determined whether or not the shaking SW flag is on (ST32).
Here, if the shaking flag is on, it is determined whether or not the fade-out timer has expired (ST33).
If it is determined that the fade-out timer has expired, the swing target value is set to volume (level) 1 (ST34).
In step ST33, the fade-out timer has not expired, and after setting the target value to level 1 in step ST34, it is determined whether or not the end timer has expired (ST35).
If it is determined in step ST35 that the end timer has expired and the shaking SW flag is not on, shaking stop processing is performed (ST36 and ST37).
If it is determined in step ST35 that the end timer has not expired, it is determined whether or not the shaking direction is negative (ST38).
Here, if it is determined that the swing direction is not negative, it is determined whether or not the SSR is permitted and the solenoid operation is permitted (ST39). If it is permitted, it is determined whether or not the solenoid is operating. Is performed (ST40).
If the solenoid is operating, it is determined whether or not the drive value has been pressed (ST41), and it is determined whether or not the drive time is over (ST42).
When it is determined in step ST40 that the solenoid is not operating, it is determined whether the pulse count is 2 (ST43). If it is 2, the solenoid is turned on, the solenoid operation flag is set, and the solenoid operation timer is set. Reset is performed (ST44), and the process returns to step ST31.
If it is determined in step ST41 that the drive value has been pressed, the solenoid is turned off, the solenoid operation flag is reset, and the solenoid permission flag is turned off (ST45).
If it is determined in step ST42 that the drive time is over, the solenoid is turned off (ST46).

On the other hand, if it is determined in step ST38 that the shaking direction is negative, the process proceeds to step ST46 in FIG.
In step ST46, it is determined whether or not the direction is switched from positive to negative.
If it is determined that the switching is from positive to negative, the solenoid is turned off, and the current count value is set to the previous count value (ST47).
Next, it is determined whether or not the shake count value is the maximum value 4 (ST48).
If the maximum value is not 4, it is determined whether or not the shake count value is the second maximum value (ST49).
If it is not the second maximum value, the process branches from ST51 to ST53 to the previous count value, the previous count value, and the target value (ST50).

In step ST51, when the previous count value, the previous count value, and the target value are equal, the target value, the previous count value, the previous count value are larger in this order, or the previous count value, the previous count value, the target This is the case where the values are larger in order.
In this case, the drive value is not changed (ST54), the previous count value is made equal to the previous count value, and the process returns to step ST31 (ST55).

In step ST52, the count value of the previous time is equal to the previous count value and the target value is larger than this value, the previous count value is greater than the previous count value, or the previous count value is equal to the target value, or This is a case where the count value is larger than the previous count value and the target value is larger than the previous count value.
In this case, the drive value is incremented by 1 (ST56), and it is determined whether or not the drive value is larger than the target value (ST57). If not, the process proceeds to step ST55. The drive value and the target value are made equal (ST58), and the process proceeds to step ST55.

In step ST53, the previous count value is equal to the previous count value and the target value is smaller than these values, the previous count value is smaller than the previous count value, or the previous count value is equal to the target value, or the previous count is counted. This is a case where the value is smaller than the previous count value and the target value is smaller than the previous count value.
In this case, the drive value is decreased by 1 (ST59), and the process proceeds to step ST55.

If it is determined in step ST6 that the drive flag is off, the operation end process shown in FIG. 11 is performed when the switch is re-input after the operation is started in step ST8 (ST60).
Specifically, processing for turning off the melody, turning off the SSR, and turning off the drive flag is performed.

If it is determined in step ST9 that a timeout has occurred, error processing shown in FIG. 12 is performed (ST61).
Specifically, processing for turning off the SSR, checking the volume, and initializing the flag variable is performed.

FIG. 13 is a diagram illustrating an example of an evaluation result including a fade-out function of the shake control device according to the present embodiment.
In FIG. 13, the horizontal axis represents time, and the vertical axis represents the number of shaking pulses.
In FIG. 13, the waveform indicated by <1> is a measured value (target value), the waveform indicated by <2> is an expected value, and the waveform indicated by <3> is a drive value.
The drive value corresponds to the number of drive pulses S15.

As shown in FIG. 13, when swinging to the maximum, the number of drive pulses is set to a value close to 50, so that an expected value along the measured value can be obtained.
Similarly, in the case of rocking to the minimum, the number of drive pulses is set to about 30, so that an expected value along the measured value can be obtained.
In addition, the fade-out function functions sufficiently so that the shaking can be stopped gradually.

  As described above, according to the present embodiment, the sensor unit 14 is disposed on the rocking body, and the reflection plate 141 on which the reflection transmission pattern unit 1411 is formed over a predetermined range approximately half of the rocking direction of the rocking body, And a single optical sensor 142 that receives the light reflected by the reflecting plate 141 and outputs a pulse signal S142 corresponding to the received light level. The control circuit 15 has a waveform based on the pulse signal waveform from the optical sensor. Counts the duration and change point that do not occur, counts the pulse for one period, recognizes the swing amplitude, and recognizes that it is the off time if the time when the waveform does not occur continues for a predetermined time, and determines that one period has ended , Start driving from the next pulse, and at the time of shaking stop, perform fade-out control to stop after gradually lowering the swing amplitude according to the set swing amplitude degree Therefore, it is possible to reduce the cost, and without complicated labor, it is possible to accurately control the drive according to the load even if an infant with different weight is placed, and to realize a high-accuracy swing. If it stops suddenly, there is an advantage that it is possible to prevent awakening.

  Further, as described above, the control circuit 15 determines the swing direction and the like based on the pulse signal S142 corresponding to the swing width of the infant chair 12, and obtains the pulse width in accordance with the expected value. It is also possible to configure so that the driving force of the solenoid 121 fluctuates by changing the expected value with time by a program to set a pulse width that takes into account the so-called 1 / f fluctuation.

FIG. 14 is a flowchart for explaining control for driving the solenoid 121 by setting a pulse width in consideration of 1 / f fluctuation.
FIG. 15 is a diagram for explaining the 1 / f fluctuation spectrum.

In this case, initial values are set first (ST71).
When the infant chair 12 is driven, the necessary initial value parameters are as follows.
NN: driving time (seconds) × 100,
F1: 1 / f spectrum lower limit frequency,
F2: upper frequency limit of 1 / f spectrum,
AW: amplitude of a sine wave at frequency F1,
YDC: DC component of fluctuation,
It is.

Next, 1 / f spectrum is set (ST72).
The fluctuation waveform is obtained by superposing sine waves of respective frequencies obtained by dividing the frequency from F1 to F2 into 100 equal parts.
Therefore, the relationship between the frequency f _i of each sine wave and the amplitude A _i is calculated so that the spectrum has a 1 / f relationship. In addition, the phase of each sine wave is set by a uniform random number.

(Equation 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

  Since the calculation of the trigonometric function takes time, it is desirable not to perform it during control but to store it in the table first.

Next, fluctuation calculation processing is performed (ST73).
Since the natural frequency of the infant chair 12 is, for example, about 0.8 seconds, the timing at which the driving force is applied is approximately every half of 0.4 seconds.
Therefore, ωt of each sine wave is as follows.

(Equation 2)
ω _i t _j = 2πf _i × (360 / 2π) × 0.4 × j (j = 0, 1, 2,...)

The fluctuation Y _j is obtained from the following equation.

(Equation 3)
₁₀₀
Y _j = YDC + ΣA _i sin (ω _i t _j + φ _i )
^{i = 0}

Next, the solenoid action time calculation process is performed (ST74).
The 1 / f spectrum waveform is converted into solenoid operation time. In this case, the timer is set to 2 milliseconds (ms), for example.
When swinging the infant chair 12 with a constant action time, several tens of ms (for example, 22 ms) is appropriate, so the driving time T _j is set as follows.

(Equation 4)
T _j = NT _j × 2 ms = {(Y _j /5)+0.5}×2 ms

Next, confirmation of passage of the center point of the infant chair 12 and solenoid drive processing by the drive pulse S15a are performed (ST75, ST76).
The infant chair 12 passes the neutral point, and outputs the drive pulse S15a to the drive circuit 122 in accordance with the pulse signal S12 sent from the sensor unit 14 and the flag of the timer to drive the solenoid 121 for the drive time. .

  Then, the calculation from the fluctuation calculation in step ST73 to the solenoid driving in step ST76 is performed until the driving time is completed (ST77).

  With such a configuration, there is an advantage that a comfortable way of swinging such as “1 / f fluctuation” can be realized as well as accurate drive control according to the load is possible.

It is a schematic diagram showing one embodiment of an infant chair drive system equipped with a cradle as a rocking body according to the present invention. It is a block diagram which shows the principal part structure of the chair drive system for infants which concerns on this invention. It is a figure which shows the structural example of the reflecting plate 141 reflecting surface which concerns on this embodiment. It is a figure which shows the waveform example of the output pulse signal of an optical sensor when the chair for infants as a cradle is shaking. It is a figure which shows the structural example of the operation part which concerns on this embodiment. It is a figure which shows notionally the fade-out function of the rocking | fluctuation operation | movement of this embodiment. It is a flowchart for demonstrating operation | movement of the shake control apparatus which concerns on this embodiment. It is a flowchart for demonstrating operation | movement of the shake control apparatus which concerns on this embodiment. It is a flowchart for demonstrating operation | movement of the shake control apparatus which concerns on this embodiment. It is a flowchart for demonstrating operation | movement of the shake control apparatus which concerns on this embodiment. It is a flowchart for demonstrating operation | movement of the shake control apparatus which concerns on this embodiment. It is a flowchart for demonstrating operation | movement of the shake control apparatus which concerns on this embodiment. It is a figure which shows the example of the evaluation result of the shake control apparatus which concerns on this embodiment. It is a flowchart for demonstrating the control which drives the solenoid 121 by setting the pulse width which considered 1 / f fluctuation. It is a figure for demonstrating a 1 / f fluctuation spectrum. It is a block which shows the structural example of the shaking control apparatus in the conventional chair system for infants.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Chair drive system for infants 11 ... Base 12 ... Chair for infants 121 ... Solenoid for drive 122 ... Drive circuit 14 ... Sensor part 141 ... Reflector 1411 ... Reflection pattern part 142 ... reflection type optical sensor 1421 ... light emitting element 1422 ... light receiving element 15 ... control circuit 16 ... operation part

Claims (4)

A swing control device for a swinging body that swings in a direction facing each other about a predetermined axis,
Driving means for driving the oscillator with a driving force in accordance with the supplied driving pulse;
A sensor unit for detecting a swing width of the swing body;
Based on the swing width detected by the sensor unit and a preset expected swing value, a pulse width for driving the rocking body is obtained at the next timing to generate the drive pulse and supply it to the drive means Control means for
The sensor part
A light transmission portion disposed on the rocking body and having a light transmission pattern portion formed over a predetermined range substantially half of the rocking direction of the rocking body;
One light sensor that irradiates light to the light transmission unit, receives light transmitted by the light transmission unit, and outputs a pulse signal corresponding to a light reception level;
The control means includes
Based on the pulse signal waveform from the above optical sensor, the duration and no change point are counted, and the fluctuation amplitude is recognized by counting pulses for one period, and the time when the waveform is not generated is a predetermined time. If it continues, it is recognized that it is off time, and it is determined that one cycle is completed, and driving is started from the next pulse,
A swing control device for a swinging body that performs fade-out control in which the swing amplitude is gradually lowered and then stopped according to the set swing amplitude when the swing is stopped. It has an operation unit that can set the degree of swing amplitude,
In the fade-out control, the control means starts a swing operation with the amplitude set by the operation unit, and after a predetermined time has passed, the minimum value of the swing amplitude degree is set as a swing target value regardless of the setting of the operation unit. The swing control device for a swinging body according to claim 1, wherein the swing control operation is performed and automatically stopped when the end time is reached. The swing control apparatus for an oscillating body according to claim 1 or 2, wherein the control means includes a one-cycle timer, and when the one-cycle timer expires, the next cycle processing is performed as one cycle ends. The swing control device for a swinging body according to claim 1, wherein the control means sets a pulse width in consideration of 1 / f fluctuation.

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