Baby rocking chair with assistance

Abstract

A system and method for controlling movement of an infant receiving device is provided. The infant receiving device may include a base (104), a seat (102), and a joint (108) connecting the seat (102) to the base. The joint (108) may permit reciprocating motion. An actuator (120) may apply a driving force to the seat (102).

Description

Background Art

[0001] An infant rocking chair or infant soothing device (such as a swing, cradle, or other swinging seat) may include a seat or portion for receiving an infant and a device that allows the infant to be gently rocked, swayed, rocked, or otherwise swung in a soothing motion. Rocking chairs typically include a flexible frame and can be manually activated by an adult so that they will swing up and down for a short period of time. Once the swinging motion has subsided, the adult must restart the rocking chair to maintain the swinging motion. Swings can allow an infant to make different side-to-side movements in the seat. Typically, a swing is suspended above bearings and can be manually activated by an adult under the influence of gravity so that it swings back and forth for a short period of time before the swinging motion subsides. The drive system in a swing can directly control the motion by continuously driving the seat along a certain path. However, the system for achieving motion along this path is often complex and cannot accurately replicate the natural motion that an adult would produce in an unassisted swing. Parents can also feel a certain degree of alienation from their infant when using such devices because they cut off the adult from interacting with the infant. There is a need for an improved infant soothing device that overcomes these and other limitations. Summary of the Invention

[0002] An infant soothing device is provided, comprising a baby rocking chair as defined in the accompanying claims. Also provided is a method of operating an infant soothing device according to the accompanying claims.

[0003] In a first embodiment, a baby rocking chair is provided, comprising: a base; a seat configured to receive an infant; a joint connecting the seat to the base and configured to support the seat above the base, wherein the joint is configured to allow the seat to reciprocate relative to the base; and an actuator connected between the base and the seat and configured to apply a driving force to the seat.

[0004] The actuator may be an electromagnetic actuator, and wherein the driving force is magnetic.

[0005] The joint may include a resilient member configured to support the seat in a central position above the base and to return the seat toward the central position after the seat has deviated.

[0006] The joint may include a hinge or shaft configured to support the seat in a central position above the base and to allow the seat to rotate relative to the base.

[0007] The infant bouncer may further comprise a resilient member connected to the seat and the base and configured to return the seat toward a center position after the seat has deviated, and optionally wherein the infant bouncer comprises an adjustment member connected to the resilient member and configured to adjust a preload applied to the resilient member.

[0008] The resilient member may comprise a tension spring, optionally wherein the tension spring is a coil spring.

[0009] The joint may be located at a first height and a first lateral position relative to the base, the tension spring connected to the seat at a first connection point, the tension spring connected to the base at a second connection point, and the second connection point located at a second height and a second lateral position relative to the base, and wherein the first connection point is substantially on a straight line between the joint and the second connection point.

[0010] The infant bouncer may be configured such that deflection of the seat causes stretching and rotation of the elastic member.

[0011] Rotation of the resilient member may cause it to change the effective spring rate of the restoring force to return the seat towards the center position.

[0012] The seat may include a rocker arm and an infant receiving seat, wherein the rocker arm extends substantially from the infant receiving seat and through the hinge or axis.

[0013] The hinge or shaft may be supported by a post extending upwardly from the base.

[0014] The electromagnetic actuator may include an electromagnetic coil fixed on a base, and the seat may include a magnetic material close to the electromagnetic coil. Optionally, the magnetic material is a ferromagnetic material or a permanent magnet.

[0015] The electromagnetic actuator may include an electromagnetic coil fixed on the seat, and the base includes a magnetic material close to the electromagnetic coil. Optionally, the magnetic material is a ferromagnetic material or a permanent magnet.

[0016] The baby rocker may further include an electric drive configured to drive the electromagnetic coil using an electric current. Optionally, the electric drive is configured to provide the electric current to attract magnetic materials. Optionally, the electric drive is configured to provide the electric current to repel magnetic materials.

[0017] The baby rocker may further include a sensor configured to detect one or more of a deviation of the seat relative to the base, a speed of the seat relative to the base, and an acceleration of the seat. Optionally, the sensor includes an optical encoder, an electromagnetic encoder, a micro-electromechanical sensor (MEMS) device, a gyroscope, an accelerometer, or an electromagnetic coil.

[0018] The sensor can be connected to a processor, wherein the processor is configured to derive the velocity of the seat relative to the base from multiple measurements of the deflection of the seat relative to the base, or wherein the processor is configured to derive the velocity of the seat relative to the base by numerically integrating the acceleration of the seat.

[0019] Optionally, the electromagnetic actuator is configured to drive the seat in a first direction when the sensor or processor detects a velocity of the seat relative to the base in the first direction.

[0020] Optionally, when the sensor or processor detects a velocity of the seat in a second direction opposite to the first direction, the electromagnetic actuator is configured not to drive the seat in the first direction or the second direction.

[0021] The sensor or processor may be configured to detect a maximum displacement of the seat relative to the base without the electromagnetic actuator actuating the seat.

[0022] The sensor may be configured to detect a current displacement of the seat relative to the base when the electromagnetic actuator drives the seat.

[0023] When the current displacement of the seat relative to the base is less than the maximum displacement of the seat relative to the base, the electromagnetic actuator can be configured to provide a larger driving force to deviate the seat, and when the current displacement of the seat relative to the base is greater than the maximum displacement of the seat relative to the base, the electromagnetic actuator can be configured to provide a smaller driving force to deviate the seat.

[0024] The sensor or processor may be configured to detect a maximum displacement of the seat relative to the base without the electromagnetic actuator driving the seat in response to a trigger, and optionally wherein the trigger is caused by a button on the infant bouncer or by a connected device or by a deflection of the seat relative to the base exceeding a predetermined threshold.

[0025] Optionally, the maximum displacement of the seat relative to the base is retrieved from an electronic memory or from a server in communication with the baby bouncer.

[0026] The maximum displacement of the seat relative to the base may be user adjustable.

[0027] Optionally, the sensor or processor is configured to detect when the speed of the seat relative to the base drops below a predetermined threshold for more than a predetermined time period, and in response to detecting when the speed of the seat drops below the predetermined threshold for more than a predetermined time period, the electromagnetic actuator is configured to stop driving the seat relative to the base, and optionally wherein, in response to detecting when the speed of the seat drops below the predetermined threshold for more than a predetermined time period, the electromagnetic actuator is configured to apply a braking force to the seat relative to the base.

[0028] The electromagnetic actuator may include a load sensor configured to detect a force applied by the electromagnetic actuator. Optionally, the electromagnetic actuator is configured to stop driving the seat relative to the base when the force detected by the load sensor exceeds a predetermined threshold.

[0029] The actuator may be releasably connectable between the base and the seat, and optionally wherein the actuator is configured to be detachable from the base and detachable from the seat.

[0030] Optionally, the joint is configured so that the reciprocating motion of the seat extends in a direction substantially vertical relative to the base. Further optionally, the joint is configured so that the reciprocating motion of the seat follows a path, and wherein the path is linear or circular, or elliptical, or follows a figure eight.

[0031] A method for controlling an infant rocking chair is also provided, comprising: providing a seat resiliently mounted to a base so that the seat can swing about a midpoint; measuring a first deviation of the rocking of the seat in a first direction; measuring a second deviation of the rocking of the seat in the first direction; determining that the measured first deviation is different from the measured second deviation; and providing energy input to correct the deviation of the rocking of the seat in the first direction.

[0032] The baby bouncer may further include an actuator connected between the base and the seat, and providing energy input to correct deviation of the rocking of the seat in the first direction includes controlling the actuator to apply a force to the seat in the first direction.

[0033] Optionally, the first deflection of the rocking of the seat in the first direction is a user-controlled manual deflection of the seat.

[0034] Further optionally, the second deviation of the rocking of the seat in the first direction is a deviation controlled by an actuator of the seat.

[0035] The actuator may be an electromagnetic actuator.

[0036] Measuring the first deviation of the rocking of the seat in the first direction may be initiated by a button in communication with the infant bouncer, a user device in communication with the infant bouncer, or automatically upon detecting manual movement of the seat in the first direction exceeding a predetermined threshold.

[0037] The measurement of the first deviation of the seat's swing in the first direction can be performed during a first rocking process, and the measurement of the second deviation of the seat's swing in the first direction can be performed during a second rocking process, and optionally wherein the first rocking process and the second rocking process are separated by a time period in which the seat does not swing.

[0038] A method for controlling a baby rocking chair is also provided, comprising: providing a seat elastically mounted on a base so that the seat can swing about a midpoint; using a sensor to detect deviation of the seat in a first direction; using a sensor to detect deviation of the seat in a second direction opposite to the first direction; applying a driving force to the seat in the first direction when deviation of the seat in the first direction is detected; and not applying a driving force to the seat when deviation of the seat in the second direction is detected.

[0039] The driving force may be applied to the seat by means of an actuator, optionally an electromagnetic actuator.

[0040] The seat may be mounted to the base via bearings and provided with elasticity by a spring. Optionally, the spring is configured to have a spring rate such that, at maximum deflection of the seat, the maximum force provided by the electromagnetic actuator exceeds the maximum force provided by the spring. The sensor may include one or more of an optical encoder, an inductive sensor, an accelerometer, and a position sensor.

[0041] In another embodiment, an infant soothing device is provided, comprising: a support, an infant receiving portion; wherein the infant receiving portion is rotatably mounted on the support; and a biasing device connected to the infant receiving portion and configured to rotate the infant receiving portion relative to the support.

[0042] The biasing means may be an active biasing means, and optionally, the active biasing means is configured to convert an electrical input into a rotation of the infant receiving portion. The active biasing means may comprise one or more of an electrical coil, a helical spring, a leaf spring, a pneumatic chamber, and a hydraulic chamber.

[0043] The infant receiving portion may be rotatably mounted on the support such that the infant receiving portion extends vertically away from the support, or such that the infant receiving portion extends horizontally away from the support, and optionally wherein the infant receiving portion is configured to swing about a midpoint. The swing about the midpoint of the infant receiving portion may be configured to extend in a substantially vertical direction or in a substantially horizontal direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1a An infant bouncer according to some embodiments is shown.

[0045] Figure 1b Shown Figure 1a A magnified image of a baby rocking chair.

[0046] Figure 2 Shown Figure 1a view of a cute baby rocking chair.

[0047] Figure 3 Shown Figure 1aAnother side view of the baby rocking chair.

[0048] Figure 4 Shown Figure 2 An enlarged view of the baby rocking chair is shown.

[0049] Figure 5 Shown Figure 4 An abstract illustration of the geometric shapes of a baby rocking chair is shown.

[0050] Figure 6 An example diagram showing variable ratio geometry.

[0051] Figure 7 A graph showing the rocking of a baby rocker is shown.

[0052] Figure 8 A graph showing the correction of the rocking of a baby rocker is shown.

[0053] Figure 9a A schematic diagram of a tension spring according to one embodiment is shown.

[0054] Figure 9b A schematic diagram of two extension springs according to one embodiment is shown.

[0055] Figure 10 A schematic diagram illustrating a method according to some embodiments is shown.

[0056] Figure 11 A graph illustrating the varying swing of a baby bouncer according to an embodiment is shown.

[0057] Figure 12 A computing device for implementing the operations described herein is shown.

[0058] Figure 13 A graph showing the correction of the rocking of a baby rocker is shown.

[0059] Figure 14 A schematic diagram illustrating a method according to some embodiments is shown. DETAILED DESCRIPTION

[0060] refer to Figure 1a, provides an infant bouncer 100 comprising a seat 102 and a base 104. The seat 102 is configured to receive an infant 106. The seat 102 is sized so that the infant 106 can fit snugly within the seat 102. In at least one configuration, the seat 102 can be substantially concave relative to the infant-receiving portion 103 of the seat 102, allowing the infant 106 to be partially enclosed or resting within the seat 102. The seat 102 is connected to the base 104 via a joint 108. In use, when the base 104 is placed on the ground or any suitable support surface, the joint 108 supports the seat 102 above the base 104. The joint 108 is configured to allow the seat 102 to reciprocate relative to the base 104. For example, the joint 108 may include a hinge or shaft 110. The hinge or shaft 110 can rotatably support the seat 102 above the base 104 and allow the seat 102 to rotate relative to the base 104. The hinge or shaft 110 can also support the seat in a central position. A resilient member 112 (such as a coil spring 114) may be connected to the seat 102 and the base 104 to provide a restoring force to return the seat 102 to a central position above the base. When the seat 102 deviates in either direction, causing the seat 102 to rotate about the joint 108, the resilient member 112 or coil spring 114 may extend longitudinally and apply a restoring force to deflect the seat 102 back to the central position. Figure 1a Although a coil spring 114 is shown, those skilled in the art will appreciate that any suitable resilient member 112 may be used to return the seat to its center position after it has deviated. For example, a flexure spring (not shown) or a rubber pad (not shown) may be used. Alternatively or additionally, any suitable tension spring may be used, such as an elastic cord (not shown) or a rubber band (not shown).

[0061] The hinge or shaft 110 can be disposed horizontally relative to the base 104. That is, the hinge or shaft 110 can be oriented such that rotating the seat 102 about the joint 108 produces a substantially vertical rocking motion.

[0062] In an alternative embodiment, the joint 108 itself may include a resilient member configured to support the seat in a central position above the base. For example, rather than including a shaft or hinge, the joint 108 may include a resilient material that allows the seat 102 to deflect by elastic deformation. The elasticity of the resilient material may provide a restoring force to return the seat 102 to a central position after deflection.

[0063] In one embodiment, the infant bouncer 100 may include an adjustment member (not shown) connected to the resilient member 112 and configured to adjust the preload applied to the resilient member 112. For example, the adjustment member may include a dial or a threaded knob configured to adjust the length of the resilient member 112 when the seat is in the center position. By varying the amount of preload on the resilient member 112, the characteristics of the infant bouncer 100 may be adjusted. For example, by increasing the preload on the resilient member 112, the natural frequency of the swing of the seat 102 may be higher. By decreasing the preload on the resilient member, the natural frequency of the swing of the seat 102 may be lower. Adjustment of the preload of the resilient member 112 may be accomplished to change the swing frequency, or to maintain a given swing frequency with occupants of varying weights.

[0064] The baby bouncer 100 may further include an actuator 120 connected between the base 104 and the seat 102. The actuator 120 is configured to apply a driving force to the seat 102. The actuator 120 may be an electromagnetic actuator, and the driving force may be a magnetic force.

[0065] Go to Figure 1b , which shows Figure 1a , it can be seen that the actuator 120 is connected between the base 104 and the seat 102. The electromagnetic actuator 120 includes an electromagnetic coil 122 fixed to the base 104. The electromagnetic coil 122 can be fixed to the base 104 via a coil fixing 124. The electromagnetic actuator 120 can also include a magnetic material 126 adjacent to the electromagnetic coil 122. The magnetic material 126 can be fixed to the seat 102 via a magnet fixing 128. The magnetic material 126 can be a permanent magnet, a ferromagnetic material, or the electromagnet itself. In any case, the magnetic material 126 is configured to interact with the electromagnetic coil 122 to provide a driving force for the seat 102. Figure 1b As shown, the magnetic material 126 is fixed to the seat 102 via the shaft 110. When the seat 102 is in the center position (e.g. Figure 1a and Figure 1b 12 ), magnetic material 126 is positioned proximate electromagnetic coil 122, such that applying power to electromagnetic coil 122 causes magnetic material 126 to move closer to electromagnetic coil 122 (i.e., electromagnetic coil 122 attracts magnetic material 126). Because magnetic material 126 is secured to shaft 110, by urging magnetic material 126 to move closer to electromagnetic coil 122, seat 102 is deflected in a first direction.

[0066] Although Figure 1a and Figure 1b104 and the magnetic material 126 may be fixed to the seat 102, but it is within the scope of the present disclosure that the electromagnetic coil 122 and the magnetic material 126 may be in alternating positions. For example, the electromagnetic coil 122 may be fixed to the seat 102 and the magnetic material 126 may be fixed to the base 104. Figure 1a and Figure 1b In the example shown, it is advantageous to locate the electromagnetic coil 122 on the base 104 to reduce the complexity of incorporating motorized components on the moving portion (ie, the seat 102 ).

[0067] The baby rocker 100 may also include an electric drive (not shown). The electric drive is configured to drive the electromagnetic coil 122 using an electric current. The electric drive can be connected to the electromagnetic coil 122 via a wire or other electrical connection. The electric drive can be configured to provide an electric current flowing in the coil 122 in a first direction, causing the coil 122 to attract the magnetic material 126.

[0068] In an alternative embodiment, the electric driver may be configured to provide a current flowing in the second direction in the coil 122 such that the coil 122 repels the magnetic material 126. In this case, the magnetic material 126 may be a permanent magnet or an electromagnet with a corresponding magnetic field.

[0069] The electromagnetic actuator may also include a load sensor 130 configured to detect the force applied by the electromagnetic actuator 120. The load sensor 130 may be a conventional load sensor 130 configured to provide a voltage at a load sensor output that is dependent on the load applied to the load sensor 130. The load sensor 130 may be connected to a motorized actuator such that the motorized actuator may be configured to respond to load measurements from the load sensor 130. For example, the infant bouncer 100 may be configured such that when the force detected by the load sensor 130 exceeds a predetermined threshold, the electromagnetic actuator 120 stops driving the seat 102 relative to the base 104. The predetermined threshold may be set to a level to prevent damage to the user or the product being used. For example, if the seat 102 becomes stuck in place or becomes trapped in the environment (e.g., when the seat is improperly positioned or pressed against a sofa or other furniture), the load sensor 130 may provide an indication that the load applied by the actuator is excessive, and the electromagnetic actuator 120 may stop driving the seat 102. In another example, the seat 102 may be occupied by an unsuitable user, such as an adult or an older child, whose weight exceeds the design capacity of the infant bouncer 100. In this case, the load measured by the load sensor 130 may exceed a predetermined threshold, and the electromagnetic actuator 120 may stop driving the seat 102 relative to the base 104.

[0070] The load sensor 130 can be configured to detect the force applied by the electromagnetic actuator 120 to determine the mass of the occupant. For example, if the mass of the occupant of the seat 102 is greater, the force applied by the electromagnetic actuator 120 will be greater to achieve a given acceleration of the seat 102 (including the occupant), consistent with Newton's second law of motion. By determining the force from the load sensor 130 and the known acceleration of the seat 102, the mass of the occupant can be calculated by dividing the force by the acceleration. In one embodiment, the mass of the occupant can be monitored or tracked over a period of time or multiple uses of the infant bouncer 100 to determine changes in the occupant's weight.

[0071] The load sensor 130 can be configured to detect the force applied by the electromagnetic actuator 120 to determine the degree of movement of the seat 102 occupant. For example, an infant in the infant bouncer 100 may move back and forth within the seat 102. The infant's movement in the infant bouncer 100 causes the infant's center of mass to shift within the bouncer, which can be detected by the load sensor 130. In one embodiment, the infant bouncer 100 can be configured to detect the magnitude of the center of mass shift by measuring the force applied to the load sensor 130 and provide feedback based on the detected movement. The feedback can include data presented to the user or altering the operation of the infant bouncer 100 in response to the detected movement. In this manner, the infant bouncer 100 can be configured to operate at different frequencies or amplitudes in response to detected movement of the seat 102. In another embodiment, the movement detected in the seat 102 via measurements from the load sensor 130 can provide an indication of whether the occupant is awake or asleep. This indication of whether the occupant is awake or asleep based on the movement detected in the seat 102 can be used to track the infant's sleep.

[0072] Additionally or alternatively, the load sensor 130 can be located on the base 104 of the infant bouncer 100. When the load sensor 130 is located on the base 104 of the infant bouncer 100, the load sensor 130 can provide a measurement of the force applied between the base 104 and the floor supporting the base 104. The load sensor 130 located on the base 104 can provide an indication of the occupant's weight and / or an indication of the force applied to the seat 102 as it swings by detecting the reaction force between the base 104 and the floor due to the occupant's weight and the movement of the seat 102.

[0073] The actuator 120 can be releasably connected between the base 104 and the seat 102. In other words, the actuator 120 can be detachably coupled to the base 104 and the seat 102, allowing manual operation of the seat 102 without the actuator 120. The actuator 120 can be retrofitted or attached to an infant bouncer 100 that previously did not include the actuator 120 to provide the additional functionality of the actuator 120. The actuator 120 can be detached from the base and the seat 102 to, for example, enable the bouncer 100 to be safely transported in an aircraft cargo hold. The actuator 120 can include a battery power source or other electrical devices that may not be safely transported in an aircraft cargo hold. By removing the actuator 120, the bouncer 100 can be allowed on an aircraft. The actuator 120 itself can be small enough to allow the user to transport it in the passenger cabin of an airliner, or it can be discarded, allowing the bouncer 100 to be manually operated until the actuator 120 is reattached. This can be very useful during travel, where the rocking chair 100 can be carried in a lightweight, hand-held format for a short trip, but then restored to full functionality by reattaching the actuator 120 .

[0074] Steering Figure 2 and Figure 3 , the baby bouncer 100 is shown from a first side and a second side. Figure 2 On the first side shown (i.e., the right side of the device as viewed from the front of the rocking chair by a parent user), the actuator 120 is visible, and Figure 1a and Figure 1b The geometry of the embodiment shown. Figure 3 On the second side shown (the left side of the device as viewed by a parent user from the front of the rocking chair), the sensor 160 is visible.

[0075] Figure 4 Shown Figure 2 An enlarged view of the first side view of Figure 4 As can be seen in FIG, the seat 102 is connected to the base 104 via a joint 108. The joint 108 is located at a first height above the base 104 (e.g., Figure 4 , and is located at a first lateral position relative to the base 104 (as shown in the vertical direction). Figure 4 horizontal direction as shown). Figure 4 In the illustrated embodiment, the joint 108 includes an axis 110 about which the seat 102 is configured to rotate. The seat 102 includes a rocker arm 140 and an infant receiving seat 142. The infant receiving seat 142 is the portion of the seat 102 that receives and supports the infant (e.g., it includes a seat back and a seat bottom for the infant to sit on). The rocker arm 140 generally extends from the infant receiving seat 142. Figure 4As shown, the rocker arm 140 extends downwardly from the infant receiving seat 142 and provides a connection to the hinge or shaft 110. The rocker arm 140 extends through the hinge or shaft 110. The rocker arm 140 extends through the hinge or shaft 110. Figure 1a This can be seen more clearly in FIG, which shows a rear three-quarter view of the baby rocker 100. Figure 1a As shown, the rocker arm 140 extends past the hinge or shaft 110 to a distal end 144 of the rocker arm 140 .

[0076] The tension spring 112 is connected between the base 104 and the seat 102. Figure 4 As shown, the tension spring 112 can be connected to the seat 102 at a first connection point 150. The first connection point 150 can be a connection point on the rocker arm 140 at a location outside the hinge or axis 110 relative to the infant receiving seat 142. The first connection point 150 can be a connection point on the rocker arm 140 near the end 144 of the rocker arm 140. The tension spring 112 can be connected to the base 104 at a second connection point 152. The second connection point is located at a second height relative to the base. The second height relative to the base can be higher than the height of the base 104, lower than the height of the base 104, or zero (i.e., the second connection point is located on the base). The second connection point 152 can be located at a second lateral position relative to the base 104. The first connection point 150 can be located on a straight line between the joint 108 and the second connection point 152. It should be understood that in use, the first connection point 150 will deviate from being located directly on the straight line between the joint 108 and the second connection point 152. When the first connection point 150 deflects during use, the first connection point 150 can be substantially located on a straight line between the joint 108 and the second connection point 152. The center position of the seat 102 can be configured such that, when the seat is in the center position, the first connection point 150 is located on a straight line between the joint 108 and the second connection point 152. Furthermore, the seat 102 can deflect under the weight of an infant, such that the center position of the seat 102 depends on the weight of the infant. During use, the first connection point 150 can pass through a position where the first connection point is located on a straight line between the joint 108 and the second connection point 152. This straight line can be considered from the perspective of a first side or a second side of the infant bouncer 100, as the straight line can be drawn perpendicular to the perspective from the side of the infant bouncer 100.

[0077] When seat 102 deflects, first connection point 150 can follow a first arc A1. First connection point 150 can rotate about joint 108, thereby describing first arc A1. If tension spring 112 were to rotate about second connection point 152, neither extending nor compressing, the end of the spring connected to rocker arm 140 at first connection point 150 would follow a second arc A2. In other words, second arc A2 can be described as a constant radius around second connection point 152, overlapping first arc A1 at a single point.

[0078] Figure 5 Shown Figure 4 Schematic diagram of the superposition geometry of . Figure 5 , the effect of this geometry can be seen more clearly. The deviation of the seat 102 causes the first connection point 150 to rotate around the joint 108 along the first arc A1. Figure 5 When the center position shown is deviated, the tension spring 112 will rotate about the second connection point 152 and extend to connect the second connection point 152 to the greater distance between the first connection point 150. Figure 5 In the figure, the extension of the tension spring 112 can be considered the distance between the first arc A1 and the second arc A2. When the seat 102 is centered, the distance between the first connection point 150 on the first arc A1 and the second connection point 152 on the second arc A2 is relatively small. When the seat 102 is deflected, the distance between the first connection point 150 on the first arc A1 and the second connection point 152 on the second arc A2 is relatively large. Because the first connection point follows the first arc A1 and the zero extension radius of the tension spring follows the second arc A2, with the two curves in opposite directions, a deviation of the seat 102 from the center position by a set amount results in a smaller extension of the tension spring 112, while a deviation of the seat 102 by the same unit at a point away from the center position results in a relatively larger extension of the tension spring 112. Based on the spring rate of the extension spring 112 and the angle at which the extension spring 112 provides a restoring force to return the seat 102 to the center position, the rate of change of the restoring force provided by the extension spring 112 near the center position is smaller than the rate of change of the restoring force provided by the extension spring 112 away from the center position.

[0079] Figure 6 The variable ratio of the restoring force is shown. Figure 6The relative restoring force compared to the variable ratio geometry of the present embodiment when the linear elastic element provides a restoring force toward the center position is shown. The dashed line depicts the linear spring restoring force. The linear spring restoring force refers to the elastic force provided by the linear spring in the direction opposite to the direction of spring tension. The solid line depicts the exemplary restoring force provided by the present disclosure. When the deviation is small, the restoring force is relatively low. When the deviation is large, the restoring force is greater than the restoring force expected from the linear response of the linear spring. An effect of this variable ratio geometry is that the rocker can provide consistent operation under a certain range of infant weights and / or power delivery from the actuator. Another effect of the variable spring ratio geometry provided by the present disclosure is that a rocker or swing implementing the variable ratio geometry will allow relatively large movements under low forces when used with smaller infants, but will not experience excessive movement when used with larger infants.

[0080] exist Figure 1a and Figure 4 In the illustrated embodiment, the hinge or shaft 110 is supported by a post 132 extending upwardly from the base 104. The infant bouncer 100 may include one or more posts 132 to support the joint 108 or the hinge or shaft 110. In alternative embodiments, the hinge or shaft may be supported by other means, such as by being suspended from a support or cantilever (not shown).

[0081] In addition, Figure 1a and Figure 4 In the illustrated embodiment, the joint 108 is configured such that the reciprocating motion of the seat extends in a direction substantially vertical relative to the base 104. However, similar effects can be achieved by providing reciprocating motion in other directions. For example, the present disclosure can be applied to other infant soothing devices, including but not limited to swings and cradles. The infant soothing device may include a frame, an infant receiving portion rotatably mounted on the frame, and a biasing device connected to the infant receiving portion and configured to rotate the infant receiving portion relative to the frame. It should also be understood that the spring configuration described herein can be implemented in virtually any orientation. The spring can be positioned in any direction about the pivot point and achieve the same or similar effect, as long as the relative degree of extension or compression of the spring relative to the center position of the seat is comparable. The biasing device can be active, in that it provides a controlled driving force (such as actuator 120), and alternatively, the active biasing device can be electrically controlled (such as electromagnetic actuator 120). For example, the active biasing device can include one or more of an electric coil, a coil spring, a leaf spring, a pneumatic chamber, and a hydraulic chamber.

[0082] Whether the infant soothing device is a swing, cradle, or rocking chair, the infant receiving portion can be rotatably mounted on the frame so that the infant receiving portion extends vertically away from the frame, or so that the infant receiving portion extends horizontally away from the frame. In this manner, the infant receiving portion can include a substantially vertical swing, a substantially horizontal swing, or a combination of vertical and horizontal swings.

[0083] The baby rocker or infant soothing device can be configured so that the reciprocating motion follows a path, and the path can be linear (rocking back and forth), circular (following an arc of a circle), elliptical (following an arc of a circle with varying radius), or figure 8 (a combination of two swings in the vertical direction).

[0084] The infant bouncer 100 may include a sensor 160 configured to detect deviation of the seat 102 relative to the base 104. The sensor 160 may detect the deviation of the seat 102 directly, such as in the case of an optical encoder, or the sensor may detect the deviation of the seat indirectly by measuring the velocity of the seat (e.g., by using an electromagnetic encoder or back EMF measurement) or by measuring the acceleration of the seat (e.g., by using a gyroscope or accelerometer). The sensor 160 may indirectly measure the deviation of the seat by integrating the velocity or acceleration measurements. The sensor may include a microelectromechanical sensor or a MEMS device.

[0085] Back EMF measurement can be implemented in conjunction with an actuator 120 comprising an electromagnetic coil and a magnet to sense the velocity of the seat. Because the movement of the electromagnetic coil in the magnetic field provided by the magnet results in a voltage across the electromagnetic coil in series with the drive voltage, the movement of the magnet relative to the electromagnetic coil can be recorded independently of the applied drive motion (e.g., by filtering the drive signal or by measuring the voltage across the electromagnetic coil and the current flowing through the electromagnetic coil).

[0086] In the case where the actuator 120 includes an electromagnetic coil and a magnetic component other than a permanent magnet, the electromagnetic coil can be used as an electromagnetic encoder. For example, the inductance of the electromagnetic coil (e.g., in response to one or more frequencies of an applied alternating current) can be measured. As the electromagnetic coil moves closer to the magnetic component (e.g., a ferromagnetic component), the inductance of the electromagnetic coil increases. As the electromagnetic coil moves away from the ferromagnetic component, the inductance of the electromagnetic coil decreases. The increase or decrease in inductance provides an indication of the position of the seat 102 relative to the base 104.

[0087] The sensor can be connected to a processor, which can be part of a microcontroller configured to control the infant bouncer 100. The processor can be configured to read the measurements from the sensor 160 and deduce the velocity of the seat 102 relative to the base 104 by measuring the deflection over time or by numerically integrating the acceleration of the seat 102. Alternatively, the processor can receive the measurement of the velocity of the seat 102 directly from the sensor 160. The measurement of the velocity of the seat 102 can include direction and magnitude.

[0088] Detection of the velocity of the seat 102 in the first direction can be used as a means to control the electromagnetic actuator 120 (or an alternative actuator) to drive the seat 102 in the first direction. In other words, when it is detected based on the signal from the sensor 160 that the seat 102 has moved in the first direction, the electromagnetic actuator can be configured to drive the seat 102 in the first direction.

[0089] When the travel of the seat 102 in the first direction reaches an end, for example, because the restoring force of the elastic member 112 overcomes the driving force driving the seat 102 in the first direction, the sensor 160 will no longer detect the speed of the seat 102 in the first direction. Since the sensor 160 no longer detects the speed of the seat 102 in the first direction, the actuator 120 can be configured to no longer drive the seat 102 in the first direction. Figure 1a and Figure 1b In the example shown, the seat 102 may be driven in a first direction by supplying power to the electromagnetic actuator 120 , and the power to the electromagnetic actuator 120 may be cut off when the sensor 160 no longer detects the speed of the seat 102 in the first direction.

[0090] When sensor 160 detects a velocity of seat 102 in a second direction opposite to the first direction, this indicates that seat 102 is moving under the elastic restoring force provided by elastic member 112. The electromagnetic actuator may be configured to not provide any driving force to the seat in either the first or second direction when sensor 160 provides an indication that seat 102 is moving in the second direction.

[0091] As the seat 102 continues to move in a second direction opposite to the first direction, the seat 102 will move past Figure 4The midpoint of the swinging motion shown in FIG. 1 is reached, and the elastic member 112 begins to provide a restoring force acting in the first direction. The seat 102 continues to move in the second direction until it reaches the end of travel in the second direction, i.e., when the restoring force of the elastic member 112 overcomes the seat's inertia in the second direction. At the end of travel in the second direction, the seat 102 begins to move in the first direction again under the driving force of the elastic member 112. However, in addition to the driving force provided by the elastic member 112, the sensor 160 also detects the speed of the seat 102 in the first direction, and in response, the electromagnetic actuator 120 is configured to provide a driving force in the first direction. Because the electromagnetic actuator 120 provides energy input to the seat 102 in the first direction each time the seat moves at a speed in the first direction, any energy lost to the seat due to friction, air resistance, movement or squirming of an infant, or minor disturbances to the seat (such as brushing against an adult's hand or leg) can be restored to the seat 102 to maintain the amount of energy in the seat 102 and maintain the swinging motion of the seat 102.

[0092] Figure 7 A motion graph illustrating the oscillation of the seat 102 over a period of time is shown according to embodiments disclosed herein. Figure 7 In the graph shown, larger seat position values ​​correspond to positions farther in the first direction, while smaller seat position values ​​correspond to positions farther in the second direction. At point A in the graph, the seat is at its maximum displacement in the second direction of the swinging motion. When the seat moves from point A to point B, sensor 160 detects the seat's velocity in the first direction, and electromagnetic actuator 120 provides driving force in the first direction. At point B, seat 102 is at its maximum displacement in the first direction, so sensor 160 does not detect the seat's velocity, and electromagnetic actuator 120 provides no driving force. When the seat moves from point B to point C, sensor 160 detects the seat's velocity in the second direction, and the electromagnetic actuator provides no driving force to seat 102.

[0093] In an alternative embodiment, the electromagnetic actuator can be configured to provide a driving force in a first direction every other swing. For example, the electromagnetic actuator 120 can provide a driving force from point A to point B, no driving force between points B and E, and repeat this pattern from point E. In another alternative, the actuator 120 can provide a first driving force in a first direction when the seat 102 moves in the first direction, and a second driving force in a second direction when the seat 102 moves in a second direction. For example, the first driving force in the first direction can be provided between points A and B and between points C and D. The second driving force in the second direction can be provided between points B and C and between points D and E. The electromagnetic force in the second direction can be provided by reversing the polarity of the voltage applied to the actuator or reversing the direction of the current supplied to the actuator 120. This approach can be effective if the magnetic material 126 itself has a magnetic field (e.g., it is a permanent magnet or an energized electromagnet).

[0094] During use, an adult rocking the rocking chair may desire to provide a certain degree of rocking amplitude and to maintain that rocking amplitude without rapidly decaying. The sensor may be configured to detect the maximum displacement of the seat relative to the base when no driving force is provided by the electromagnetic actuator 120. For example, the adult may provide manual or hand input to the rocking chair, and the sensor 160 may detect the maximum displacement of the seat 102 under the manual or hand input.

[0095] Subsequently, when electromagnetic actuator 120 provides driving force, sensor 160 can detect the current displacement of seat 102 relative to base 104. In this manner, sensor 160 can provide an indication of the desired displacement (i.e., the maximum displacement under manual input) and the current displacement (i.e., the displacement achieved under actuator-driven swinging), and determine whether the current displacement is less than the desired displacement, the same as the desired displacement, or greater than the desired displacement. Sensor 160 can also provide an indication that seat 102 is not displaced at all.

[0096] Figure 8 The effect that controlling the maximum displacement may have on the swing in an embodiment of the present disclosure is shown. Figure 8 The position of the seat 102 relative to the base 104 is shown in a first direction (larger seat position value) and a second direction opposite the first direction (smaller seat position value). Figure 8 The center line CP in FIG. 1 shows the midpoint of the rocking of the seat 102. The dotted line MD shows the maximum displacement of the seat 102 for controlling the rocking chair. The maximum displacement MD can be determined as described above by recording the maximum displacement of the rocking chair by manual or hand input. Figure 8During the first rocking motion shown, the seat 102 just reaches the desired maximum displacement MD. When the current displacement matches the maximum displacement MD, the actuator 120 can be configured to provide a first driving force in the first direction. During the second rocking motion, the current displacement only reaches a smaller displacement Z value, which is less than the desired displacement or the maximum displacement MD. When the current displacement is less than the maximum displacement MD, the actuator 120 can provide a larger driving force in the first direction that is greater than the first driving force. By providing a larger driving force, the current displacement of the seat 102 can be closer to the maximum displacement MD in subsequent rocking motions. In essence, when it is detected that the current displacement is less than the desired maximum displacement, the actuator 120 provides a larger energy input to the seat 102.

[0097] exist Figure 8 During the third rocking motion shown, the current displacement reaches the maximum displacement MD, and thus a first driving force can be applied to seat 102. However, during the fourth rocking motion, due to an increase in energy input to seat 102 by actuator 120 or external forces (e.g., an infant swinging their legs, or interference from an adult or other child), the current displacement X exceeds the maximum displacement MD. In response, actuator 120 can provide a smaller driving force (or no driving force) to deflect seat 102 in the first direction. Alternatively, actuator 120 can provide no driving force to deflect seat 102 in the first direction. Still further alternatively, actuator 120 can provide a decelerating force to seat 102 by applying a driving force to seat 102 in the second direction while seat 102 moves at a velocity in the first direction, or by applying a driving force to seat 102 in the first direction while seat 102 moves at a velocity in the second direction. Subsequently, during the fifth rocking motion, the current displacement returns to the value of the maximum displacement MD.

[0098] The sensor 160 can be configured to detect the maximum displacement MD in a detection mode activated by a trigger. The trigger can be implemented by means of a button (not shown) on the baby rocker or by electronic communication with the baby rocker. For example, an adult can press a button to activate the detection mode and begin applying manual input to the rocker. After detecting the maximum displacement applied by the manual input, the baby rocker can stop the detection mode and enter the drive mode, in which the seat 102 is driven to the maximum displacement MD recorded in the detection mode. The detection mode can last for a predetermined period of time or a predetermined number of swings. In addition or alternatively, the trigger can be implemented by a connected device, such as a mobile phone, a remote control, or a smart watch. In addition or alternatively, the detection mode can be triggered when the deviation of the seat 102 relative to the base 104 exceeds a predetermined threshold. For example, when the sensor 160 detects that the manual input has caused the seat to shift beyond a predetermined threshold, the rocker can automatically activate the detection mode, record the maximum displacement MD, and maintain this displacement for a period of time. The button can be implemented in any conventional manner, for example, the button can include any of a mechanical switch, a membrane switch, a slider, a knob or dial, a touch screen or touch sensitive panel, a capacitive contact sensor, a contactless sensor, an infrared sensor, a motion sensor, a foot switch or a light sensor.

[0099] Alternatively, the maximum displacement MD can be retrieved from the rocker's memory, from a connected device, or from a server in communication with the baby rocker. In this way, if a user has a preferred maximum displacement MD, that MD can be retrieved for use in subsequent processes. Furthermore, the preferred maximum displacement MD can be shared from the rocker's memory with a server in communication with the baby rocker, allowing the preferred maximum displacement MD to be shared with other users or other devices (such as a second user's baby rocker).

[0100] The maximum displacement MD may be user adjustable. For example, the user may control the maximum displacement by interacting with controls (not shown) on the baby rocker or by interacting with controls displayed on a connected device (such as a remote control, a mobile phone, or a smartwatch).

[0101] The baby rocker 100 can be configured to automatically shut down after a predetermined period of time. For example, the actuator 120 can stop providing driving force after 10 minutes have passed. Additionally or alternatively, the rocker 100 can gradually reduce the maximum displacement MD over a period of time until the seat 102 no longer oscillates, or until the seat can continue to oscillate indefinitely at a lower maximum displacement MD value.

[0102] When the infant bouncer 100 is configured to automatically shut down after a predetermined period of time, the predetermined period of time can be determined based on the usage history of the infant bouncer 100. In one example, the infant bouncer 100 and / or a connected device can be configured to determine the age and / or weight of the occupant. The occupant's weight can be determined by the infant bouncer using measurements from the load sensor 130. Alternatively, the user can manually enter the occupant's weight. The occupant's age can be entered based on the occupant's date of birth or estimated based on the date the occupant first used the infant bouncer 100. The predetermined period of time can be determined based on the occupant's weight and age. For example, a predetermined period of time corresponding to a list of suitable predetermined time periods for occupants of different weights and ages can be found in a lookup table (LUT). Alternatively, the predetermined period of time can be determined by calculating the maximum safe time based on the product of the occupant's weight and age (i.e., proportional to the occupant's weight and proportional to the occupant's age).

[0103] In one embodiment, if the sensor 160 or processor detects that the current displacement has suddenly decreased or that the seat 102 has stopped rocking, the actuator 120 can stop providing any further driving force until the rocking chair operation has been reset. In this way, if an obstacle hits the seat 102 or if the rocking chair malfunctions in some way that prevents safe operation, the rocking chair 100 will not continue to operate, thereby reducing the risk of uncontrolled operation of the rocking chair 100.

[0104] In one embodiment, the infant bouncer 100 includes a seat belt sensor in communication with the processor. The infant bouncer 100 can be configured to stop providing any further driving force, or to prevent any driving force from being applied, when the seat belt sensor indicates that the seat belt is not secured.

[0105] In one embodiment, the infant bouncer 100 is configured to detect whether the occupant is not in the seat 102 or has left the seat 102 via the load sensor 130. The infant bouncer 100 can be configured to stop rocking when it is detected that the occupant is not in the seat 102 or has left the seat 102.

[0106] In one embodiment, the infant bouncer 100 includes a contact sensor in communication with the processor. The contact sensor can indicate whether the infant bouncer 100 is properly configured for safe rocking. For example, the contact sensor can provide an indication of whether the base 104 is in contact with the ground or a surface. The contact sensor can provide an indication of whether the infant bouncer 100 is folded or unfolded to the correct orientation (e.g., the infant bouncer 100 may include walls, legs, or other components that must be properly configured for rocking). An indication from the contact sensor that the base is in contact with the ground or that the infant bouncer 100 is in the unfolded configuration can unlock the actuator 120, thereby allowing the drive motion to be applied to the seat 102.

[0107] In one embodiment, the actuator 120 can be configured to apply a braking force to the seat 102 to resist the rocking motion of the seat 102. In this manner, the actuator can slow the seat 102 to a stop faster than the seat 102 would naturally decay over time. The braking force can be applied by reversing the polarity of the voltage applied to the actuator 120, or the actuator can include a brake. For example, the actuator can include a mechanical friction brake or an electromagnetic brake.

[0108] Figure 9a The tension spring 112 is shown connected between the base 104 and the seat 102, wherein the first connection point 150 is located on a straight line between the joint 108 and the second connection point 152 (as described above with reference to FIG. Figure 4 As described). Figure 9b In the illustrated alternative arrangement, an additional tension spring 113 may be connected between the base 104 and the seat 102. The tension spring 112 and the additional tension spring 113 may be connected to the seat 102 at a first connection point 150. The tension spring 112 is connected to the base 104 at a second connection point 152. The additional tension spring 113 is connected to the base 104 at a third connection point 153. The third connection point 153 is laterally and vertically offset from the second connection point 152. When the seat 102 is in the center position, the tension spring 112 and the additional tension spring 113 may be located on either side of a line 155 extending through the joint 108 and the first connection point 150. The first tension spring 112, located at the center position and on a first side of the line 155, is positioned at a first angle relative to the first connection point such that, starting from the center position, movement of the seat 102 in a first direction will result in tension of the tension spring 112, and movement of the seat 102 in a second direction opposite the first direction will not result in tension of the tension spring. An additional tension spring 112 located at the center position and on a second side of line 155 is positioned at a second angle relative to the first connection point such that, starting from the center position, movement of the seat 102 in the second direction will result in extension of the additional tension spring 113, and movement of the seat in the first direction will not result in extension of the additional tension spring 113. The tension spring 112 and the additional tension spring 113 may be a first spring and a second spring. It should be understood that more or fewer springs may be incorporated into the disclosed embodiments.

[0109] In alternative embodiments, one or more extension springs 112 and the additional extension spring 113 may be replaced with one or more torsion springs or compression springs. For example, the extension spring 112 may be replaced with a compression spring, and the additional extension spring 113 may be replaced with a compression spring. In this case, when the seat moves in a first direction, the additional compression spring may be compressed, and when the seat moves in a second direction opposite to the first direction, the compression spring may be compressed.

[0110] like Figure 10 As shown, in some embodiments, a method for controlling an infant bouncer is provided. The method includes: in a first step, providing a seat resiliently mounted to a base so that the seat can swing about a midpoint. The method also includes: in a second step, measuring a first deviation of the seat's swing in a first direction. Measuring the first deviation in the first direction may include measuring the entire amplitude of the swing (i.e., from one end of the swing to the other end of the swing). Alternatively, measuring the first deviation in the first direction may include measuring a portion of the swing. For example, measuring the first deviation in the first direction may include measuring the amplitude of the swing from the midpoint to one end of the swing. The measured first deviation may be the result of a manual input to rock the infant bouncer. Measuring the first deviation may be initiated by pressing a button or by detecting that the seat has begun to move. The method includes: in a third step, measuring a second deviation of the seat's swing in the first direction. Measuring the second deviation in the first direction may include measuring the entire amplitude of the swing or measuring a portion of the swing, similar to measuring the first deviation in the first direction. The measured second deviation may be the result of the seat being rocked by an actuator. The measured first deviation and the measured second deviation may be measured during the same rocking process or during different rocking processes. For example, the first deviation may be measured during a rocking process and then recalled later during a subsequent rocking process. The first rocking process and the second rocking process can be separated by a period of time during which no rocking motion is applied to the seat. The method includes: in a fourth step, determining that the measured first deviation is different from the measured second deviation. For example, the first deviation can be greater than or less than the second deviation. Determining that the measured second deviation is different from the measured first deviation can be initiated by determining that the measured second deviation is less than the measured first deviation by an amount corresponding to the natural decay of the seat rocking. For example, because the decrease in deviation corresponds to the expected natural decay of the baby rocking chair, the processor can determine that the user has stopped manually rocking the baby rocking chair. In a fifth step, providing energy input to correct the deviation of the rocking of the seat in the first direction. Correcting the deviation of the rocking of the seat in the first direction can include adding or removing energy to the rocking seat so that subsequent rocking will cause the measured deviation to match the first deviation.

[0111] The second deviation may be a measurement of a single swing, or it may be a moving average of a predetermined number of previous swings. For example, the measured second deviation may be equal to half the sum of the two most recent swings. The measured second deviation may be equal to one-fifth the sum of the five most recent swings. The moving average may be determined by any conventional method, such as calculating the average of the most recent swings, or by taking a weighted average of the last single swing and the previous average swing.

[0112] The energy input may be achieved by means of an actuator providing a connection between the base and the seat and applying a force to the seat by controlling the actuator. The actuator may be an electromagnetic actuator.

[0113] Figure 11 FIG. 2 shows the swinging of the baby rocking chair 100 according to another embodiment. Figure 11 As shown, the rocking motion of the seat 102 may vary over time. Figure 11 As shown, the amplitude of the swing gradually increases and decreases according to the sinusoidal curve shown by the dotted line. However, the amplitude of the swing can also alternatively vary over a longer period of time. That is, the sinusoidal curve can be extended on the time axis so that for each amplitude, the seat 102 will swing multiple times. Alternatively, the variation in the amplitude of the swing can follow a curve other than a sinusoidal curve, for example, the amplitude of the swing can vary according to a sawtooth curve, an exponentially repeating curve, or any other repeating curve. By varying the amplitude of the swing according to the curve, movement fatigue of the occupant can be avoided, wherein the effects of prolonged continuous movement can be mitigated. Additionally or alternatively, the baby rocker 100 can be configured to vary the frequency of the swing according to the curve, thereby mitigating the effects of movement fatigue.

[0114] refer to Figure 12 , a processing system 1200 suitable for performing the methods described herein will now be described. Figure 12 A block diagram of an implementation of a processing system 1200 in the form of a computing device is shown, wherein a set of instructions can be executed to cause the computing device to perform any one or more of the methods described herein. In some implementations, the computing device can be connected (e.g., networked) to other machines in a local area network (LAN), an intranet, an extranet, or the Internet. The computing device can operate as a server or client machine in a client-server network environment, or as a peer machine in a peer-to-peer (or distributed) network environment. The computing device can be a personal computer (PC), a tablet computer, a set-top box (STB), a personal digital assistant (PDA), a cellular phone, a network appliance, a server, a network router, a switch or a bridge, or any machine capable of (continuously or otherwise) executing a set of instructions that specify the actions to be taken by the machine. In addition, although only a single computing device is shown, the term "computing device" should also be understood to include a collection of any machines (e.g., computers) that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methods described herein.

[0115] The exemplary processing system 1200 includes a processor 1202, a main memory 1204 (e.g., read-only memory (ROM), flash memory, dynamic random access memory (DRAM), such as synchronous DRAM (SDRAM) or Rambus DRAM (RDRAM)), etc.), a static memory 1206 (e.g., flash memory, static random access memory (SRAM), etc.), and a secondary memory (e.g., data storage device 1218), which communicate with each other via a bus 1230.

[0116] The processor 1202 represents one or more general-purpose processors, such as a microprocessor, a central processing unit, or the like. More specifically, the processor 1202 may be a complex instruction set computing (CISC) microprocessor, a reduced instruction set computing (RISC) microprocessor, a very long instruction word (VLIW) microprocessor, a processor that implements other instruction sets, or a processor that implements a combination of instruction sets. The processor 1202 may also be one or more special-purpose processors, such as an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a digital signal processor (DSP), a network processor, or the like. The processor 1202 is configured to execute processing logic (instructions 1222) for performing the operations and steps described herein.

[0117] The processing system 1200 may also include a network interface device 1208. The processing system 1200 may also include any of a video display unit 1210 (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)), an alphanumeric input device 1212 (e.g., a keyboard or a touch screen), a cursor control device 1214 (e.g., a mouse or a touch screen), and an audio device 1216 (e.g., a speaker).

[0118] Obviously, Figure 12 Certain features of the processing system 1200 shown may be absent. For example, the processing system 1200 may not require a display device 1210 (or any associated adapter). This may be the case, for example, for a particular server-side computer device that is used only for its processing functions and does not need to display information to a user. Similarly, the user input device 1212 may not be required. In its simplest form, the processing system 1200 includes a processor 1202 and a main memory 1204.

[0119] The data storage device 1218 may include one or more machine-readable storage media (or more specifically, one or more non-transitory computer-readable storage media) 1228 on which one or more sets of instructions 1222 are stored, which embody any one or more of the methodologies or functionality described herein. The instructions 1222 may also reside, completely or at least partially, within the main memory 1204 and / or the processor 1202 during execution by the processing system 1200, with the main memory 1204 and the processor 1202 also constituting the computer-readable storage medium 1228.

[0120] Various methods described herein can be implemented by a computer program. A computer program may include a computer code that is arranged to instruct a computer to perform the function of one or more methods described herein. The computer program and / or code for performing such methods can be provided to a device (such as a computer) on one or more computer-readable media (or more generally, a computer program product). A computer-readable medium can be temporary or non-temporary. One or more computer-readable media can be, for example, electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, or a propagation medium for data transmission (such as for downloading code via the Internet). Alternatively, one or more computer-readable media can take the form of one or more physical computer-readable media, such as semiconductor or solid-state memory, magnetic tape, removable computer disk, random access memory (RAM), read-only memory (ROM), hard disk or optical disc (such as CD-ROM, CD-R / W or DVD).

[0121] The computer program may be executed by processor 1202 to perform the functions of the systems and methods described herein.

[0122] In implementation, the modules, components, and other features described herein may be implemented as discrete components or integrated into the functionality of hardware components such as ASICS, FPGAs, DSPs, or similar devices.

[0123] A "hardware component" is a tangible (e.g., non-transitory) physical component (e.g., a set of one or more processors) that is capable of performing specific operations and may be configured or arranged in a specific physical manner. A hardware component may include a general-purpose processor or dedicated circuitry or logic that is permanently configured to perform specific operations. A hardware component may be or include a dedicated processor, such as a field programmable gate array (FPGA) or an ASIC. A hardware component may also include programmable logic or circuitry that is temporarily configured by software to perform certain operations.

[0124] Thus, the phrase "hardware component" should be understood to encompass a tangible entity that can be physically constructed, permanently configured (e.g., hardwired), or temporarily configured (e.g., programmed) to operate in a certain manner or perform certain operations described herein.

[0125] In addition, these modules and components can be implemented as firmware or functional circuits within hardware devices. In addition, these modules and components can be implemented in any combination of hardware devices and software components, or can be implemented solely in software (e.g., code stored or otherwise embedded in a machine-readable medium or transmission medium).

[0126] Figure 13 An implementation is shown in which a rolling average can be used to determine the amplitude of the swing of a baby rocker. Specifically, a first amplitude S1 of a first swing can be determined as a measurement of the difference in seat position between a first swing peak 1301 and a first swing trough 1302. A second amplitude S2 of a second swing can be determined as a measurement of the difference in seat position between a first swing trough 1302 and a second swing peak 1303. The average of S1 and S2 can be determined as:

[0127] (S1+S2) / 2

[0128] By averaging the last two amplitude measurements and using that average to control the rocking of the rocker, a more consistent rocking response from the rocker can be achieved. For example, an infant may move independently within the rocker, thereby generating one or more pseudo-amplitude measurements. By averaging the previous amplitude measurements, the infant's movement can be mitigated only in response to consistent amplitude changes between subsequent rocking peaks and troughs. Therefore, if a single pseudo-amplitude is measured, that pseudo-amplitude will have less influence on the actuator controlling the rocking. Although Figure 13 Two previous amplitude measurements are shown in FIG, but it will be appreciated that the average amplitude may be calculated using three, four, five, or any suitable number of previous amplitude measurements according to the following formula:

[0129] (S1+S2+...Sn) / n

[0130] Where n is the number of previous amplitudes used to calculate the rolling mean.

[0131] When the rolling average, or the average of the two most recent amplitude measurements, differs from the target amplitude, energy can be input to correct the deviation in the seat's swing. That is, the seat can be selectively driven or de-driven to impart a greater or lesser swing, thereby correcting the seat's swing to approach the target swing.

[0132] The following is a non-exhaustive list of aspects of the present disclosure:

[0133] Aspect 1. A baby rocking chair comprising:

[0134] base;

[0135] a seat configured to receive an infant;

[0136] a joint connecting the seat to the base and configured to support the seat above the base, and wherein the joint is configured to allow reciprocating movement of the seat relative to the base; and

[0137] An actuator is connected between the base and the seat and is configured to apply a driving force to the seat.

[0138] Aspect 2. The baby bouncer according to aspect 1, wherein the actuator is an electromagnetic actuator, and wherein the driving force is a magnetic force.

[0139] Aspect 3. An infant rocker as described in Aspect 1 or Aspect 2, wherein the joint includes an elastic member configured to support the seat in a central position above the base and return the seat toward the central position after the seat has deviated.

[0140] Aspect 4. An infant rocking chair as described in Aspect 1 or Aspect 2, wherein the joint includes a hinge or shaft configured to support the seat at a central position above the base and allow the seat to rotate relative to the base.

[0141] Aspect 5. The baby rocker as described in Aspect 4 further includes an elastic member, which is connected to the seat and the base and is configured to return the seat to the center position after the seat has deviated, and optionally wherein the baby rocker includes an adjustment member, which is connected to the elastic member and is configured to adjust the preload applied to the elastic member.

[0142] Aspect 6. The baby bouncer according to Aspect 5, wherein the elastic member comprises a tension spring, optionally wherein the tension spring is a coil spring.

[0143] Aspect 7. An infant rocking chair as described in Aspect 6, wherein the joint is located at a first height and a first lateral position relative to the base, the tension spring is connected to the seat at a first connection point, and the tension spring is connected to the base at a second connection point, wherein the second connection point is located at a second height and a second lateral position relative to the base, and wherein the first connection point is substantially on a straight line between the joint and the second connection point.

[0144] Aspect 8. The infant bouncer according to any one of aspects 5 to 7, wherein deflection of the seat causes stretching and rotation of the elastic member.

[0145] Aspect 9. The infant bouncer of aspect 8, wherein the rotation of the elastic member is configured to change an effective spring rate of a restoring force to return the seat toward the center position.

[0146] Aspect 10. The infant bouncer of any one of aspects 4 to 9, wherein the seat comprises a rocker arm and an infant receiving seat, and wherein the rocker arm extends substantially from the infant receiving seat and through the hinge or axis.

[0147] Aspect 11. The infant bouncer according to any one of aspects 4 to 10, wherein the hinge or shaft is supported by a post extending upwardly from the base.

[0148] Aspect 12. The baby rocking chair as described in Aspect 2, wherein the electromagnetic actuator includes an electromagnetic coil fixed to the base, and the seat includes a magnetic material near the electromagnetic coil, optionally wherein the magnetic material is a ferromagnetic material or a permanent magnet.

[0149] Aspect 13. The baby rocking chair according to Aspect 2, wherein the electromagnetic actuator comprises an electromagnetic coil fixed to the seat, and the base comprises a magnetic material close to the electromagnetic coil, optionally wherein the magnetic material is a ferromagnetic material or a permanent magnet.

[0150] Aspect 14. The baby rocking chair as described in Aspect 12 or Aspect 13 further includes an electric drive, which is configured to drive the electromagnetic coil using electric current, and optionally wherein the electric drive is configured to provide electric current to attract the magnetic material, or wherein the electric drive is configured to provide electric current to repel the magnetic material.

[0151] Aspect 15. The baby rocking chair as described in any of the preceding aspects further includes a sensor configured to detect one or more of the deviation of the seat relative to the base, the speed of the seat relative to the base, and the acceleration of the seat, and optionally wherein the sensor includes an optical encoder, an electromagnetic encoder, a microelectromechanical sensor (MEMS) device, a gyroscope, an accelerometer or the electromagnetic coil.

[0152] Aspect 16. An infant rocking chair as described in Aspect 15, wherein the sensor is connected to a processor, and wherein the processor is configured to derive the speed of the seat relative to the base from multiple measurements of the deviation of the seat relative to the base, or wherein the processor is configured to derive the speed of the seat relative to the base by numerically integrating the acceleration of the seat.

[0153] Aspect 17. The infant bouncer of aspect 15 or aspect 16, wherein when the sensor or processor detects a velocity of the seat relative to the base in a first direction, the electromagnetic actuator is configured to drive the seat in the first direction.

[0154] Aspect 18. The infant bouncer of aspect 17, wherein when the sensor or the processor detects a velocity of the seat in a second direction opposite to the first direction, the electromagnetic actuator is configured not to drive the seat in the first direction or the second direction.

[0155] Aspect 19. The infant bouncer according to any one of aspects 15 to 18, wherein the sensor or the processor is configured to detect a maximum displacement of the seat relative to the base when the electromagnetic actuator is not driving the seat.

[0156] Aspect 20. The infant bouncer according to aspect 19, wherein the sensor is configured to detect a current displacement of the seat relative to the base when the electromagnetic actuator drives the seat.

[0157] Aspect 21. An infant rocking chair as described in Aspect 20, wherein when the current displacement of the seat relative to the base is less than the maximum displacement of the seat relative to the base, the electromagnetic actuator is configured to provide a larger driving force to deviate the seat, and when the current displacement of the seat relative to the base is greater than the maximum displacement of the seat relative to the base, the electromagnetic actuator is configured to provide a smaller driving force to deviate the seat.

[0158] Aspect 22. An infant rocker as described in any of Aspects 19 to 21, wherein the sensor or the processor is configured to detect the maximum displacement of the seat relative to the base without the electromagnetic actuator driving the seat in response to a trigger, and optionally wherein the trigger is caused by a button on the infant rocker or by a connected device or by a deviation of the seat relative to the base exceeding a predetermined threshold.

[0159] Aspect 23. The infant bouncer according to any one of aspects 19 to 22, wherein the maximum displacement of the seat relative to the base is obtained from an electronic memory or from a server in communication with the infant bouncer.

[0160] Aspect 24. The infant bouncer of any one of aspects 19 to 23, wherein the maximum displacement of the seat relative to the base is user-adjustable.

[0161] Aspect 25. An infant rocking chair as described in any of Aspects 15 to 24, wherein the sensor or the processor is configured to detect when the speed of the seat relative to the base drops below a predetermined threshold and lasts for more than a predetermined time period, and in response to detecting when the speed of the seat drops below the predetermined threshold and lasts for more than the predetermined time period, the electromagnetic actuator is configured to stop driving the seat relative to the base, and optionally wherein, in response to detecting when the speed of the seat drops below the predetermined threshold and lasts for more than the predetermined time period, the electromagnetic actuator is configured to apply a braking force to the seat relative to the base.

[0162] Aspect 26. The infant bouncer of any preceding aspect, wherein the electromagnetic actuator comprises a load sensor configured to detect a force applied by the electromagnetic actuator.

[0163] Aspect 27. The infant bouncer of aspect 26, wherein when the force detected by the load sensor exceeds a predetermined threshold, the electromagnetic actuator is configured to stop driving the seat relative to the base.

[0164] Aspect 28. The infant bouncer of any preceding aspect, wherein the actuator is releasably connected between the base and the seat, and optionally wherein the actuator is configured to be detached from the base and detached from the seat.

[0165] Aspect 29. The infant bouncer of any preceding aspect, wherein the joint is configured such that reciprocating motion of the seat extends in a substantially vertical direction relative to the base.

[0166] Aspect 30. The infant bouncer of any preceding aspect, wherein the joint is configured such that the reciprocating motion of the seat follows a path, and wherein the path is linear or circular, or elliptical, or follows a figure eight.

[0167] Aspect 31. A method for controlling a baby rocking chair, comprising:

[0168] providing a seat resiliently mounted to the base so that said seat can swing about a midpoint;

[0169] measuring a first deviation of the rocking of the seat in a first direction;

[0170] measuring a second deviation of the rocking of the seat in the first direction;

[0171] determining that the measured first deviation is different from the measured second deviation; and

[0172] Energy input is provided to correct for deviation in the rocking motion of the seat in the first direction.

[0173] Aspect 32. A method as described in Aspect 31, wherein the baby rocking chair further includes an actuator connected between the base and the seat, and the step of providing energy input to correct the deviation of the swing of the seat in the first direction includes: controlling the actuator to apply force to the seat in the first direction.

[0174] Aspect 33. The method of aspect 31 or 32, wherein the first deviation of the rocking of the seat in the first direction is a user-controlled manual deviation of the seat.

[0175] Aspect 34. The method of any one of aspects 31 to 33, wherein the second deviation of the rocking of the seat in the first direction is an actuator-controlled deviation of the seat.

[0176] Aspect 35. The method of any one of aspects 31 to 34, wherein the actuator is an electromagnetic actuator.

[0177] Aspect 36. A method as described in any of Aspects 31 to 35, wherein the measurement of the first deviation of the swing of the seat in the first direction is initiated by a button that communicates with the baby rocker, a user device that communicates with the baby rocker, or is automatically initiated when manual movement of the seat in the first direction is detected to exceed a predetermined threshold.

[0178] Aspect 37. A method as described in any one of Aspects 31 to 35, wherein the measurement of the first deviation of the swing of the seat in the first direction is performed during a first shaking process, and the measurement of the second deviation of the swing of the seat in the first direction is performed during a second shaking process, and optionally wherein the first shaking process and the second shaking process are separated by a time period during which the seat is not swinging.

[0179] Aspect 38. A method of controlling a baby rocking chair, comprising:

[0180] providing a seat resiliently mounted to the base so that said seat can swing about a midpoint;

[0181] detecting a deviation of the seat in a first direction using a sensor;

[0182] detecting, using the sensor, a deviation of the seat in a second direction opposite to the first direction;

[0183] applying a driving force to the seat in the first direction when a deviation of the seat in the first direction is detected; and

[0184] When deviation of the seat in the second direction is detected, no driving force is applied to the seat.

[0185] Aspect 39. The method of aspect 38, wherein the driving force is applied to the seat by means of an actuator, optionally an electromagnetic actuator.

[0186] Aspect 40. The method according to aspect 38 or 39, wherein the seat is mounted to the base via bearings and is provided with elasticity by springs.

[0187] Aspect 41. The method of aspect 40 as appended to aspect 39, wherein the spring is configured to have a spring rate such that at maximum deflection of the seat, the maximum force provided by the electromagnetic actuator exceeds the maximum force provided by the spring.

[0188] Aspect 42. The method of any one of aspects 38 to 41, wherein the sensor comprises one or more of an optical encoder, an inductive sensor, an accelerometer, and a position sensor.

[0189] Aspect 43. An infant soothing device, comprising:

[0190] Bracket,

[0191] Infant and child reception section;

[0192] wherein the infant receiving portion is rotatably mounted on the support;

[0193] A biasing device is connected to the infant receiving portion and is configured to rotate the infant receiving portion relative to the support.

[0194] Aspect 44. The infant soothing device of aspect 43, wherein the biasing device is an active biasing device, and optionally wherein the active biasing device is configured to convert an electrical input into a rotation of the infant receiving portion.

[0195] Aspect 45. The infant soothing device of any one of aspects 43 to 44, wherein the active biasing device comprises one or more of an electric coil, a helical spring, a leaf spring, a pneumatic chamber, and a hydraulic chamber.

[0196] Aspect 46. An infant soothing device as described in any of Aspects 43 to 45, wherein the infant receiving portion is rotatably mounted on the support so that the infant receiving portion extends vertically away from the support, or so that the infant receiving portion extends horizontally away from the support, and optionally wherein the infant receiving portion is configured to swing about a midpoint.

[0197] Aspect 47. The infant soothing device of aspect 46, wherein the swing portion about the midpoint of the infant receiving portion is configured to extend in a substantially vertical direction or in a substantially horizontal direction.

Claims

1. A baby rocking chair, comprising: base; a seat configured to receive an infant; a joint connecting the seat to the base and configured to support the seat above the base, wherein the joint is configured to allow reciprocating movement of the seat relative to the base; as well as An actuator is connected between the base and the seat and is configured to apply a driving force to the seat.

2. The baby bouncer of claim 1, wherein the actuator is an electromagnetic actuator, and wherein the driving force is a magnetic force.

3. An infant bouncer as claimed in claim 1 or claim 2, wherein the joint includes a resilient member configured to support the seat in a central position above the base and to return the seat towards the central position after the seat has deviated.

4. The baby rocker of claim 1 or claim 2, wherein the joint comprises a hinge or axle configured to support the seat in a central position above the base and to allow the seat to rotate relative to the base.

5. The baby rocker of claim 4, wherein the hinge or shaft is arranged horizontally relative to the base.

6. The baby bouncer of claim 4 or claim 5, further comprising a resilient member connected to the seat and the base and configured to return the seat toward the center position after the seat has deviated, and optionally wherein, The baby bouncer includes an adjustment member connected to the elastic member and configured to adjust a preload applied to the elastic member.

7. The baby rocking chair according to claim 6, wherein the elastic member comprises a tension spring, optionally wherein: The extension spring is a coil spring.

8. The infant bouncer of claim 7 , wherein the joint is located at a first height and a first lateral position relative to the base, the tension spring is connected to the seat at a first connection point, and the tension spring is connected to the base at a second connection point, wherein the second connection point is located at a second height and a second lateral position relative to the base, and wherein the first connection point is substantially on a straight line between the joint and the second connection point.

9. The baby bouncer according to any one of claims 6 to 8, wherein deflection of the seat causes stretching and rotation of the elastic member.

10. The infant bouncer of claim 9, wherein rotation of the resilient member is configured to change an effective spring rate of a restoring force to return the seat toward the center position.

11. An infant bouncer as claimed in any one of claims 4 to 10, wherein the seat comprises a rocker arm and an infant receiving seat, and wherein the rocker arm extends substantially from the infant receiving seat and through the hinge or axle.

12. An infant bouncer as claimed in any one of claims 4 to 11, wherein the hinge or shaft is supported by a post extending upwardly from the base.

13. The baby rocker of claim 2, wherein the electromagnetic actuator comprises an electromagnetic coil fixed to the base, and the seat comprises a magnetic material proximate to the electromagnetic coil, optionally wherein, The magnetic material is a ferromagnetic material or a permanent magnet.

14. The baby rocker of claim 2, wherein the electromagnetic actuator comprises an electromagnetic coil fixed to the seat, and the base comprises a magnetic material adjacent to the electromagnetic coil, optionally wherein: The magnetic material is a ferromagnetic material or a permanent magnet.

15. The infant bouncer of any preceding claim, further comprising a sensor configured to detect one or more of a deviation of the seat relative to the base, a speed of the seat relative to the base, and an acceleration of the seat, and optionally wherein: The sensor includes an optical encoder, an electromagnetic encoder, a micro-electromechanical sensor (MEMS) device, a gyroscope, an accelerometer, or the electromagnetic coil.

16. The infant bouncer of claim 15, wherein the electromagnetic actuator is configured to drive the seat in a first direction when the sensor or processor detects a velocity of the seat relative to the base in the first direction.

17. The infant bouncer of claim 16, wherein when the sensor or the processor detects a velocity of the seat in a second direction opposite to the first direction, the electromagnetic actuator is configured not to drive the seat in the first direction or the second direction.

18. The infant bouncer according to any one of claims 15 to 17, wherein the sensor or the processor is configured to detect a maximum displacement of the seat relative to the base when the electromagnetic actuator is not driving the seat.

19. A method for controlling a baby rocking chair, comprising: providing a seat resiliently mounted to the base so that said seat can swing about a midpoint; measuring a first deviation of the rocking of the seat in a first direction; measuring a second deviation of the rocking of the seat in the first direction; determining that the measured first deviation is different from the measured second deviation; as well as Energy input is provided to correct for deviation in the rocking motion of the seat in the first direction.

20. The method of claim 19, wherein the infant rocker further comprises an actuator connected between the base and the seat, and the step of providing energy input to correct a deviation of the rocking of the seat in the first direction comprises: The actuator is controlled to apply a force to the seat in the first direction.

21. The method of any one of claims 19 to 20, wherein the measuring of the first deviation of the rocking of the seat in the first direction is initiated by a button in communication with the baby rocker, a user device in communication with the baby rocker, or automatically upon detecting manual movement of the seat in the first direction exceeding a predetermined threshold.

22. A method for controlling a baby rocking chair, comprising: providing a seat resiliently mounted to the base so that said seat can swing about a midpoint; detecting a deviation of the seat in a first direction using a sensor; detecting, using the sensor, a deviation of the seat in a second direction opposite to the first direction; applying a driving force to the seat in the first direction when a deviation of the seat in the first direction is detected; as well as When deviation of the seat in the second direction is detected, no driving force is applied to the seat.

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