Multifunctional intelligent baby crib and working method

Abstract

The invention relates to the technical field of baby electric control bed bodies, and particularly discloses a multifunctional intelligent baby crib and a working method.The multifunctional intelligent baby crib comprises a crib frame and a crib trolley, the crib body is arranged on the lower portion of the crib frame, a sterilizing bin is arranged on a vertical support of the crib frame and provided with a lifting bin door, and a mechanical arm is installed on the portion, on the upper portion of the sterilizing bin, of the crib frame; a pneumatic flexible clamping jaw is installed at the execution end of the mechanical arm and clamps a feeding bottle in the sterilization bin, and a top support is arranged on the top of the bed frame. The bed trolley is placed on the upper portion of the bed body, the air bag mattress is placed on the folding bed board, the automatic quilt covering mechanism is installed on the bed trolley and clamps and controls a quilt to move, the wheel folding mechanism is provided with an upper arm connecting frame and a lower arm connecting frame, and the upper arm connecting frame and the lower arm connecting frame are connected and matched to control folding between wheel upper arms and wheel lower arms. The wheel lower arms are folded and then placed on the bed body, and the wheel lower arms move and walk on the ground after being unfolded; the system is comprehensive in function, greatly reduces the burden of parents, and improves the family life quality.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electrically controlled baby bed bodies, in particular to a multifunctional intelligent baby bed and working method. BACKGROUND

[0003] The current baby bed product has three core limitations of single function, low intelligence level and passive response. The traditional structure design only focuses on the basic sleep demand, lacks comprehensive consideration of the emotional fluctuation, development behavior and nursing efficiency of infants and young children, resulting in the double dilemma of high baby care cost and lack of accurate parenting for parents. Therefore, it is necessary to design a multifunctional intelligent baby bed and working method to solve the problems of single function and low intelligence level of existing baby bed products. SUMMARY

[0004] In view of the problems existing in the prior art, the purpose of the present application is to provide a multifunctional intelligent baby bed and working method. In view of the current situation, the present application proposes an intelligent baby bed framework integrating a mechanical arm and an infant intelligent emotion recognition system. Through the YOLOv5s algorithm, the real-time recognition of states such as crying and anxiety is realized. Combined with intelligent nursing, intelligent breastfeeding and health monitoring modules, a global closed loop of nursing-soothing-development monitoring is constructed. This system upgrades the infant care from an experience-driven mode to a data-driven mode, providing quantifiable and low-load parenting support solutions for dual-earner families.

[0005] The technical scheme adopted by the present application to solve its technical problems is: a multifunctional intelligent baby bed, comprising a bed frame and a bed cart, the bed frame is provided with a bed body, a bed body lifting mechanism, a disinfection and killing bin, a mechanical arm and a lullaby rocking mechanism, the lower part of the bed frame is provided with the bed body, the vertical support of the bed frame is provided with the disinfection and killing bin, the disinfection and killing bin is provided with a lifting bin door, the mechanical arm is installed on the upper part of the disinfection and killing bin, the execution end of the mechanical arm is installed with a pneumatic flexible gripper, the pneumatic flexible gripper clamps a feeding bottle in the disinfection and killing bin, the top of the bed frame is provided with a top support, the top support is provided with a lighting lamp, a microphone array, a sensor integrated module and an identification camera;

[0006] The bed cart is placed on the upper part of the bed body, the bed cart is provided with a folding bed board, an automatic quilt covering mechanism and a wheel folding mechanism, an air bag mattress is placed on the folding bed board, the automatic quilt covering mechanism is installed on the bed cart, the automatic quilt covering mechanism clamps and controls the movement of the quilt, the wheel folding mechanism is provided with an upper arm connecting frame and a lower arm connecting frame, the upper arm connecting frame and the lower arm connecting frame are connected and matched to control the folding between the wheel upper arm and the wheel lower arm, the wheel lower arm is placed on the bed body after folding, and the wheel lower arm moves on the ground after unfolding.

[0007] Specific, the control panel is installed on one side of the bed frame, the bottom of the bed frame is provided with a base, the bed body lifting mechanism is installed on the base, the bed body lifting mechanism is provided with a scissor type support frame and an electric push rod one, the middle part of the scissor type support frame is hinged through a connecting shaft, one side of the scissor type support frame is rotatably installed on a hinge seat, the hinge seat is fixedly installed on the base, the other side of the scissor type support frame is provided with a sliding block, the sliding block is slidably connected in a sliding groove of a sliding seat, a support rod one is fixedly connected between the inner sides of the two hinge seats, the middle part of the support rod one is rotatably sleeved with the electric push rod one, the end of the telescopic rod of the electric push rod one is sleeved with a support rod two, the support rod two is installed on the scissor type support frame, the electric push rod one controls the lifting of the scissor type support frame, and the upper part of the scissor type support frame is installed on the bottom of the bed body.

[0008] Specific, the ultraviolet lamp is arranged in the disinfecting and killing bin, the lifting bin doors are symmetrically arranged on the outer side of the disinfecting and killing bin, the inner side of the lifting bin door is provided with a rack, the rack is meshingly connected with a gear, the gear is installed on the motor shaft of a lifting motor, the lifting motor is installed on the inner side of the disinfecting and killing bin, and the lifting motor controls the movement of the lifting bin door.

[0009] Specific, the mechanical arm is provided with a mounting seat, the mounting seat is fixedly installed on the bed frame, a joint motor is installed at each joint of the mechanical arm, the joint motors are cooperatively operated to control the action of the execution end of the mechanical arm, a rotary motor is installed at the execution end of the mechanical arm, the output shaft of the rotary motor is installed with a cylinder seat, an ultrasonic range finder and a finger cylinder are installed on the cylinder seat, and a pneumatic flexible clamping jaw is installed on the clamping fingers of the finger cylinder.

[0010] Specific, the lullaby swinging mechanism is provided with two bed body sliding blocks, the bed body sliding blocks are slidably installed on the sliding rails of the bed body, a connecting rod is installed between the two bed body sliding blocks, a connecting block is installed on the connecting rod, the connecting block is connected with the telescopic rod of an electric push rod two, the electric push rod two is installed on the bed body, the electric push rod two drives the movement of the two bed body sliding blocks, a swinging frame is installed on the upper part of the bed body sliding block, a driving motor is installed at the bottom of the swinging frame, a rotating disc is installed on the motor shaft of the driving motor, a rotating block is fixedly installed on the outer side of the rotating disc, the rotating block is located at the eccentric position of the rotating disc, the rotating block is rotatably connected with a swinging guide rod, a guide groove is arranged on the upper part of the swinging guide rod, a guide block is movably connected in the guide groove, a bed cart supporting block is arranged on the outer part of the swinging guide rod, and the bed cart supporting block is located at the bottom of the two sides of the bed cart, the driving motor controls the rotation of the rotating disc, and in turn controls the swinging of the bed cart driven by the bed cart supporting block.

[0011] Specific is, the folding bed board adopts the two-section bed board structure of hinged, the bottom of one side of the folding bed board is hinged with the telescopic rod of the electric push rod three, the bottom of the electric push rod three is rotatably installed on the bed trolley through a pin shaft, the electric push rod three controls the turnover of the folding bed board, folding guardrails are installed on the two sides of the bed trolley, the folding guardrails are provided with guardrail rods, connecting rods and guardrail motors, one of the connecting rods is fixedly connected with the motor shaft of the guardrail motor at the bottom, the guardrail motor is installed on the bed trolley, the guardrail motor drives the connecting rod to swing, the other connecting rods are rotatably installed on the bed trolley through pin shafts, and the connecting rods are rotatably connected with the guardrail rods at the top through pin shafts.

[0012] Specific is, the automatic quilt covering mechanism is installed on the two sides of the bed trolley and inside the folding guardrail, the automatic quilt covering mechanism is provided with buckles, telescopic electric cylinders and lead screws, the buckles respectively clamp two corners of the quilt, the buckles are installed on the cylinder rod of the telescopic electric cylinder through a fixed plate, the telescopic electric cylinder is installed on the bottom of the cylinder rod, a nut seat is installed on the bottom of the telescopic electric cylinder, the nut seat is threadedly connected with the lead screw, the lead screw is installed on the bed trolley through a bearing seat, the lead screw and the bearing seat are arranged in the cover housings on the two sides of the bed trolley, a strip-shaped hole is arranged on the upper part of the cover housing for the telescopic electric cylinder to extend out, one end of the lead screw is connected with a quilt covering motor, and the quilt covering motor controls the telescopic electric cylinder to move.

[0013] Specific is, the folding push handle is installed on the bed trolley, outer rotary frames are fixedly installed on the two sides of the folding push handle, the outer rotary frames are rotatably connected with inner rotary frames, the inner rotary frames are fixedly installed on the bed trolley, outer forks are arranged in the outer rotary frames, X-shaped limiting blocks are rotatably connected in the inner rotary frames through rotating shafts, inner forks are arranged in the inner rotary frames, and the X-shaped gap of the X-shaped limiting blocks blocks the inner forks to form limiting and positioning.

[0014] Specific is, the upper part of the wheel upper arm is hinged to the bottom of the bed trolley, one side of the wheel upper arm is rotatably connected with the telescopic rod of an upper arm electric push rod, the upper arm electric push rod is installed on the bottom of the bed trolley, the wheel upper arm is connected with an upper arm connecting frame, the upper arm connecting frame is provided with upper limiting clamping grooves and lower limiting clamping grooves, an upper limiting shaft is installed in the upper limiting clamping groove, a lower limiting shaft is installed in the lower limiting clamping groove, a slope guide plate is connected between the upper limiting shaft and the lower limiting shaft, springs are arranged on the upper limiting shaft and the lower limiting shaft, the lower limiting shaft is limited to enter into a limiting groove outside the lower arm connecting frame, the lower arm connecting frame is rotatably connected to the lower part of the upper arm connecting frame through a pin shaft, the lower arm connecting frame is fixedly installed with a wheel lower arm, and a wheel is installed on the wheel lower arm.

[0015] A working method of a multifunctional intelligent baby bed comprises the following steps:

[0016] S1, baby emotion recognition: when the facial expression change of the baby is captured through the recognition camera, the emotional state of hunger, drowsiness, discomfort or excitement is automatically recognized;

[0017] S2, automatic breastfeeding: the microphone array and the recognition camera collect the crying sound and facial information respectively, the mechanical arm end adopts pneumatic flexible gripper to grab the feeding bottle from the constant temperature storage cabinet of the disinfection warehouse, and the three gear adjustable folding bed board supports the switching of sitting posture, half lying and lying; the deep learning algorithm is used to analyze the type of crying sound, and the YOLOv5S identifies the facial emotion to comprehensively judge the demand;

[0018] S3, auxiliary diaper changing: when the wetness sensor in the air bag mattress detects the urine bed, the mechanical arm executes the action to take out the clean diaper and assists in unfolding, the inflation and deflation system of the air bag synchronously adjusts the height difference of the mattress in the lower area of the baby's hips to form a depression, and the baby's turning is inhibited;

[0019] S4, automatic pacification: when the baby's crying type is identified as "missing parents", the system triggers the panoramic recognition camera to shoot, and the system connected intelligent loudspeaker plays music, if the pacification is invalid, the rocking mechanism is started to execute pacification; the crying sound analysis and facial recognition algorithm determine the crying type tendency "missing parents", that is, the notification is pushed to the parent's mobile phone App, the system automatically selects music according to the preset song list or historical preference data and plays it through the loudspeaker, and the crying state is monitored in real time, if it continues, the strategy is switched to trigger the cradle rocking;

[0020] S5, early education and entertainment: based on facial recognition to determine the baby's bored emotion, the mechanical arm automatically plans the optimal path to grab the toy for guidance and teasing, when the ultrasonic ranging detects that the distance between the mechanical arm and the baby is less than the safety threshold, the mechanical arm will actively execute slow avoidance action to ensure the safety distance, the facial recognition algorithm analyzes the baby's expression and head posture in real time, outputs the bored emotion signal, the control unit generates the optimal path and guidance action instruction of the mechanical arm grabbing the toy according to the bored emotion signal, and processes the safety distance in real time, the sensor signal triggers the avoidance strategy, the AI generated model is linked, and the personalized audio story content is output in real time;

[0021] S6, nursing: when the temperature deviates from the threshold, the quilt corners are fixed to the bed head, the telescopic cylinder controls the buckle to rise and clamp the other two corners to the set height, the lead screw synchronously adjusts the covering range of the quilt surface, then the telescopic cylinder controls the accurate descent, so that the quilt completely covers the baby's body and can inhibit the kicking action, the infrared temperature sensor monitors in real time, when the temperature deviates from the threshold, the hierarchical regulation is started, the electric control unit drives the telescopic cylinder to lift the clamping point, controls the lead screw motor to finely adjust the covering ratio, and then sends instructions to control the telescopic cylinder to complete the pressing and covering, the temperature feedback forms a closed loop, and the comfortable sleep environment is dynamically maintained;

[0022] S7, when the baby is detected to be tired, the rocking function is activated, the rocking mechanism is located on both sides of the bed, after the baby bed is put back to the bed body, the two sides are automatically closed and locked, and the legs are slightly folded inward on the basis of the "L" type folding to form a rocking space, the driving motor drives the rotating disc to drive the rocking guide rod, so that the bed body is rocked in the form of a boat, the frequency of simulation is simulated, when the recognition camera recognizes the tired state of the baby, the control instruction is triggered, the electric control unit accurately drives the driving motor to operate according to the preset boat rocking parameters, the built-in encoder realizes closed-loop control, ensures stable rocking, the system monitors the abnormality in real time and stops urgently, and alarms, at the same time, the DMP algorithm is used to simulate the frequency of parents rocking.

[0023] The present application has the following beneficial effects:

[0024] The multifunctional intelligent baby bed and the working method are designed, the baby bed is divided into a mother body (a bed frame) and a child body (a bed), the seamless switching of "one car with double forms" is realized through the modular structure conversion, the travel and home nursing are innovatively combined, and various functions are realized, such as intelligent lifting of the bed body, intelligent automatic quilt covering, self-feeding and nursing, intelligent lulling, dangerous posture intervention (such as anti-choking, anti-milk choking and anti-falling), real-time monitoring of the baby in multiple parameters and multiple dimensions and remote man-machine interaction, the functions are comprehensive, the burden of parents is greatly reduced, the quality of family life is improved, and the enthusiasm of social fertility is improved. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a whole structure schematic diagram of the multifunctional intelligent baby bed.

[0026] Figure 2 It is a bed frame structure schematic diagram of the multifunctional intelligent baby bed.

[0027] Figure 3 It is a bed car structure schematic diagram of the multifunctional intelligent baby bed.

[0028] Figure 4 It is a bottom structure schematic diagram of the bed car.

[0029] Figure 5 It is an upper structure schematic diagram of the bed car.

[0030] Figure 6 It is a structure schematic diagram of the bed body lifting mechanism.

[0031] Figure 7 It is a structure schematic diagram of the lifting bin door.

[0032] Figure 8 It is a structure schematic diagram of the mechanical arm.

[0033] Figure 9 It is a structure schematic diagram of the lulling rocking mechanism.

[0034] Figure 10 is a schematic diagram of the rotating structure of the folding handle.

[0035] Figure 11 is a schematic diagram of the structure of the folding guardrail.

[0036] Figure 12 is a schematic diagram of the structure of the automatic cover mechanism.

[0037] Figure 13 is a schematic diagram of the wheel folding mechanism.

[0038] Figure 14 is a framework diagram of the working method of the multifunctional intelligent baby bed.

[0039] Figure 15 is a YOLOv5S network model diagram.

[0040] Figure 16 is a YOLOv5S model training parameter configuration diagram.

[0041] Figure 17 is a YOLOv5S model training index change diagram.

[0042] Figure 18 is a three-level control architecture diagram of the DMP algorithm.

[0043] In the figure: 1-bed frame, 1.1-bed body, 1.2-bed body lifting mechanism, 1.3-killing warehouse, 1.4-robotic arm, 1.5-lullaby swing mechanism, 1.1.1-base, 1.1.2-control panel, 1.1.3-top support, 1.2.1-scissors support, 1.2.2-electric push rod one, 1.2.3-connection shaft, 1.2.4-hinge seat, 1.2.5-sliding seat, 1.2.6-sliding block, 1.3.1-lifting warehouse door, 1.3.2-lifting motor, 1.3.3-gear, 1.3.4-rack, 1.4.1-pneumatic flexible clamp jaw, 1.4.2-finger air cylinder, 1.4.3-cylinder seat, 1.4.4-rotary motor, 1.4.5-joint motor, 1.5.1-bed body sliding block, 1.5.2-connection rod, 1.5.3-connection block, 1.5.4-electric push rod two, 1.5.5-driving motor, 1.5.6-rotary disc, 1.5.7-swing guide rod, 1.5.8-guide block, 1.5.9-bed car support block;

[0044] 2-bed car, 2.1-fold bed plate, 2.2-fold push handle, 2.3-fold guardrail, 2.4-automatic cover mechanism, 2.5-wheel folding mechanism, 2.1.1-air bag mattress, 2.1.2-electric push rod three, 2.2.1-inner rotary frame, 2.2.2-outer rotary frame, 2.2.3-inner fork, 2.2.4-outer fork, 2.2.5-X limit block, 2.2.6-rotary shaft, 2.3.1-guardrail rod, 2.3.2-connecting rod, 2.3.3-guardrail motor, 2.4.1-buckle, 2.4.2-telescopic electric cylinder, 2.4.3-screw rod, 2.5.1-wheel, 2.5.2-wheel upper arm, 2.5.3-wheel lower arm, 2.5.4-upper arm electric push rod, 2.5.5-upper arm connecting frame, 2.5.6-lower arm connecting frame, 2.5.7-inclined guide plate, 2.5.8-upper limit slot, 2.5.9-lower limit slot, 2.5.10-upper limit shaft, 2.5.11-lower limit shaft, 2.5.12-spring buckle. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be further clearly and completely explained in combination with the accompanying drawings in the embodiments of the present application. All other embodiments obtained by those skilled in the art on the basis of the embodiments in the present application without creative labor fall within the scope of protection of the present application.

[0046] As shown in the drawings, Figures 1-13 A multifunctional intelligent baby bed includes a bed frame 1 and a bed car 2. The bed frame 1 is provided with a bed body 1.1, a bed body lifting mechanism 1.2, a disinfecting and killing bin 1.3, a mechanical arm 1.4 and a lullaby rocking mechanism 1.5. The lower part of the bed frame 1 is provided with the bed body 1.1. The vertical support of the bed frame 1 is provided with the disinfecting and killing bin 1.3. The disinfecting and killing bin 1.3 is used as a storage bin to place milk bottles filled with milk powder, toys and other articles. The disinfecting and killing bin 1.3 is provided with a lifting bin door 1.3.1. The upper part of the disinfecting and killing bin 1.3 is provided with the mechanical arm 1.4. The execution end of the mechanical arm 1.4 is provided with a pneumatic flexible gripper 1.4.1. The pneumatic flexible gripper 1.4.1 clamps the milk bottle or other articles in the disinfecting and killing bin 1.3. The top of the bed frame 1 is provided with a top support 1.1.3. The top support 1.1.3 is provided with a lighting lamp, a microphone array, a sensor integrated module and an identification camera. The identification camera adopts a depth camera. The sensor integrated module integrates a sound sensor, an infrared sensor and a temperature sensor. The temperature and humidity sensor is installed on the bed car 2 in a Bluetooth wireless connection mode.

[0047] The bed body 1.1 is provided with a bed cart 2, the bed cart 2 is provided with a folding bed plate 2.1, a folding handle 2.2, a folding guardrail 2.3, an automatic quilt covering mechanism 2.4 and a wheel folding mechanism 2.5, the folding bed plate 2.1 is provided with an air bag mattress 2.2.2, the automatic quilt covering mechanism 2.4 is installed on the bed cart 2, the automatic quilt covering mechanism 2.4 clamps and controls the movement of the quilt, the wheel folding mechanism 2.5 is provided with an upper arm connecting frame 2.5.5 and a lower arm connecting frame 2.5.6, the upper arm connecting frame 2.5.5 and the lower arm connecting frame 2.5.6 are connected and matched to control the folding between the wheel upper arm 2.5.2 and the wheel lower arm 2.5.3, the wheel lower arm 2.5.3 is placed on the bed body 1.1 after folding, and the wheel lower arm 2.5.3 moves on the ground after unfolding.

[0048] Through the modular structure conversion, one vehicle double form switching can be realized, and travel and home nursing are innovatively integrated. The vehicle leg structure adopts an L-shaped folding hinge structure, the vehicle leg adopts a segmented design, and two segments are connected through a high-strength hinge shaft. The hinge shaft is internally integrated with a bidirectional limiting clamping groove, and the clamping buckle is internally integrated with a compression spring, so that when folding, the lower segment can only be stably self-locked at two positions of 0° (unfolded) and 90° (folded). When the baby carriage is stored back to the main bed frame, the two side mechanisms approach the middle bed body and are fixedly linked to the bed body. At this time, the conversion of the baby bed mode is completed.

[0049] The bed frame 1 is provided with a control panel 1.1.2 on one side, and a base 1.1.1 is arranged at the bottom of the bed frame 1. The base 1.1.1 is provided with a bed body lifting mechanism 1.2. The bed body lifting mechanism 1.2 is provided with a scissor type support frame 1.2.1 and an electric push rod 1.2.2. The middle part of the scissor type support frame 1.2.1 is hinged through a connecting shaft 1.2.3. One side of the scissor type support frame 1.2.1 is rotatably installed on a hinge seat 1.2.4. The hinge seat 1.2.4 is fixedly installed on the base 1.1.1. The other side of the scissor type support frame 1.2.1 is provided with a sliding block 1.2.6. The sliding block 1.2.6 is slidably connected in a sliding groove of a sliding seat 1.2.5. Two inner sides of the hinge seats 1.2.4 are fixedly connected with a support rod 1. The middle part of the support rod 1 is rotatably sleeved with the electric push rod 1.2.2. The end part of the telescopic rod of the electric push rod 1.2.2 is sleeved with a support rod 2. The support rod 2 is installed on the scissor type support frame 1.2.1. The electric push rod 1.2.2 controls the lifting of the scissor type support frame 1.2.1. The upper part of the scissor type support frame 1.2.1 is installed on the bottom of the bed body 1.1.

[0050] The ultraviolet lamp is arranged in the disinfection and killing bin 1.3, the outer side of the disinfection and killing bin 1.3 is symmetrically provided with the lifting bin door 1.3.1, the inner side of the lifting bin door 1.3.1 is provided with the rack 1.3.4, the rack 1.3.4 is engagedly connected with the gear 1.3.3, the gear 1.3.3 is installed on the motor shaft of the lifting motor 1.3.2, the lifting motor 1.3.2 is installed on the inner side of the disinfection and killing bin 1.3, and the lifting motor 1.3.2 controls the lifting bin door 1.3.1 to move.

[0051] The mechanical arm 1.4 is provided with the mounting seat 1.4.3, the mounting seat 1.4.3 is fixedly installed on the bed frame 1, the joint motors 1.4.5 are installed at the joints of the mechanical arm 1.4, the joint motors 1.4.5 are cooperatively operated to control the action of the execution end of the mechanical arm 1.4, the execution end of the mechanical arm 1.4 is installed with the rotary motor 1.4.4, the output shaft of the rotary motor 1.4.4 is installed with the cylinder seat 1.4.3, the ultrasonic range finder and the finger cylinder 1.4.2 are installed on the cylinder seat 1.4.3, the clamping fingers of the finger cylinder 1.4.2 are installed with the pneumatic flexible clamping jaw 1.4.1, and the pneumatic flexible clamping jaw 1.4.1 is made of rubber material.

[0052] The lullaby swinging mechanism 1.5 is provided with two bed body sliders 1.5.1, the bed body sliders 1.5.1 are slidingly installed on the slide rails of the bed body 1.1, the connecting rod 1.5.2 is installed between the two bed body sliders 1.5.1, the connecting block 1.5.3 is installed on the connecting rod 1.5.2, the connecting block 1.5.3 is connected with the telescopic rod of the second electric push rod 1.5.4, the second electric push rod 1.5.4 is installed on the bed body 1.1, the second electric push rod 1.5.4 drives the two bed body sliders 1.5.1 to move, the upper portion of the bed body slider 1.5.1 is installed with the swinging frame, the swinging frame is installed with the driving motor 1.5.5 at the bottom, the motor shaft of the driving motor 1.5.5 is installed with the rotating disc 1.5.6, the outer side of the rotating disc 1.5.6 is fixedly installed with the rotating block, the rotating block is located at the eccentric position of the rotating disc 1.5.6, the rotating block is rotationally connected with the swinging guide rod 1.5.7, the upper portion of the swinging guide rod 1.5.7 is provided with the guide groove, the guide groove is movably connected with the guide block 1.5.8, the swinging guide rod 1.5.7 is provided with the bed cart supporting block 1.5.9 at the outer portion, the bed cart supporting block 1.5.9 is located at the bottom of the two sides of the bed cart 2, and the driving motor 1.5.5 controls the rotation of the rotating disc 1.5.6 to further control the bed cart supporting block 1.5.9 to drive the bed cart 2 to swing.

[0053] The folding bed board 2.1 adopts a hinged two-section bed board structure, the bottom of one side of the folding bed board 2.1 is hinged to the telescopic rod of the electric push rod three 2.1.2, the bottom of the electric push rod three 2.1.2 is pivotally installed on the bed cart 2, the electric push rod three 2.1.2 controls the overturning of the folding bed board 2.1, folding guardrails 2.3 are installed on both sides of the bed cart 2, the folding guardrails 2.3 are provided with guardrail rods 2.3.1, connecting rods 2.3.2 and guardrail motors 2.3.3, one of the connecting rods 2.3.2 is fixedly connected to the motor shaft of the guardrail motor 2.3.3 at the bottom, the guardrail motor 2.3.3 is installed on the bed cart 2, the guardrail motor 2.3.3 drives the connecting rod 2.3.2 to swing, the other connecting rod 2.3.2 is pivotally installed on the bed cart 2 at the top, and the connecting rod 2.3.2 is pivotally connected to the guardrail rod 2.3.1 at the top.

[0054] The automatic quilt covering mechanism 2.4 is installed on both sides of the bed cart 2 and inside the folding guardrail 2.3, the automatic quilt covering mechanism 2.4 is provided with buckles 2.4.1, telescopic electric cylinders 2.4.2 and lead screws 2.4.3, the buckles 2.4.1 respectively clamp two corners of a quilt, the buckles 2.4.1 are installed on the cylinder rod of the telescopic electric cylinder 2.4.2 through a fixed plate, the bottom of the telescopic electric cylinder 2.4.2 is installed with a nut seat, the nut seat is threadedly connected with the lead screw 2.4.3, the lead screw 2.4.3 is installed on the bed cart through a bearing seat, the lead screw 2.4.3 and the bearing seat are arranged in the housing on both sides of the bed cart 2, the upper part of the housing is provided with a strip-shaped hole for the telescopic electric cylinder 2.4.2 to extend out, one end of the lead screw 2.4.3 is connected with a quilt covering motor, and the quilt covering motor controls the telescopic electric cylinder 2.4.2 to move.

[0055] The folding push handle 2.2 is installed on the bed cart 2, the folding push handle 2.2 is fixedly installed with outer rotary frames 2.2.2 on both sides, the outer rotary frames 2.2.2 are pivotally connected with inner rotary frames 2.2.1, the inner rotary frames 2.2.1 are fixedly installed on the bed cart, the outer rotary frames 2.2.2 are internally provided with outer forks 2.2.4, the inner rotary frames 2.2.1 are internally pivotally connected with X-shaped limiting blocks 2.2.5 through rotating shafts 2.2.6, the inner rotary frames 2.2.1 are internally provided with inner forks 2.2.3, and the X-shaped limiting blocks 2.2.5 are provided with X-shaped notches to block the inner forks 2.2.3 to form limiting and positioning.

[0056] The upper arm of the wheel 2.5.2 is hinged to the bottom of the carriage 2. One side of the upper arm 2.5.2 is rotatably connected to the telescopic rod of the upper arm electric push rod 2.5.4. The upper arm electric push rod 2.5.4 is installed at the bottom of the carriage 2. The upper arm 2.5.2 is connected to the upper arm connecting frame 2.5.5. The upper arm connecting frame 2.5.5 is provided with an upper limit slot 2.5.8 and a lower limit slot 2.5.9. The upper limit shaft 2.5.10 is installed in the upper limit slot 2.5.8, and the lower limit shaft 2.5.11 is installed in the lower limit slot 2.5.9. A sloping guide plate 2.5.7 connects shaft 2.5.10 and lower limit shaft 2.5.11. Spring buckles 2.5.12 are provided in the middle of both upper limit shaft 2.5.10 and lower limit shaft 2.5.11. The lower limit shaft 2.5.11 is limited to the limiting groove on the outside of the lower arm connecting frame 2.5.6. The lower arm connecting frame 2.5.6 is rotatably connected to the lower part of the upper arm connecting frame 2.5.5 by a pin. The lower arm connecting frame 2.5.6 is fixedly installed with the wheel lower arm 2.5.3. The wheel 2.5.1 is installed on the wheel lower arm 2.5.3.

[0057] like Figure 14 As shown, a multifunctional smart baby crib operates by first using multi-sensor fusion to sense and detect the baby's state and environment. The sensor information is processed by a host computer, which then sends operating commands to the corresponding modules to achieve various functions. The slave computer controls the speaker, motor, hydraulic rods, airbag mattress 2.1.1, etc., while the robotic arm 1.4 directly receives commands from the host computer to prevent information delay. Specifically, the following steps are included:

[0058] 1. Infant Emotion Recognition: By capturing changes in an infant's facial expressions through a recognition camera, it automatically identifies emotional states such as hunger, drowsiness, discomfort, or excitement; it activates a gentle rocking mode and soothing music when the baby is restless, actively adjusts the constant temperature airflow when it's cold, and illuminates a starry sky projection to stimulate the baby's desire to explore when bored. With precise, responsive care, every cry receives a scientific response, making technology truly warm and comforting during parenting time.

[0059] 2. Automatic Feeding: A microphone array and a recognition camera collect crying sounds and facial information respectively. The robotic arm 1.4 uses a pneumatic flexible gripper 1.4.1 at its end to grasp the bottle from the constant-temperature storage cabinet in the sterilization chamber 1.3 for non-slip feeding. The three-position adjustable folding bed 2.1 supports switching between sitting, semi-reclining, and flat positions, reducing the risk of choking. Deep learning algorithms analyze crying types, and YOLOv5S recognizes facial emotions to comprehensively assess needs. The electronic control unit drives the robotic arm 1.4 to complete safe grasping, obstacle avoidance movement, and precise feeding; it also adjusts the folding bed 2.1 to the target posture and activates the constant-temperature sterilization storage cabinet. The system dynamically coordinates the operation of each module based on real-time sensing data.

[0060] 3. Assisted Diaper Changing: When the built-in wireless humidity sensor in the airbag mattress 2.1.1 detects bedwetting, the robotic arm 1.4 removes a clean diaper and helps to flatten it. The airbag inflation / deflation system simultaneously adjusts the height difference of the mattress under the baby's buttocks to create a depression, inhibiting the baby's movement. If the humidity exceeds the threshold, bedwetting is detected, and the system immediately pushes a notification to the parent's mobile app. During the diaper changing process, the electronic control unit coordinates the operation: the folding bed board 2.1 rises to a height where the mother does not need to bend over (data pre-entered into the system), the robotic arm 1.4 removes the diaper, flattens it, and precisely drives the airbag to create a depression in the buttocks area. This multi-mechanism linkage reduces the baby's movement, assisting parents in efficient diaper changing.

[0061] 4. Automatic soothing: When the system identifies that the baby's crying is more likely to be "missing parents", the system triggers the panoramic recognition camera to take pictures and the smart speaker connected to the system plays music. If soothing is ineffective, the rocking and soothing mechanism is activated to perform soothing. When the crying analysis and facial recognition algorithm determines that the crying is more likely to be "missing parents", a notification is pushed to the parents' mobile app. The system automatically selects music based on the preset playlist or historical preference data and plays it through the speaker. The system monitors the crying status in real time. If the crying continues, the strategy is switched to trigger the cradle to rock.

[0062] 5. Early Education and Entertainment: Based on facial recognition to determine the baby's boredom, the robotic arm 1.4 automatically plans the optimal path to grab toys for guidance and entertainment. When the ultrasonic rangefinder detects that the distance between the robotic arm and the baby is less than the safety threshold, the robotic arm 1.4 will actively perform a slow avoidance action to ensure a safe distance. The facial recognition algorithm analyzes the baby's expression and head posture in real time and outputs a boredom signal. The control unit generates the optimal path and guidance action instructions for the robotic arm to grab the toy based on this, and processes the safe distance in real time. Sensor signals trigger the avoidance strategy, linking with the AI ​​generation model to create personalized audio story content in real time.

[0063] 6. Nursing: When the temperature deviates from the threshold, a response is triggered. After the two corners of the blanket are fixed to the headboard, the telescopic electric cylinder 2.4.2 controls the buckle 2.4.1 to rise and clamp the other two corners to the set height. The lead screw 2.4.3 simultaneously adjusts the coverage area of ​​the blanket. Then, the telescopic electric cylinder 2.4.2 controls a precise descent to completely cover the baby's body and suppress kicking. The infrared temperature sensor monitors in real time. When the temperature deviates from the threshold, graded regulation is activated. The electronic control unit drives the telescopic electric cylinder 2.4.2 to raise the clamping point, controls the lead screw motor to fine-tune the coverage ratio, and then instructs the telescopic electric cylinder 2.4.2 to complete the downward covering. The temperature feedback forms a closed loop, dynamically maintaining a comfortable sleep environment.

[0064] 7. Lullaby: The rocking function is activated when the baby is detected to be tired and sleepy. The lullaby rocking mechanism 1.5 is located on both sides of the bed cart 2. After the baby crib is returned to the bed body 1.1, the two sides of the lullaby rocking mechanism 1.5 are automatically closed and locked. At the same time, the legs are slightly folded inward on the basis of the "L" type folding to create a rocking space. The drive motor 1.5.5 drives the rotating disc 1.5.6 to drive the rocking guide rod 1.5.7, so that the bed body is rocked in a boat type, simulating the frequency of holding. When the recognition camera recognizes the baby's sleepy state, the control instruction is triggered. The electric control unit accurately drives the drive motor 1.5.5 to operate according to the preset boat type rocking parameters. The built-in encoder realizes closed-loop control to ensure stable rocking. The system monitors the abnormality in real time and stops urgently to alarm. At the same time, the DMP algorithm is used to simulate the frequency of parents' rocking to increase the comfort of the baby.

[0065] As shown in Figure 14 , the present application constructs a multifunctional baby care platform based on multi-sensor fusion and hierarchical control. The core perception relies on a depth camera loaded with a YOLOv5S target detection model. This recognition camera continuously monitors the baby's state, mainly for identifying the baby's facial expressions. Specific changes in the baby's expressions are the key signals to start different baby care functions.

[0066] When the recognition camera recognizes that the baby needs to be soothed due to boredom, irritability and other emotions, the intelligent lullaby function is triggered. The core of this function lies in the use of DMP (Dynamic Motion Primitive) bionic algorithm. This algorithm simulates the unique rocking rhythm and amplitude of parents rocking the cradle to lull the baby to sleep, generating highly personalized motion trajectories. In order to further improve the natural smoothness of the cradle rocking, an impedance control strategy is integrated on the basis of the DMP, so that the system can perceive and adapt to the changes in the baby's body impedance when performing the action. When the baby twists greatly, the system can ensure smooth rocking of the cradle, giving the baby the greatest sense of safety and comfort.

[0067] The driving of the mechanical arm 1.4 to perform corresponding functional actions involves precise control strategies. At the level of path planning, a fusion algorithm combining feedforward compensation-sliding mode control PID is used. Feedforward compensation is responsible for predicting and offsetting known nonlinear disturbances, sliding mode control provides strong robustness to cope with unknown disturbances and environmental changes, and PID control ensures stable basic tracking performance. In order to overcome the possible end fine chattering caused by sliding mode control, the end effector adopts a unique double-loop competition algorithm, which effectively eliminates high-frequency jitter and ensures extremely smooth motion. At the same time, when performing close-range soothing, the system detects the distance between the end of the mechanical arm 1.4 and the baby's body in real time through an ultrasonic sensor, strictly ensuring that the operation always maintains within a safe physical space.

[0068] For the feeding function, the system utilizes the powerful image processing capabilities of the OPENCV vision library. It can detect and lock the red feature of the baby's lip area in real time, achieving accurate lip position recognition and continuous tracking. Based on the real-time lip positioning information, the system plans the feeding path, instructs the mechanical arm to smoothly deliver the nipple to the baby's mouth and maintains accurate following, completing the intelligent feeding operation.

[0069] The operation of the whole system is scheduled by Raspberry Pi as the upper computer, which processes multi-channel information from sound sensors, infrared sensors, cameras, temperature and humidity sensors, pressure sensors, etc., and comprehensively realizes the cooperation of sleep posture monitoring, health monitoring, intelligent companionship, intelligent feeding, intelligent pacification and other function modules. The upper computer transmits accurate control instructions to the lower computer STM32, which drives the loudspeaker, motor, hydraulic rod, air cushion and key mechanical arm to execute various care tasks. Users can understand the system status, set parameters and perform remote interaction through the mobile phone client at any time.

[0070] The algorithm used in the present application is as follows:

[0071] 1. Infant emotion detection based on YOLOv5.

[0072] YOLOv5 (You Only Look Once v5) is widely used in real-time object detection tasks such as video surveillance, autonomous driving, robot vision, etc.

[0073] 1.1 Preparation of infant different expression training set.

[0074] In this design, the infant expression target detection dataset is constructed based on the YOLO format, which contains image samples covering happy and crying, sleeping and other types of infant expressions to meet the model's recognition needs for common infant expressions.

[0075] To build an infant expression recognition model, an infant expression dataset needs to be built first. This infant expression dataset needs to contain image datasets in different categories and scenarios. The data set formats supported by YOLOv5 include YOLO format, COCO format, etc. This design uses YOLO format to build the dataset. The YOLO dataset mainly includes image files, annotation files and category files. Image files are images in the dataset, usually in jpg or png format. The annotation file is a text file that contains the category and location information of the target object in each image. The category file is also a text that contains the category information of all target objects in the dataset. The format of the annotation file is to contain the category number of each target object, the center position (x, y) of the target object in the image, and the width and height (w, h) of the target object. The category file contains the number and name of each category.

[0076] The design adopts YOLO format dataset, contains various common baby expressions, and uses labeling tool to complete the target box drawing and category labeling of photos, and the labeling results are exported in YOLO format. The dataset is divided into training set, test set and validation set, which are divided into 80%, 10% and 10% respectively, and the samples of each category are evenly distributed under different light, background and occlusion conditions to reduce the evaluation error and overfitting risk.

[0077] 1.2YOLOv5 model architecture, as shown in Figure 15 .

[0078] YOLOv5 adopts a single-stage detection strategy, which can predict the category and bounding box coordinates of objects through one forward propagation. It is divided into four general modules, including input, baseline network, neck network and head output.

[0079] Feature extraction network: responsible for extracting features from input images. YOLOv5 uses structures such as Focus (focus), CSPDarknet (network architecture) to improve the efficiency and accuracy of feature extraction.

[0080] Feature fusion module: used to fuse feature information at different levels. YOLOv5 uses PANet (Path Aggregation Network) structure to enhance the transmission and fusion ability of features.

[0081] Prediction module: responsible for outputting the final detection results, including object category, bounding box coordinates and confidence. YOLOv5S uses CIOU (Complete Intersection over Union) loss function to improve positioning accuracy.

[0082] Input: YOLOv5 introduces Mosaic data enhancement, adaptive anchor calculation and adaptive image scaling to enhance the robustness and adaptability of the model.

[0083] 1.3 Training strategy and hyperparameters.

[0084] The baby expression recognition model of this design adopts pre-weight training, and uses YOLOv5S model for pre-weight training. YOLOv5S is the lightest model in YOLOv5 series, suitable for resource limited embedded devices, and can realize fast response under limited computing power. Considering the hardware resources of the host computer, limited computing resources and real-time response speed, YOLOv5S is selected as the weight file for pre-weight training.

[0085] Before training, the baby expression dataset needs to be placed in the root directory of the YOLOv5 project engineering file and named Expression-YOLO. The configuration of the dataset is specified through the mydata.yaml file, which contains the number of classes to be trained, the class name, and the image paths corresponding to the training set, test set, and validation set in the dataset. YOLOv5 also needs a model configuration file, which uses yolov5s.yaml in this training to define the model architecture, including the backbone network, detection head, etc.

[0086] During training, training is performed by running train.py, and some parameters in train.py need to be configured. The '--weights' parameter is used to specify the pre-trained weight file path, which is used to initialize the model. The path of the weight file needs to be configured as a parameter. In this training, yolov5s is used, and the path of the yolov5s weight file is configured as a parameter. The '--cfg' parameter is used to specify the model configuration file path to define the model architecture, and the yaml file of yolov5s is configured as a parameter. The '--data' parameter specifies the dataset configuration file path, and the mydata.yaml file of the dataset is input as a parameter. The '--hyp' parameter specifies the hyperparameter configuration file path to control the learning rate, optimizer, etc., and specifies hyp.scratch.yaml. The remaining parameters remain default, and there is also '--img' indicating the input image size. The image size in this training is 640x640, which is suitable for most object detection tasks and balances precision and computational cost. The batch size is 16, which is suitable for the memory capacity of the cloud GPU. The training is 100 epochs to ensure that the model fully learns the characteristics of the baby expression dataset, as shown in Figure 16

[0087] In this design, the hyperparameter configuration file is hyp.scratch.yaml. The key hyperparameters are 'lr0', which represents the initial learning rate, 'lrf', which represents the learning decay factor,'momentum', which represents the optimizer momentum. 'weight_decay' represents weight decay to prevent overfitting. 'augment' represents the data augmentation intensity. These hyperparameters control the training dynamics of the model, such as learning rate scheduling affecting convergence speed and data augmentation improving the model's adaptability to different scenarios. These parameters can be adjusted according to the characteristics of the dataset, but the default values in this design can meet the project requirements.

[0088] ​The baby expression recognition model has reached a certain accuracy and precision through multiple weight training by cloud GPU. During the training process, the model will regularly save the weight file, and the training log and results are saved under the runs / train / directory. Each training generates a new experiment directory, and the final model weight is saved in runs / train / exp16 / weights / best.pt, which is used for model inference.

[0089] 1.4 Performance evaluation.

[0090] The model performs well in the baby expression recognition task, as shown in Figure 17 The model exhibits strong practicality in the baby expression recognition task and performs excellently in target category detection. The baby expression recognition model can perform well in practical applications.

[0091] 1.5 Baby coordinate positioning.

[0092] In previous studies, a baby expression recognition model has been trained. The baby expression recognition model can identify the type of baby expression, confidence, and the location of the target. However, the baby position recognized by the baby expression recognition model is the position in a two-dimensional plane image, i.e., the size and position of the occupied pixels in an image. It is impossible to complete the positioning of the baby's space position based on the position of the two-dimensional plane pixels alone. To complete the positioning of the baby, the three-dimensional coordinates of the target baby need to be obtained. In this design, the three-dimensional coordinates of the baby are obtained by combining the recognition results of the YOLOv5S baby expression recognition model with the depth camera, and through coordinate conversion of the camera intrinsic parameters and the mechanical arm coordinate system to obtain the three-dimensional coordinates of the baby expression, thereby realizing the positioning of the baby.

[0093] 1.6 Depth camera.

[0094] A depth camera, also known as a 3D camera, differs from a normal 2D camera in that it can obtain the distance information from the object to the camera, also known as depth information. Combined with the coordinates of the 2D image, the three-dimensional coordinates of the target object can be obtained according to the camera intrinsic parameters, which can be used for target positioning, navigation obstacle avoidance, and three-dimensional reconstruction.

[0095] The depth camera used in this design is astro pro realse, which is a binocular depth camera. The principle of binocular depth camera is to simultaneously capture the same object by left and right cameras, and then calculate the disparity between the two cameras to obtain the depth information of the object. Disparity refers to the difference in position of the same object in two images captured by two cameras. The distance information between the object and the camera is determined by measuring this positional difference.

[0096] 1.7 Coordinate conversion.

[0097] The coordinate conversion in the present design is to convert the two-dimensional pixel coordinates in the depth image into three-dimensional coordinates in the mechanical arm coordinate system, so as to accurately position the baby for the mechanical arm to perform corresponding functional operations. Specifically, the two-dimensional pixel coordinates of the baby are identified by the YOLOv5S baby expression recognition model, combined with the depth information detected by the depth camera, and combined with the camera intrinsic parameters and the mechanical arm coordinate system, through a series of coordinate transformations, the three-dimensional coordinates of the baby in the mechanical arm coordinate system are obtained, thereby providing the mechanical arm.

[0098] In the present design, the core code to achieve the above purpose is depth_coordnate_convert_expression.py, which completes the above functions. This python script first loads the camera calibration parameters, including intrinsic parameters, extrinsic parameters and transformation matrix, then subscribes to the baby expression detection YOLOv5S topic to obtain the two-dimensional pixel coordinates of the target baby expression, and combines the depth image data to calculate the three-dimensional coordinates of the baby expression in the mechanical arm coordinate system. The specific steps are as follows:

[0099] Get the pixel coordinates and depth values of the baby from the depth image, load the camera intrinsic parameters, extrinsic parameters and transformation matrix of the workbench to the mechanical arm, these parameters are obtained from the YAML file to ensure the accuracy of the coordinate conversion.

[0100] The YOLOv5S baby expression detection model provides pixel coordinates (u, v), which are converted into three-dimensional points in the camera coordinate system using camera intrinsic and extrinsic parameters. The formula for this coordinate conversion is:

[0101] Where: P cam represents the three-dimensional coordinates in the camera coordinate system.

[0102] Z w represents the depth distance of the target point to the camera.

[0103] u: the horizontal pixel coordinate of the target point on the image plane.

[0104] v: the vertical pixel coordinate of the target point on the image plane.

[0105] 1: constant term in homogeneous coordinates, used to expand two-dimensional pixel coordinates to homogeneous form.

[0106] Note: here represents the homogeneous coordinate form of the image coordinates.

[0107] Convert the camera coordinates to the workbench coordinates through the intrinsic and extrinsic parameters: P = R -1 ·(K -1 ·P cam -T).

[0108] P: three-dimensional coordinates of the target point in the workbench coordinate system.

[0109] R -1 : inverse matrix of the rotation matrix.

[0110] K -1 : inverse matrix of the camera intrinsic matrix.

[0111] P cam : three-dimensional coordinates of the target point in the camera coordinate system.

[0112] T: translation vector.

[0113] Then, the three-dimensional point is converted into the robot coordinate system through the workbench-to-robot transformation matrix, and the coordinate conversion formula is:

[0114] pos: homogeneous coordinates of the transformed point.

[0115] transform4x4: affine transformation matrix.

[0116] P x , P y , P z : three-dimensional coordinates of the original point.

[0117] 1: normal term of homogeneous coordinates.

[0118] Finally, the Z-axis height is adjusted using the depth image to ensure the grabbing accuracy. To improve the Z-axis accuracy, the actual depth value is extracted from the depth image, and the final Z coordinate is calculated by combining the experienced height value and the safety offset.

[0119] 2. The mechanical arm electric control scheme of the multifunctional baby bed.

[0120] The project proposes a mechanical arm electric control scheme applied to a multifunctional intelligent baby bed, in particular to a mechanical arm control system based on feedforward compensation-sliding mode control PID algorithm for path planning and double-loop competition algorithm for eliminating end chattering.

[0121] 2.1 Overall control scheme.

[0122] The core of the present application is to provide a mechanical arm electric control scheme suitable for the scene of a multifunctional baby bed, which includes two innovative control subsystems:

[0123] 1. Adaptive PID path planning system based on feedforward compensation-sliding mode control: responsible for multifunctional trajectory planning and dynamic obstacle avoidance of the mechanical arm;

[0124] 2. End control system based on double-loop competition: specially used for eliminating the operation chattering of the end of the mechanical arm.

[0125] 2.2 Path planning subsystem.

[0126] The path planning adopts a compound control structure of feedforward compensation-sliding mode control-PID:

[0127] (1) Feedforward compensation module: by establishing the dynamics model of the robot arm, calculate the joint inertia, friction and other nonlinear disturbance and pre-compensate;

[0128] (2) Sliding mode control module: design Lyapunov function to ensure system stability, use approaching law formula to make the system state quickly converge to the sliding mode surface;

[0129] (3) Adaptive PID control module: provide basic trajectory tracking capability, realize steady-state accuracy control.

[0130] Dynamic obstacle avoidance function is realized through the following steps:

[0131] (1) Use ultrasonic sensors to continuously monitor the distance between the robot arm end and the baby;

[0132] (2) When the detected distance is less than the safety threshold, immediately trigger the obstacle avoidance response;

[0133] (3) The controller re-plans the path according to the real-time environmental information, and uses the strong robustness of sliding mode control to realize fast response;

[0134] (4) The feedforward compensation module predicts the new disturbance that may be generated after the re-planned path and compensates it.

[0135] End chattering elimination is realized by double-loop competition algorithm:

[0136] (1) Outer loop control system: responsible for position deviation integral and generating speed reference value;

[0137] (2) Inner loop control system: fusion of sliding mode control and PID control output;

[0138] (3) Competition mechanism: when the position deviation is greater than the set threshold, the inner loop is dominated by sliding mode control; when the position deviation is less than the set threshold, increase the weight ratio of PID control, reduce the switching frequency of sliding mode control to suppress chattering.

[0139] The double-loop competition algorithm fundamentally solves the high-frequency chattering problem of traditional sliding mode control, improves the smoothness of the robot arm end motion under the premise of ensuring response speed, so that the baby will not be scared by the robot arm shaking during interaction.

[0140] 2.3 Multi-functional task implementation.

[0141] In the baby crib application scenario, the electric control scheme realizes the following functions:

[0142] 1. Feeding function: After recognizing the baby's mouth position through the depth camera, the mechanical arm moves to the bottle position to grab the bottle and delivers it to the baby's mouth along a smooth and stable trajectory.

[0143] 2. Early education companion: After grabbing the toy, move the toy along the optimized path while performing dynamic obstacle avoidance to prevent collisions caused by sudden baby movements.

[0144] 3. Item delivery: Move to the item storage location according to instructions, grab the diaper and other items, and deliver them to the care location.

[0145] This electronic control scheme provides a high safety and reliability control method for multifunctional baby bed mechanical arms, especially solving the dynamic obstacle avoidance and end shaking problems in baby care scenarios.

[0146] 3. Cradle motor control method based on DMP algorithm.

[0147] A cradle motor control method based on dynamic motion primitive (DMP) algorithm is proposed to achieve precise matching of the motor-driven cradle motion trajectory with the parent's manual rocking pattern. The system architecture is shown in Figure 18 .

[0148] 3.1 Parental rocking feature collection.

[0149] 1) Data collection.

[0150] (1) Use an acceleration sensor installed on the edge of the cradle;

[0151] (2) Record the acceleration change curve (X / Y / Z three-axis) when the parent manually rocks;

[0152] (3) The sampling frequency needs to be ≥50Hz to ensure the capture of action details.

[0153] 2) Feature extraction.

[0154] Extract key motion parameters:

[0155] Where: A max : Maximum value of the absolute value of the signal a(t).

[0156] a(t): Original signal varying with time t.

[0157] f dom : Dominant frequency of the signal.

[0158] F{·}: Fourier transform operator.

[0159] argmax: Independent variable corresponding to the maximum value.

[0160] J avg : average absolute intensity of signal change rate.

[0161] da / dt: instantaneous derivative of signal a(t).

[0162] T: total duration of signal analysis.

[0163] 3.2 DMP parameter learning.

[0164] 1) Dynamic system modeling.

[0165] where:

[0166] y: cradle angular position; g: target position (midpoint position); f(s): forcing function (carrying personalized motion characteristics), a γ : stiffness gain coefficient; β γ : damping gain coefficient; τ: time constant.

[0167] 2) Forcing function construction:

[0168] where: f(s): final output function of the system.

[0169] s: input variable.

[0170] φ i (s): radial basis function.

[0171] w i : weight coefficient of the i-th basis function.

[0172] ∑ i : sum over all basis functions (i = 1, 2,..., N).

[0173] Fractional structure ∑φ i w i / ∑φ i : weighted average value of basis functions.

[0174] Solve the optimal weight w i by ridge regression:

[0175] Target tracking: let: G = optimal trajectory of parent rocking (defined by A max ,f dom ).

[0176] Y = real-time motion sensor data of the bed body.

[0177] Environment adaptation: γ = real-time cry analysis result / humidity data → dynamically adjust a γ , β γ .

[0178] F0: initial estimate of the forcing function f(s) or baseline template, equivalent to the system preset cradle rocking pattern.

[0179] Safety guarantee: regular term λ||w|| 2 Constrain motor output to prevent mechanical arm vibration due to excessive tracking.

[0180] 3.3 Motor control implementation.

[0181] 1) Trajectory generation.

[0182] Phase variable drive: s(t) = e^(-a s t / τ). Real-time differential equation solution to obtain target angle trajectory y(t).

[0183] Where: s(t): real-time swing angle of the bed body. a s : bed frame damping coefficient. e: natural constant. τ: time constant.

[0184] 2) Motor closed-loop control.

[0185] Control law design: u(t) = K p e(t) + K i ∫e(τ)dτ + K_d·de / dt;

[0186] Where: u(t): output signal of the controller.

[0187] e(t): error signal.

[0188] K p : proportional gain coefficient.

[0189] ∫e(τ)dτ: time integral of error.

[0190] K i : integral gain coefficient.

[0191] K d : differential gain coefficient.

[0192] Where: e(t) = y_dmp(t) - y_actual(t).

[0193] In the formula: e(t): real-time error function.

[0194] y dmp (t): reference trajectory generated by dynamic motion primitive (DMP).

[0195] y actual (t): actual output signal of the system.

[0196] 3.4 Parameter settings.

[0197] / / DMP typical parameter configuration;

[0198]

[0199] The application is not limited to the above-mentioned embodiments, and any person should know that the structural changes made under the inspiration of the application, any technical solution with the same or similar to the application, falls within the protection scope of the application.

[0200] The technology, shape, structure part not described in detail in the application are well-known technology.

Claims

1. A multi-functional smart crib, characterized in that, The bed frame is provided with a bed body, a bed body lifting mechanism, a disinfecting and killing bin, a mechanical arm and a lullaby rocking mechanism, the lower part of the bed frame is provided with the bed body, the vertical support of the bed frame is provided with the disinfecting and killing bin, the disinfecting and killing bin is provided with a lifting bin door, the upper part of the disinfecting and killing bin is provided with the mechanical arm, the execution end of the mechanical arm is provided with a pneumatic flexible clamp, the top of the bed frame is provided with a top support, the top support is provided with a lighting lamp, a microphone array, a sensor integrated module and an identification camera; The upper part of the bed body is provided with a bed cart, the bed cart is provided with a folding bed board, an automatic quilt covering mechanism and a wheel folding mechanism, the pneumatic mattress is placed on the folding bed board, the automatic quilt covering mechanism is installed on the bed cart, the automatic quilt covering mechanism clamps and controls the movement of the quilt, the wheel folding mechanism is provided with an upper arm connecting frame and a lower arm connecting frame, the upper arm connecting frame and the lower arm connecting frame are connected and matched to control the folding between the wheel upper arm and the wheel lower arm, the wheel lower arm is placed on the bed body after being folded, and the wheel lower arm moves on the ground after being unfolded.

2. The multifunctional smart crib of claim 1, wherein, A control panel is installed on one side of the bed frame, the bottom of the bed frame is provided with a base, the base is provided with a bed body lifting mechanism, the bed body lifting mechanism is provided with a scissor type support frame and an electric push rod one, the middle part of the scissor type support frame is hinged through a connecting shaft, one side of the scissor type support frame is rotatably installed on a hinge seat, the hinge seat is fixedly installed on the base, the other side of the scissor type support frame is provided with a sliding block, the sliding block is slidingly connected in a sliding groove of a sliding seat, a support rod one is fixedly connected between the inner sides of the two hinge seats, the middle part of the support rod one is rotatably sleeved with the electric push rod one, the end of the telescopic rod of the electric push rod one is sleeved with a support rod two, the support rod two is installed on the scissor type support frame, the electric push rod one controls the lifting of the scissor type support frame, and the upper part of the scissor type support frame is installed on the bottom of the bed body.

3. The multifunctional smart crib of claim 1, wherein, The disinfecting and killing bin is provided with an ultraviolet lamp, the outer side of the disinfecting and killing bin is symmetrically provided with a lifting bin door, the inner side of the lifting bin door is provided with a rack, the rack is meshingly connected with a gear, the gear is installed on the motor shaft of a lifting motor, the lifting motor is installed on the inner side of the disinfecting and killing bin, and the lifting motor controls the movement of the lifting bin door.

4. The multifunctional smart crib of claim 1, wherein, The mechanical arm is provided with a mounting seat, the mounting seat is fixedly installed on the bed frame, a joint motor is installed at each joint of the mechanical arm, the joint motors are matched and operated to control the movement of the execution end of the mechanical arm, a rotating motor is installed at the execution end of the mechanical arm, the output shaft of the rotating motor is installed with a cylinder seat, an ultrasonic range finder and a finger cylinder are installed on the cylinder seat, and a pneumatic flexible clamp is installed on the clamping fingers of the finger cylinder.

5. The multi-functional smart crib of claim 1, wherein, The lullaby swing mechanism is provided with two bed body sliders which are slidingly installed on the slide rails of the bed body, a connecting rod is installed between the two bed body sliders, a connecting block is installed on the connecting rod, the connecting block is connected with the telescopic rod of the second electric push rod, the second electric push rod is installed on the bed body, the second electric push rod drives the two bed body sliders to move, a swing frame is installed on the upper part of the bed body slider, a driving motor is installed on the bottom of the swing frame, a rotating disc is installed on the motor shaft of the driving motor, a rotating block is fixedly installed on the outer side of the rotating disc, the rotating block is located at the eccentric position of the rotating disc, the rotating block is rotationally connected with a swing guide rod, a guide groove is arranged on the upper part of the swing guide rod, a guide block is movably connected in the guide groove, a bed cart supporting block is arranged on the outer part of the swing guide rod, the bed cart supporting block is located at the bottom of the two sides of the bed cart, the driving motor controls the rotation of the rotating disc and further controls the bed cart supporting block to drive the bed cart to swing.

6. The multifunctional smart crib of claim 1, wherein, The folding bed plate adopts a two-section bed plate structure which is hingedly connected, the bottom of one side of the folding bed plate is hingedly connected with the telescopic rod of the third electric push rod, the bottom of the third electric push rod is rotationally installed on the bed cart through a pin shaft, the third electric push rod controls the overturning of the folding bed plate, folding guardrails are installed on the two sides of the bed cart, the folding guardrails are provided with guard rods, connecting rods and guard rail motors, the bottom of one of the connecting rods is fixedly connected with the motor shaft of the guard rail motor, the guard rail motor is installed on the bed cart, the guard rail motor drives the connecting rod to swing, the bottom of the other connecting rod is rotationally installed on the bed cart through a pin shaft, and the top of the connecting rod is rotationally connected with the guard rod through a pin shaft.

7. The multifunctional smart crib of claim 6, wherein, The automatic quilt covering mechanism is installed on the two sides of the bed cart and inside the folding guardrails, the automatic quilt covering mechanism is provided with buckles, telescopic cylinders and lead screws, the buckles respectively clamp two corners of a quilt, the buckles are installed on the cylinder rod of the telescopic cylinder through a fixed plate, a nut seat is installed on the bottom of the telescopic cylinder, the nut seat is threadedly connected with the lead screw, the lead screw is installed on the bed cart through a bearing seat, the lead screw and the bearing seat are arranged in the housings on the two sides of the bed cart, a strip-shaped hole is arranged on the upper part of the housing for the telescopic cylinder to extend out, one end of the lead screw is connected with a quilt covering motor, and the quilt covering motor controls the telescopic cylinder to move.

8. The multifunctional smart crib of claim 1, wherein, The folding push handle is installed on the bed cart, outer rotary frames are fixedly installed on the two sides of the folding push handle, the outer rotary frames are rotationally connected with inner rotary frames, the inner rotary frames are fixedly installed on the bed cart, an outer fork is arranged in the outer rotary frame, an X-shaped limiting block is rotationally connected in the inner rotary frame through a rotating shaft, an inner fork is arranged in the inner rotary frame, and the X-shaped notch of the X-shaped limiting block blocks the inner fork to form limiting and positioning.

9. The multifunctional smart crib of claim 1, wherein, The upper part of the wheel upper arm is hingedly connected with the bottom of the bed cart, one side of the wheel upper arm is rotationally connected with the telescopic rod of an upper arm electric push rod, the upper arm electric push rod is installed on the bottom of the bed cart, the wheel upper arm is connected with an upper arm connecting frame, the upper arm connecting frame is provided with upper and lower limiting clamping grooves, an upper limiting shaft is installed in the upper limiting clamping groove, a lower limiting shaft is installed in the lower limiting clamping groove, the upper limiting shaft and the lower limiting shaft are connected with a beveled guide plate between them, springs are arranged on the middle parts of the upper limiting shaft and the lower limiting shaft, the lower limiting shaft is limited to enter into a limiting recess on the outer side of a lower arm connecting frame, the lower arm connecting frame is rotationally connected with the lower part of the upper arm connecting frame through a pin shaft, the lower arm connecting frame is fixedly installed with a wheel lower arm, and a wheel is installed on the wheel lower arm.

10. The method of operating a multifunctional smart crib of any of claims 1-9, wherein, The method comprises the following steps: S1, Baby emotion recognition: automatically recognize hungry, sleepy, uncomfortable or excited emotional state by recognizing the facial expression changes of the baby captured by the camera; S2, Automatic breastfeeding: the microphone array and the recognition camera respectively collect the crying sound and facial information, the end of the mechanical arm uses pneumatic flexible gripper to grab the feeding bottle from the constant temperature storage cabinet of the sterilization cabinet, and the three gear adjustable folding bed board supports the switching of sitting, semi-lying and lying; deep learning algorithm is used to analyze the type of crying, YOLOv5S identifies the facial emotion to judge the demand comprehensively; S3, Auxiliary diaper change: when the humidity sensor in the air bag mattress detects the urine bed, the mechanical arm executes the action to take out the clean diaper and assists in unfolding, the air inflation and deflation system of the air bag synchronously adjusts the height difference of the mattress under the baby's hips to form a depression, and the baby's rolling is inhibited; S4, Automatic pacification: when the baby's crying type is identified as "missing parents", the system triggers the panoramic recognition camera to take pictures, and the system connected intelligent loudspeaker plays music, if pacification is invalid, the rocking mechanism is started to execute pacification; the crying analysis and facial recognition algorithm determine the crying type as "missing parents", that is, the notification is pushed to the parent's mobile phone App, the system automatically selects music according to the preset song list or historical preference data and plays it through the loudspeaker, and the crying state is monitored in real time, if it continues, the strategy is switched to trigger the cradle rocking; S5, Early education and entertainment: based on facial recognition to determine the baby's bored emotion, the mechanical arm automatically plans the optimal path to grab the toy for guidance, when the ultrasonic ranging detects that the distance between the mechanical arm and the baby is less than the safety threshold, the mechanical arm will actively execute slow avoidance action to ensure safety distance, the facial recognition algorithm analyzes the baby's expression and head posture in real time, outputs the bored emotion signal, the control unit generates the optimal path and guidance action instruction of the mechanical arm grabbing the toy according to this, and processes the safety distance in real time, the sensor signal triggers the avoidance strategy, the AI generated model is linked, and the personalized audio story content is output in real time; S6, Nursing: when the temperature deviates from the threshold, the two corners of the quilt are fixed to the head of the bed, the telescopic cylinder controls the buckle to rise and clamp the other two corners to the set height, the lead screw synchronously adjusts the covering range of the quilt surface, then the telescopic cylinder controls the accurate descent, so that the quilt completely covers the baby's body and can inhibit the kicking action, the infrared temperature sensor monitors in real time, when the temperature deviates from the threshold, the hierarchical regulation is started, the electric control unit drives the telescopic cylinder to lift the clamping point, controls the lead screw motor to fine adjust the covering ratio, and then sends instructions to control the telescopic cylinder to complete the pressing and covering, the temperature feedback forms a closed loop, and the comfortable sleep environment is dynamically maintained. S7, lull: when the baby is detected tired, activate the swing function, lull swing mechanism is located on both sides of the bed, baby bed back to the bed body, two sides of the mechanism automatically close to lock, while the legs in the "L" type folding on the basis of slightly folded to create a swing space, drive motor drive rotating disc drive swing guide rod, the bed body to the ship type swing, simulate the frequency of holding, when the recognition camera recognizes the baby tired state, trigger control instruction, the electric control unit accurately drive the drive motor according to the preset ship type swing parameters, the built-in encoder realizes closed loop control, ensure stable swing, the system real-time monitoring of abnormal and emergency stop alarm, at the same time, using DMP algorithm to simulate the frequency of parents rocking.

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