Carrier, safety seat thereof and safety seat control system

Abstract

The utility model relates to the technical field of safety seats. Providing a carrier, a safety seat of the carrier and a safety seat control system; the safety seat comprises a safety seat body and a driving module arranged below the safety seat body. The driving module is provided with a first driving unit and a second driving unit; the first driving unit is arranged on the carrier, the first driving unit is connected with the second driving unit, and the second driving unit is connected with the safety seat body; the first driving unit is used for driving the safety seat body and the second driving unit to rotate in a first plane; the second driving unit is used for driving the safety seat body to rotate in a second plane, and the first plane intersects with the second plane; the monitoring module comprises an inertia monitoring unit, the inertia monitoring unit is used for collecting operation parameters of the carrier, the operation parameters comprise at least one of the accelerated speed and the angular speed, and the safety seat can achieve dynamic balance.

Description

Technical Field

[0001] The present disclosure relates to the technical field of safety seats, and in particular to a vehicle and a safety seat thereof, and a safety seat control system. Background Art

[0002] The child safety seat in the related art is directly fixed on the rear seat of the car. When the child sits in the safety seat, the comfort of the child is completely dependent on the performance of the car and the driving skills of the driver. When the car is in different driving conditions (sharp turn, acceleration, deceleration, speed bump, etc.), it may cause dizziness, vomiting and other effects that affect healthy development.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0004] The purpose of the present disclosure is to overcome the deficiencies of the above-mentioned prior art and to provide a vehicle and its safety seat, and a safety seat control system, which can adjust the state of the safety seat according to the operating state of the vehicle to increase the comfort.

[0005] According to one aspect of the present disclosure, there is provided a safety seat, comprising:

[0006] Safety seat body;

[0007] A driving module is arranged below the safety seat body; the driving module has a first driving unit and a second driving unit; the first driving unit is arranged on a carrier, the first driving unit is connected to the second driving unit, and the second driving unit is connected to the safety seat body; the first driving unit is used to drive the safety seat body and the second driving unit to rotate in a first plane; the second driving unit is used to drive the safety seat body to rotate in a second plane, and the first plane intersects with the second plane;

[0008] The monitoring module includes an inertial monitoring unit, and the inertial monitoring unit is used to collect operating parameters of the vehicle, and the operating parameters include at least one of acceleration and angular velocity.

[0009] In one embodiment of the present disclosure, the driving module further has a third driving unit;

[0010] The third driving unit is connected to the second driving unit, and the third driving unit is connected to the lower side of the safety seat body;

[0011] The second driving unit is used to drive the third driving unit and the safety seat body to rotate in the second plane, and the third driving unit is used to drive the safety seat body to rotate in a third plane;

[0012] The first plane, the second plane and the third plane intersect each other.

[0013] In one embodiment of the present disclosure, the first driving unit includes a first mounting frame, a first power member and a first adapter;

[0014] The first mounting frame is arranged on the carrier; the first power member comprises a first motor and a first gear; the first motor is arranged on the first mounting frame, and the first gear is coaxially arranged on the power output shaft of the first motor;

[0015] The first adapter comprises a rotating gear, the rotating gear is arranged on the first mounting frame, and the first gear is meshed with the rotating gear to drive the rotating gear to rotate in the first plane; the second driving unit is arranged on the rotating gear.

[0016] In one embodiment of the present disclosure, the second driving unit includes a second power member and a second adapter member;

[0017] The second power member comprises a second motor and a second gear, the second motor is mounted on the rotating gear, and the second gear is coaxially mounted on the power output shaft of the second motor;

[0018] The second adapter comprises a second mounting frame, a first arc gear and a plurality of support columns, wherein the plurality of support columns are arranged on the rotating gear, the first arc gear is arranged on at least two of the support columns, and the second gear is meshed with the first arc gear to drive the first arc gear to rotate in the second plane; the second mounting frame is mounted above the first arc gear, and both ends of the second mounting frame are connected to the rotating gear through at least two of the support columns respectively;

[0019] The second mounting bracket is connected to the third driving unit.

[0020] In one embodiment of the present disclosure, the third driving unit includes a third power member and a third adapter;

[0021] The third power member includes a third motor and a transmission gear set; the third motor is arranged on the second mounting frame, and the transmission gear set is connected to the power output shaft of the third motor;

[0022] The third adapter comprises two groups of support structures, each group of the support structures comprises a support arc gear and a plurality of support columns; the transmission gear set is meshed with the support arc gear, and is used to drive the support arc gear to rotate in the third plane; the plurality of support columns are arranged on the second mounting frame and the first arc gear, and the support arc gear is arranged on the support column;

[0023] The supporting arc gear is connected to the lower part of the safety seat body.

[0024] In one embodiment of the present disclosure, the support column includes a U-shaped frame and a plurality of rotating members rotatably connected to the U-shaped frame;

[0025] The first arc-shaped gear and the supporting arc-shaped gear are both provided with arc-shaped sliding grooves, and the plurality of rotating members pass through the corresponding arc-shaped sliding grooves and can roll along the arc-shaped sliding grooves.

[0026] In one embodiment of the present disclosure, the rotating gear is arranged on the first mounting frame through a limiting structure;

[0027] The limiting structure includes a plurality of limiting blocks and a plurality of fixing members; the plurality of limiting blocks are arranged on the first mounting frame along the circumferential direction, an annular limiting groove is arranged on the rotating gear, and the limiting blocks are arranged in the annular limiting groove; one end of the plurality of fixing members is arranged on the first mounting frame along the circumferential direction, and the other end is placed above the rotating gear.

[0028] In one embodiment of the present disclosure, the monitoring module also has at least two position monitoring units; at least one of the position monitoring units is used to monitor the initial position of the rotating gear, and the rotating gear has a positioning magnet for cooperating with the position monitoring unit; at least one of the position monitoring units is used to monitor the initial position of the first arc gear, and the second mounting bracket has a positioning magnet for cooperating with the position monitoring unit.

[0029] In one embodiment of the present disclosure, the number of the position monitoring units is eight;

[0030] The four position monitoring units are sequentially mounted on the first mounting frame along the circumferential direction of the rotating gear, and a positioning magnet cooperating with the four position monitoring units is provided on the rotating gear;

[0031] The two position monitoring units are arranged on the rotating gear along the movement path of the second mounting frame, and the second mounting frame is provided with two positioning magnets corresponding to the two position monitoring units, which are respectively used to monitor the initial position of the second mounting frame and the extreme position of the second mounting frame;

[0032] The two position monitoring units are arranged on the second mounting frame along the movement path of the supporting arc gear. The supporting arc gear is provided with two positioning magnets corresponding to the two position monitoring units one by one, which are respectively used to monitor the highest position and the lowest position of the safety seat body.

[0033] In one embodiment of the present disclosure, the monitoring module further has at least one obstruction monitoring unit;

[0034] At least one of the obstruction monitoring units is disposed on at least one side of the safety seat body, and the obstruction monitoring unit is used to monitor obstructions on both sides of the safety seat body.

[0035] According to another aspect of the present disclosure, a safety seat control system is provided, comprising a signal transmission module, a control module and the above-mentioned safety seat;

[0036] The signal transmission module is used to receive the operating parameters of the vehicle sent by the monitoring module of the safety seat, and send them to the control module;

[0037] The control module is configured to determine and send a first control parameter through the signal transmission module according to an operating parameter of the vehicle, wherein the first control parameter is used to control the movement of the first drive unit and the second drive unit of the safety seat.

[0038] In one embodiment of the present disclosure, the control module is configured such that the drive module further has a third drive unit;

[0039] The third driving unit is connected to the second driving unit, and the third driving unit is connected to the lower side of the safety seat body;

[0040] The second driving unit is used to drive the third driving unit and the safety seat body to rotate in the second plane, and the third driving unit is used to drive the safety seat body to rotate in a third plane;

[0041] The first plane, the second plane and the third plane intersect each other;

[0042] The control module is configured to determine and send a first control parameter according to an operating parameter of the vehicle, where the first control parameter is used to control the movement of the first drive unit, the second drive unit, and the third drive unit of the safety seat.

[0043] According to another aspect of the present disclosure, there is provided a vehicle having the above safety seat, the above safety seat control system, and at least one connecting component;

[0044] The connecting component connects the safety seat and the carrier.

[0045] In one embodiment of the present disclosure, the vehicle has a seat, and the safety seat is arranged on the seat.

[0046] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0048] Figure 1 This is a partial structural schematic diagram of a first driving unit in one embodiment of the present disclosure.

[0049] Figure 2 This is a partial structural schematic diagram of a first driving unit in one embodiment of the present disclosure.

[0050] Figure 3 This is a partial structural schematic diagram of a first driving unit in one embodiment of the present disclosure.

[0051] Figure 4 This is a partial structural diagram of a drive module in one embodiment of the present disclosure.

[0052] Figure 5 This is a partial structural diagram of a drive module in one embodiment of the present disclosure.

[0053] Figure 6 This is a partial structural diagram of a drive module in one embodiment of the present disclosure.

[0054] Figure 7 It is a partial structural schematic diagram of a second mounting frame in one embodiment of the present disclosure.

[0055] Figure 8 It is a partial structural schematic diagram of a second mounting frame in one embodiment of the present disclosure.

[0056] Fig. 9 This is a partial structural diagram of a third driving unit in one embodiment of the present disclosure.

[0057] Fig.10 This is a partial structural diagram of a drive module in one embodiment of the present disclosure.

[0058] Fig.11 This is a partial structural diagram of a drive module in one embodiment of the present disclosure.

[0059] Fig.12 This is a partial structural diagram of a drive module in one embodiment of the present disclosure.

[0060] Fig.13 This is a partial structural diagram of a drive module in one embodiment of the present disclosure.

[0061] Fig.14 This is a partial structural diagram of a drive module in one embodiment of the present disclosure.

[0062] Fig.15 This is a partial structural diagram of a drive module in one embodiment of the present disclosure.

[0063] Fig.16 This is a partial structural diagram of a drive module in one embodiment of the present disclosure.

[0064] Fig.17 This is a partial structural diagram of a drive module in one embodiment of the present disclosure.

[0065] Fig.18 This is a partial structural diagram of a drive module in one embodiment of the present disclosure.

[0066] Fig.19 This is a partial structural diagram of a drive module in one embodiment of the present disclosure.

[0067] Fig. 20 It is a schematic diagram of a partial structure of a carrier in one embodiment of the present disclosure.

[0068] Fig.21 The figure is a schematic diagram of the structure of a safety seat control system in one embodiment of the present disclosure.

[0069] Fig. 22 The figure is a schematic diagram of the structure of a safety seat control system in one embodiment of the present disclosure.

[0070] Fig.23 This is a partial structural diagram of a drive module in one embodiment of the present disclosure.

[0071] Fig.24 This is a partial structural diagram of a drive module in one embodiment of the present disclosure.

[0072] Description of reference numerals:

[0073] 1. Safety seat body; 2. Drive module; 3. First drive unit; 4. First mounting frame; 41. First plate; 42. Second plate; 5. First motor; 6. First gear; 7. Turntable; 8. Turntable gear; 9. Second drive unit; 10. Second motor; 11. Second gear; 12. Second mounting frame; 13. First arc gear; 14. Third drive unit; 15. Third mounting frame; 16. Third motor; 17. Third gear; 18. Fourth gear; 19. , gear shaft; 20, support plate; 21, second arc gear; 22, position monitoring unit; 23, arc sliding groove; 24, limit block; 25, fixing piece; 26, annular limit groove; 27, positioning magnet; 28, support column; 29, U-shaped frame; 30, guide column; 31, first fixing frame; 32, infrared sensing module; 33, limit screw; 34, connecting component; 35, second fixing frame; 36, arc groove; 37, circuit board; 38, carrier; 39, fifth gear. DETAILED DESCRIPTION

[0074] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present disclosure will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted. In addition, the drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale.

[0075] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of the illustration to another component, these terms are used in this specification only for convenience, such as according to the orientation of the examples described in the drawings. It is understood that if the device of the illustration is turned upside down, the component described as "upper" will become the component "lower". When a structure is "on" other structures, it may mean that the structure is formed integrally on the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through another structure.

[0076] The terms "a", "an", "the", "said" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express an open-ended inclusion and mean that additional elements / components / etc. may exist in addition to the listed elements / components / etc.; the terms "first", "second", etc. are used merely as labels and are not intended to limit the quantity or order of their objects.

[0077] In this application, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. "And / or" is just a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the previous and next associated objects are in an "or" relationship.

[0078] In the present disclosure, the highest position refers to the position of the safety seat body in an upright state, and the lowest position refers to the maximum position at which the safety seat body can be tilted.

[0079] In the present disclosure, the rotations of the x-, y-, and z-axes that define the right-handed Cartesian coordinate system are respectively referred to as the roll direction, the pitch direction, and the yaw direction. Further, in one example, the direction in which the second drive unit drives the safety seat body to move is defined as the roll direction, the direction in which the third drive unit drives the safety seat body to move is defined as the pitch direction, and the direction in which the first drive unit drives the safety seat body to move is defined as the yaw direction.

[0080] In the related art, the safety seat is directly fixed on the vehicle (in daily life, the vehicle can be a car, ship, airplane, etc.), and the child sits in the safety seat. In this way, the child's comfort is completely dependent on the performance of the vehicle and the driver's driving skills. When the vehicle is in different driving states (sharp turn, acceleration, deceleration, speed bumps, etc.), it may cause dizziness to the child.

[0081] In order to solve the above problems, the present disclosure optimizes the structure of the safety seat, and sets a driving module 2 at the bottom of the safety seat body 1. The driving module 2 can drive the safety seat body 1 to adjust its position adaptively according to the running state of the vehicle 38, so as to achieve dynamic balance adjustment of the safety seat body 1, so that the safety seat body 1 can still maintain dynamic balance under different driving states of the vehicle 38, thereby reducing the probability of dizziness and other phenomena in children. For details, see Figure 1-Figure 20The present disclosure provides a safety seat, including a safety seat body 1, a driving module 2 and a monitoring module. The driving module 2 is arranged below the safety seat body 1; the driving module 2 has a first driving unit 3 and a second driving unit 9; the first driving unit 3 is connected to the second driving unit 9, and the second driving unit 9 is connected to the safety seat body 1. The first driving unit 3 is used to drive the safety seat body 1 and the second driving unit 9 to rotate in a first plane; the second driving unit 9 is used to drive the safety seat body 1 to rotate in a second plane, and the first plane intersects with the second plane; the monitoring module includes an inertial monitoring unit, and the inertial monitoring unit is used to collect the operating parameters of the vehicle 38, and the operating parameters include at least one of acceleration and angular velocity.

[0082] Based on the above structure, the present disclosure proposes a safety seat control system, which may include a safety seat, a signal transmission module and a control module; the signal transmission module is used to receive the operating parameters of the vehicle 38 sent by the monitoring module of the safety seat, and send them to the control module;

[0083] The control module is configured to determine and send a first control parameter through the signal transmission module according to the operating parameters of the vehicle 38 , wherein the first control parameter is used to control the movement of the first drive unit and the second drive unit of the safety seat.

[0084] In one embodiment of the present disclosure, see Figure 1-Figure 20 , the first drive unit 3 can be used to drive the safety seat body 1 and the second drive unit 9 to move in a first plane, and the second drive unit 9 can be used to drive the safety seat body 1 to move in a second plane, wherein the first plane intersects with the second plane. For example, the first plane can be perpendicular to the second plane. For example, the first plane and the second plane can be any two planes in the plane where the rolling motion is located, the plane where the pitching motion is located, and the plane where the yaw motion is located. In this way, the safety seat body 1 connected above the driving module 2 can achieve multi-directional movement, and then can adaptively adjust its own orientation according to the driving state of the vehicle 38 to achieve dynamic balance adjustment. In this example, the vehicle 38 can be a car seat. In other words, the safety seat can be installed on the rear seat of the car. In other examples, the vehicle 38 can also be a car, and the safety seat can replace the seat of the co-pilot position of the car, and so on.

[0085] In one embodiment of the present disclosure, see Fig.15, the driving module 2 may include a first driving unit 3 and a second driving unit 9. The first driving unit 3 and the second driving unit 9 may be regarded as a series structure, which may realize the hierarchical superposition of different movements, and thus the first driving unit 3 and the second driving unit 9 may not only independently control the movement of the safety seat body 1, but also jointly control the movement of the safety seat body 1. In other words, the first driving unit 3 may be located on the carrier 38, the second driving unit 9 is connected to the first driving unit 3, and the second driving unit 9 is connected to the bottom of the safety seat body 1. The first driving unit 3 may drive all structures thereon (the second driving unit 9 and the safety seat body 1) to move in the first plane, and the second driving unit 9 may drive all structures thereon (the safety seat body 1) to move in the second plane. In this example, the first drive unit 3 can drive all the structures above it to rotate in the yaw direction (within the yaw plane), and the second drive unit 9 is used to drive all the structures above it to rotate in the roll direction (within the roll plane). In this way, during the travel of the vehicle 38, the safety seat body 1 can be adjusted in different directions of yaw and roll according to the travel state of the vehicle 38, thereby increasing the comfort of the child when the vehicle 38 is in operation.

[0086] In one embodiment of the present disclosure, see Figure 1 , Figure 2 and Figure 3 , taking the example that the first drive unit 3 can drive all structures above it to rotate in the yaw direction (within the yaw plane). The first drive unit 3 may include a first mounting frame 4, a first power member, and a first adapter. The first mounting frame 4 is disposed on the carrier 38, and the first power member and the first adapter may both be disposed on the first mounting frame 4. In this example, see Figure 1 and Figure 2 , the first power member includes a first motor 5 and a first gear 6. Figure 3 and Figure 4 The first adapter includes a rotating gear. The first motor 5 is arranged on the first mounting frame 4, the first gear 6 is coaxially mounted on the power output shaft of the first motor 5, the rotating gear is rotatably arranged on the first mounting frame 4, and the first gear 6 is meshed with the rotating gear, so that the first motor 5 transmits the rotational motion to the rotating gear through the first gear 6 to drive the rotating gear to rotate in the first plane.

[0087] In this example, the first motor 5 is electrically connected to the signal transmission module, and can be used to receive the first control parameter issued by the control module.

[0088] In one embodiment of the present disclosure, the rotating gear can be directly connected to the first mounting bracket 4 to limit the relative position of the rotating gear and the first gear 6. In other embodiments of the present disclosure, the relative position of the rotating gear and the first gear 6 and the rotation effect of the rotating gear can be ensured by a limiting structure to ensure the stability of the rotational motion transmission. For example, see Figure 2 , Figure 3 and Figure 4 , the limiting structure may include a plurality of limiting blocks 24 for limiting the radial direction of the rotating gear and a plurality of fixing members 25 for limiting the axial direction of the rotating gear. In this example, the limiting structure may include four limiting blocks 24 and four fixing members 25. Among them, the four limiting blocks 24 are evenly arranged on the first mounting frame 4 along the circumferential direction of the rotating gear, and an annular limiting groove 26 is arranged on the side of the rotating gear close to the first mounting frame 4. The four limiting blocks 24 are arranged in the annular limiting groove 26, and when the first gear 6 drives the rotating gear to rotate, the limiting blocks 24 can move relative to the annular limiting groove 26, so as not to interfere with the rotation of the rotating gear. One end of the four fixing members 25 is arranged on the first mounting frame 4 along the circumferential direction of the rotating gear, and the other end is placed above the rotating gear and will not interfere with the rotation of the rotating gear. In other examples, the rotating gear can also be directly connected to the first mounting frame 4 for rotation.

[0089] In one embodiment of the present disclosure, see Figure 4 and Figure 6 The fixing member 25 may be in a Z-shape, one end of which is fixed to the first mounting frame 4 by a plurality of screws, and the other end is placed above the rotating gear to limit the axial direction of the rotating gear. In other examples, the fixing member 25 may also be in an L-shape, one end of which is fixed to the first mounting frame 4 by a plurality of screws, and the other end is placed above the rotating gear to limit the axial direction of the rotating gear.

[0090] In one embodiment of the present disclosure, the angle of the rotating gear can be limited to prevent the drive module 2 from winding during movement, thereby ensuring the safety and stability of the entire structure during use. For example, the rotation angle of the rotating gear is limited to no more than 360 degrees, see Figure 2 and Figure 3, a limit screw 33 can be set on the first mounting frame 4, and an arc groove 36 can be set on the rotating gear. The limit screw 33 is set in the arc groove 36 and can slide along the arc groove 36. In this way, the limit screw 33 can only slide in the arc groove 36, reducing the probability of winding. In other examples, an annular groove can also be set on the rotating gear, and a block is set in the annular groove to limit the rotation of the limit screw 33. In this example, the block is fixed at a position of about 245 degrees of the rotating gear. In other examples, the limit screw 33 can also be replaced by other structures with the same function such as a limit rod. In other examples, the block can also be fixed at other positions, and the number of blocks can also be multiple. For example, the rotation angle of the turntable 7 can be limited to 270 degrees to 197 degrees by two blocks.

[0091] In one embodiment of the present disclosure, the rotating gear may include a turntable 7 and a turntable gear 8, the turntable 7 is rotatably arranged on the first mounting frame 4, the turntable gear 8 is coaxially fixed on the turntable 7, the first gear 6 is meshed with the turntable gear 8, and the first motor 5 transmits the rotational motion to the turntable gear 8 and the turntable 7 through the first gear 6, so as to drive the turntable gear 8 and the turntable 7 to rotate in the first plane. Among them, the turntable gear 8 can be detachably fixed on the turntable 7, or can be fixed on the turntable 7 by welding or the like, and the arc groove 36 and the annular limit groove 26 are arranged on the side of the turntable 7 close to the first mounting frame 4. In this example, the diameter of the turntable gear 8 is larger than the diameter of the first gear 6.

[0092] In one embodiment of the present disclosure, see Figure 1 , the first motor 5 can be installed on the first mounting frame 4 through the first fixing frame 31. In order to ensure the stability of the first motor 5, the first fixing frame 31 can be divided into two parts, the first part can be a fixed base on which the first motor 5 can be placed and locked, the fixed base can be fixed on the first mounting frame 4 by a plurality of screws, and the first motor 5 is locked on the fixed base. The second part can be a locking frame for fixing the tail of the first motor 5 (the tail of the first motor 5 is the end of the first motor 5 away from its output shaft), the locking frame can be from the side of the first motor 5 away from the fixed base, and the first motor 5 can be covered and locked on the fixed base by a plurality of screws. In this way, the stability of the fixation of the first motor 5 can be enhanced, and the first motor 5 can be prevented from shifting during the operation of the carrier 38, resulting in the separation of the first gear 6 and the turntable gear 8. The present disclosure can ensure the stable transmission of the rotational motion output by the first motor 5.

[0093] In one embodiment of the present disclosure, the shape of the first mounting frame 4 can be set to support at least one surface of the first mounting frame 4, and the first motor 5 and the turntable 7 are arranged on opposite sides of the surface, so that the occupied area of ​​the driving module 2 can be reduced and the structure below the safety seat body 1 can be adapted. For example, see Figure 1 and Figure 2 The first mounting frame 4 may include a first plate 41 and two second plates 42 respectively connected to both sides of the first mounting frame 4; the cross-sectional shape of the second plate 42 may be triangular, and the first plate 41 may be in a tilted state through the support of the two triangular second plates 42. The first motor 5 may be arranged on the first surface of the first plate 41, the first surface of the first plate 41 faces the carrier 38, the turntable 7, the fixing member 25 and the limit block 24 may be arranged on the second surface of the first plate 41, the second surface of the first plate 41 faces the safety seat body 1, and a through hole for the first gear 6 to pass through is arranged on the first plate 41, so that the first gear 6 can mesh with the turntable gear 8 after passing through the through hole, and drive the turntable gear 8 to rotate.

[0094] In one embodiment of the present disclosure, the turntable 7 , the second plate 42 , the first plate 41 , etc. are all made of metal materials, so that the strength of the entire driving module 2 can be ensured.

[0095] In one embodiment of the present disclosure, see Figure 4 , Figure 5 , Figure 6 as well as Fig.13 , taking the example that the second drive unit 9 can drive all structures above it to rotate in the rolling direction (within the rolling plane). The second drive unit 9 may include a second power member and a second adapter. In this example, the second power member may include a second motor 10 and a second gear 11, and the second adapter may include a second mounting frame 12, a first arc gear 13, and a plurality of support columns 28. For example, the second adapter may include a second mounting frame 12 (see Figure 6 , the second mounting frame 12 can be divided into two connecting parts or multiple connecting parts), a first arc gear 13 and six supporting columns 28. The second motor 10 is mounted on the turntable 7, and the second gear 11 is coaxially mounted on the power output shaft of the second motor 10. Two supporting columns 28 are arranged on the turntable 7 along the radial direction of the second gear 11, and the first arc gear 13 is arranged on the two supporting columns 28 and meshed with the second gear 11. The second motor 10 drives the first arc gear 13 to rotate in the second plane through the second gear 11.

[0096] In this example, the second motor 10 receives the first control parameter output by the control module through the signal transmission module.

[0097] In one embodiment of the present disclosure, see Figure 6 , Fig.10 and Fig.16, the second mounting frame 12 is connected to the first arc gear 13, so that the second mounting frame 12 has the same movement as the first arc gear 13. Specifically, the second mounting frame 12 is placed above the first arc gear 13, and is connected to the first arc gear 13 by a plurality of screws. In this example, the second mounting frame 12 can be an integrated structure, and its two ends are supported by two support columns 28. It can be understood that two support columns 28 are provided on both sides of the second mounting frame 12, and the arrangement direction of the two support columns 28 is the same as the arrangement direction of the two support columns 28 used to support the first arc gear 13, and the second mounting frame 12 can rotate on the support columns 28.

[0098] In this example, the support column 28 supports the first arc gear 13 and the second mounting bracket 12, and facilitates the rotation of the first arc gear 13 and the second mounting bracket 12. For example, see Fig.13 The support column 28 may include a U-shaped frame 29 and a plurality of guide columns 30. In this example, the number of the guide columns 30 may be two. The two guide columns 30 may be mounted in the middle of the U-shaped frame 29 by screws, and the guide columns 30 may rotate on the U-shaped frame 29.

[0099] In this example, see Figure 6 The first arc gear 13 is provided with an arc-shaped sliding groove 23 along its circumference, and the guide column 30 passes through the arc-shaped sliding groove 23. The two guide columns 30 are sequentially arranged along the circumferential direction of the first arc gear 13. The first arc gear 13 is supported, and at the same time, the rotation of the first arc gear 13 is not interfered. It can be understood that the first arc gear 13 passes through the middle part of the U-shaped frame 29, and the guide column 30 is located in the arc-shaped sliding groove 23. In this way, the friction of the rotation of the first arc gear 13 can be reduced by the rotation of the guide column 30.

[0100] In this example, see Figure 7 and Figure 8 Arc-shaped sliding grooves 23 are provided on both sides of the second mounting frame 12 , and both sides of the second mounting frame 12 are respectively placed in corresponding U-shaped frames 29 , and the guide column 30 passes through the arc-shaped sliding grooves 23 .

[0101] For other examples, see Figure 6 , Figure 7 and Figure 8 The second mounting frame 12 can be divided into a first mounting frame body and a second mounting frame body, and an arc-shaped sliding groove 23 is arranged on the first mounting frame body and the second mounting frame body. The first mounting frame body is connected to the first arc-shaped gear 13 by multiple screws on the side close to the second mounting frame body, and the second mounting frame body is stacked on the first mounting frame body on the side close to the first mounting frame body, and is connected to the first mounting frame body and the first arc-shaped gear 13 by multiple screws.

[0102] In this example, the size of the middle portion of the U-shaped frame 29 is determined according to the thickness of the first arc-shaped gear 13 and the second mounting frame 12 it supports.

[0103] In one embodiment of the present disclosure, see Figure 4 and Figure 5 , the second motor 10 can be installed on the turntable 7 through the second fixing frame 35. In order to ensure the stability of the second motor 10, the second fixing frame 35 can be divided into two parts, the first part can fix the front end of the second motor 10, and the second part can fix the tail of the second motor 10. The first part and the second part can adopt a hoop-like structure, and the hoop-like structure is installed on the turntable 7 through a plurality of screws to achieve stable clamping and fixing of the second motor 10. In this way, the stability of the fixation of the second motor 10 can be enhanced, and the second motor 10 can be prevented from shifting during the operation of the carrier 38, resulting in the separation of the second gear 11 and the first arc gear 13. The present disclosure can ensure the stable transmission of the rotational motion output by the second motor 10.

[0104] In one embodiment of the present disclosure, the support column 28 is made of metal material, which can increase the strength of the entire structure and ensure safety.

[0105] In one embodiment of the present disclosure, the driving module 2 may also have a third driving unit 14; the third driving unit 14 is mounted on the second driving unit 9, the third driving unit 14 is connected to the bottom of the safety seat body 1, and the third driving unit 14 is used to drive the safety seat body 1 to rotate in the third plane. Among them, the first plane, the second plane and the third plane intersect each other. In this way, the third driving unit 14 can drive the second driving unit 9 and the safety seat body 1 to rotate in the second plane, and the third driving unit 14 can drive the safety seat body 1 to rotate in the third plane. In one embodiment of the present disclosure, the first plane, the second plane and the third plane can be perpendicular to each other. In other words, the first driving unit 3 can drive all the structures above it to rotate in the yaw direction (in the yaw plane), the second driving unit 9 can drive all the structures above it to rotate in the roll direction (in the roll plane), and the third driving unit 14 can drive all the structures above it to rotate in the pitch direction (in the pitch plane). In this way, during the travel of the carrier 38 , the safety seat body 1 can be adjusted in different directions of yaw, roll and pitch, thereby increasing the comfort level of the child when the carrier 38 is in operation.

[0106] In one example of the present disclosure, see Figure 9-12 The third driving unit 14 may include a third power member and a third adapter member, wherein Fig. 9, the third power member may include a third mounting frame 15, a third motor 16, and a transmission gear set, wherein the transmission gear set includes a third gear 17, a gear shaft 19 and two fourth gears 18; the third adapter includes two sets of supporting structures. In this example, the third mounting frame 15 is used to fix the third motor 16 on the second mounting frame 12. Specifically, the third mounting frame 15 is mounted on the second mounting frame 12 by a plurality of screws, the third motor 16 is mounted on the third mounting frame 15 by a plurality of screws, the power output shaft of the third motor 16 is coaxially connected to the third gear 17, and the axis of the third gear 17, the axis of the second gear 11 and the axis of the first gear 6 are perpendicular to each other, so that the safety seat body 1 can be adjusted in different directions.

[0107] The gear shaft 19 passes through the third mounting frame 15 and is rotatably connected to the third mounting frame 15. The two fourth gears 18 are coaxially mounted on both ends of the gear shaft 19, and one of the fourth gears 18 is meshed with the third gear 17. In this way, the third motor 16 drives the two fourth gears 18 to rotate in the third plane through the third gear 17.

[0108] In this example, see Fig.10 , Fig.11 and Fig.12 , two groups of support structures correspond to two fourth gears 18 one by one, and each group of support structures includes a support arc gear and a plurality of support columns 28. For example, the number of support columns 28 can be three. The support arc gear is mounted on the support plate 20, and the support arc gear is meshed with the fourth gear 18, and can rotate in the third plane with the rotation of the fourth gear 18. The support arc gear has an arc sliding groove 23 along its circumferential direction. The three support columns 28 can be sequentially arranged at both ends of the second mounting frame 12 and the first arc gear 13 along the movement path of the support arc gear. The guide columns 30 of the three support columns 28 are all arranged in the arc sliding groove 23 to support the support arc gear. The support arc gear is connected to the bottom of the safety seat body 1, so as to realize the series connection of the first drive unit 3, the second drive unit 9, the third drive unit 14 and the safety seat body 1. For example, the safety seat body 1 can be fixed to the support arc gear by a plurality of screws. For another example, a plurality of mounting holes may be provided on the supporting arc-shaped gear, and fixing pins may be inserted into the mounting holes. The chair body may be connected to the supporting arc-shaped gear through the plurality of fixing pins.

[0109] In another embodiment of the present disclosure, the third driving unit 14 may include a third power member and a third adapter member, wherein Fig.24, the third power member may include a third mounting frame 15, a third motor 16, and a transmission gear set, wherein the transmission gear set includes two fifth gears 39; the third adapter includes two sets of supporting structures. In this example, the third mounting frame 15 is used to fix the third motor 16 on the second mounting frame 12. Specifically, the third mounting frame 15 is mounted on the second mounting frame 12 by a plurality of screws, and the third motor 16 is mounted on the third mounting frame 15 by a plurality of screws. The third motor 16 can be a double-axis gear, and the two fifth gears 39 are coaxially mounted on the output shafts at both ends of the third motor 16, respectively, so that the third motor 16 drives the two fifth gears 39 to rotate in the third plane. Among them, the axis of the fifth gear 39, the axis of the second gear 11, and the axis of the first gear 6 are perpendicular to each other, so that the safety seat body 1 can be adjusted in different directions.

[0110] In this example, see Fig.24 , two groups of support structures correspond to two fifth gears 39 one by one, and each group of support structures includes a support arc gear and a plurality of support columns 28. For example, the number of support columns 28 can be three. The support arc gear is mounted on the support plate 20, and the support arc gear is meshed with the fifth gear 39, and can rotate in the third plane with the rotation of the fifth gear 39. The support arc gear has an arc sliding groove 23 along its circumferential direction. The three support columns 28 can be sequentially arranged at both ends of the second mounting frame 12 and the first arc gear 13 along the movement path of the support arc gear. The guide columns 30 of the three support columns 28 are all arranged in the arc sliding groove 23 to support the support arc gear. The support arc gear is connected to the bottom of the safety seat body 1, so as to realize the series connection of the first drive unit 3, the second drive unit 9, the third drive unit 14 and the safety seat body 1. For example, the safety seat body 1 can be fixed to the support arc gear by a plurality of screws. For another example, a plurality of mounting holes may be provided on the supporting arc-shaped gear, and fixing pins may be inserted into the mounting holes. The chair body may be connected to the supporting arc-shaped gear through the plurality of fixing pins.

[0111] For other examples, see Fig.23 Under the premise of satisfying the supporting performance, only one fifth gear 39 can be used for meshing support.

[0112] In this example, the third motor 16 receives the first control parameter output by the control module through the signal transmission module.

[0113] In one embodiment of the present disclosure, the supporting arc gear includes a supporting plate 20 and a second arc gear 21, wherein an arc sliding groove 23 is provided on the supporting plate 20, and the guide columns 30 of the three supporting columns 28 are all provided in the arc sliding groove 23. The second arc gear 21 is connected to the supporting plate 20, and the second arc gear 21 is meshed with the fourth gear 18. A plurality of mounting holes are provided on the supporting plate 20, and fixing pins can be inserted into the mounting holes, and the chair body can be connected to the supporting plate 20 through the plurality of fixing pins.

[0114] In this example, in order to ensure the synchronization of the rotation of the second arc-shaped gears 21 on both sides, a connecting column may be provided between the two second arc-shaped gears 21 .

[0115] In one embodiment of the present disclosure, the angle of the arc-shaped sliding slot 23 can be set according to the rotation angle of the corresponding second motor 10 or the third motor 16 .

[0116] In one embodiment of the present disclosure, the monitoring module may include an inertial monitoring unit, which is used to collect operating parameters of the vehicle 38, including at least one of acceleration and angular velocity. In this example, the inertial monitoring unit may be mounted on the first mounting bracket 4. In this way, since the first mounting bracket 4 and the vehicle 38 are relatively stationary, the inertial monitoring unit may have the same movement as the vehicle 38, and may be used to collect at least one of the acceleration and angular velocity of the vehicle 38. The inertial monitoring unit is electrically connected to the signal transmission module, and is used to send the collected acceleration and / or angular velocity. In this example, the inertial monitoring unit may be any structure that can detect acceleration and / or angular velocity. For example, the inertial monitoring unit may be a gyroscope, which is used to measure angular velocity. For another example, the inertial monitoring unit may also be an acceleration sensor, which is used to measure acceleration and angular velocity. For another example, the inertial monitoring unit may also be an integrated structure of a gyroscope and an acceleration sensor, which is used to measure acceleration and angular velocity, etc. See. Fig.14 The inertial monitoring unit can be mounted on the first mounting bracket 4 via a circuit board 37 .

[0117] In one embodiment of the present disclosure, the monitoring module may also have at least two position monitoring units 22, at least one position monitoring unit 22 is used to monitor the initial position of the rotating gear, and the rotating gear has a positioning magnet 27 for cooperating with the position monitoring unit 22. At least one position monitoring unit 22 is used to monitor the initial position of the first arc gear 13, and the second mounting frame 12 has a positioning magnet 27 for cooperating with the position monitoring unit 22. In one example, the monitoring module may have two position monitoring units 22, one of which is used to monitor the initial position of the rotating gear, and the other is used to monitor the initial position of the first arc gear 13. Specifically, one of the position monitoring units 22 is arranged on the first plate body 41, and the rotating disk 7 is provided with a positioning magnet 27 for cooperating with the position monitoring unit 22 for detection. Another position monitoring unit 22 is arranged on the rotating disk 7, and the second mounting frame 12 has a positioning magnet 27 for cooperating with the position monitoring unit 22. In this example, the position monitoring unit 22 may be a Hall sensor plate.

[0118] In another example, see Figure 1 , Figure 4 , Figure 7 and Figure 8 , the monitoring component may include eight position monitoring units 22. Four of the position monitoring units 22 are used to monitor the position of the turntable 7 in the first drive unit 3. The four position monitoring units 22 are defined as position monitoring unit Q1, position monitoring unit Q2, position monitoring unit Q3, and position monitoring unit Q4, so as to determine the position of the safety seat body 1 in the flipping direction. Specifically, the position monitoring units Q1, Q2, Q3, and Q4 are uniformly arranged on the first surface of the first plate 41 in sequence along the circumferential direction of the turntable 7 (in other words, see Figure 1 and Fig.17 , the monitoring unit Q1, the position monitoring unit Q2, the position monitoring unit Q3, and the position monitoring unit Q4 are respectively arranged at 0 degrees, 90 degrees, 180 degrees, and 270 degrees of the turntable 7, and are located within the orthographic projection of the turntable 7 on the first plate body 41. The first plate body 41 is provided with four first through holes for each position monitoring unit 22 to monitor. The turntable 7 is provided with a positioning magnet 27 (not shown in the figure) for the position monitoring unit 22 to monitor on the side close to the first plate body 41. The positioning magnet 27 is defined as the positioning magnet A. In this way, during the rotation of the turntable 7, the position monitoring unit 22 can monitor the positioning magnet A through the first through hole, and then determine the current position of the turntable 7, wherein the position of 0 degrees and 180 degrees can be used as the initial position of the first driving unit 3. In other words, when the position monitoring unit Q1 or the position monitoring unit Q3 detects the positioning magnet A, it indicates that the first driving unit 3 returns to the initial position.

[0119] See also Figure 4 and Figure 5 , wherein two position monitoring units 22 are used to monitor the position of the second mounting frame 12 or the first arc gear 13. In this example, the two position monitoring units 22 are used to monitor the position of the second mounting frame 12, and the two position monitoring units 22 are defined as position monitoring unit Q5 and position monitoring unit Q6. The two position monitoring units Q5 and Q6 are sequentially arranged on the turntable 7 along the movement path of the second mounting frame 12, and are arranged adjacent to the support column 28. The second mounting frame 12 is provided with two positioning magnets 27 for monitoring by the position monitoring units Q5 and Q6, which are defined as positioning magnet B and positioning magnet C, respectively. The positioning magnets B and C are arranged along the circumferential direction of the first arc gear 13, wherein the positioning magnet B is arranged in the middle of the second mounting frame 12 for positioning the initial position, and the positioning magnet C is installed at the maximum angle of the single side of the second mounting frame 12 that can rotate. When the second drive unit 9 is in the initial position, the positioning magnet B corresponds to the position monitoring unit Q5, and the position monitoring unit Q6 is located between the positioning magnet B and the positioning magnet C. The specific position is defined according to the requirements. In other words, the distance between the positioning magnet B and the positioning magnet C is greater than the distance between the position monitoring unit Q5 and the position monitoring unit Q6. When the positioning magnet B corresponds to the position monitoring unit Q5, it means that the second drive unit 9 is in the initial position. When the positioning magnet C corresponds to the position monitoring unit Q6, it means that the second drive unit 9 is at the maximum limit position of the rotation angle and has not returned to the initial position, and corresponding adjustments are required.

[0120] See also Figure 7 and Figure 8 , wherein two position monitoring units 22 are used to monitor the position of the second arc gear 21, and the two position monitoring units 22 are defined as position monitoring unit Q7 and position monitoring unit Q8 respectively. Position monitoring unit Q7 and position monitoring unit Q8 are sequentially arranged on a side of the second mounting frame 12 close to the first mounting frame 4 along the movement path of one of the second arc gears 21, and the second mounting frame 12 is provided with two second through holes for monitoring by the position monitoring unit Q7 and the position monitoring unit Q8 respectively. The second arc gear 21 is provided with two positioning magnets 27 for monitoring by the position monitoring unit Q7 and the position monitoring unit Q8, and the two positioning magnets 27 are defined as positioning magnet D and positioning magnet E, wherein the position monitoring unit Q7 cooperates with the positioning magnet D to monitor whether the safety seat body 1 is in the highest position, that is, the safety seat body 1 is in an upright state, and the position monitoring unit Q8 cooperates with the positioning magnet E to monitor whether the safety seat body 1 is in the lowest position, that is, the safety seat body 1 is in its most flat state (see Fig.18 and Fig.19). The distance between the position monitoring unit Q7 and the position monitoring unit Q8 is less than the distance between the positioning magnet D and the positioning magnet E, and the specific position is defined according to the needs. In other words, when the position monitoring unit Q7 is aligned with the positioning magnet D, it is the initial position of the safety seat body 1, which is the most upright sitting angle of the safety seat body 1. In this example, the backrest angle of the safety seat body 1 can be 110 degrees at this time. When the position monitoring unit Q8 is aligned with the positioning magnet E, it is the end position of the safety seat body 1. In this example, the backrest angle of the safety seat body 1 can be 135 degrees (when the safety seat body 1 is installed in reverse, the backrest angle can be 151 degrees (the actual angle installed on the car is 135 degrees)). If the position of the position monitoring unit Q7 is detected, it is in an upright state. If it is not detected, the safety seat body 1 rotates to the left. The first detected position is the position of the position monitoring unit Q7, which is an upright state, and no extra action is required; if the first detected position is the position monitoring unit Q8, it is a lying state, and it needs to be rotated in the opposite direction until the position of the position monitoring unit Q7 is detected and stops. If there is a power outage under any circumstances during the process, this method can detect the return position.

[0121] In the present disclosure, other position monitoring units 22 also send position signals to the control module accordingly, so that the control module can confirm the status of the first drive unit 3 , the second drive unit 9 and the third drive unit 14 .

[0122] In this example, the positioning magnet 27 can be fixed by glue.

[0123] In one embodiment of the present disclosure, the monitoring module may also have at least one obstruction monitoring unit, which is electrically connected to the control module through the signal transmission module; at least one of the obstruction monitoring units is provided on at least one side of the safety seat body 1, and the obstruction monitoring unit is used to monitor obstructions on both sides of the safety seat body 1. In this example, the number of obstruction monitoring units may be two, which are respectively located on both sides of the safety seat body 1. Among them, the obstruction monitoring unit may be an infrared sensing module 32.

[0124] In one embodiment of the present disclosure, the monitoring module may also have three current sensors, which are respectively used to collect the current of the first motor 5, the second motor 10, and the third motor 16. The current sensors may be electrically connected to the control module through the signal transmission module. In this way, the status of the first motor 5, the second motor 10, and the third motor 16 (whether they are faulty or have rotated to the maximum position allowed by the driving module) can be judged by the abnormality of the current of the first motor 5, the second motor 10, and the third motor 16.

[0125] In the present disclosure, the first motor 5, the second motor 10, the third motor 16, the obstruction monitoring unit, the current sensor, the position monitoring unit and the inertia monitoring unit are all electrically connected to the control module through the signal transmission module, wherein the first motor 5, the second motor 10 and the third motor 16 each have their own encoders, and the control module can independently control the first motor 5, the second motor 10 and the third motor 16 through the corresponding encoders. The obstruction monitoring unit, the position monitoring unit, the current sensor and the inertia monitoring unit can send the detected data to the control module through the signal transmission module.

[0126] In one embodiment of the present disclosure, the signal transmission module may be a wireless transmission module. In other examples, a wired transmission module may also be used.

[0127] In one embodiment of the present disclosure, see Fig. 22 , the control module can be an external remote terminal or a mobile terminal. In other examples, see Fig.21 , the control module can also be integrated inside the safety seat.

[0128] In one embodiment of the present disclosure, the control module may also receive a feedback signal from the safety seat to confirm the accuracy of the movement of the first drive unit 3 , the second drive unit 9 and the third drive unit 14 .

[0129] Based on the above structure, the control method of the safe seat is as follows:

[0130] S00, parameter configuration

[0131] Setting the positive direction of rotation of the first motor 5, the second motor 10 and the third motor 16;

[0132] The angle threshold M1 for the first motor 5 to rotate in the positive direction and the angle threshold M2 for the first motor 5 to rotate in the reverse direction are set. 11 ; Set the angle threshold M2 for the second motor 10 to rotate in the positive direction, and the angle threshold M2 for rotating in the reverse direction 22 ; Set the angle threshold M3 of the third motor 16 rotating in the positive direction, and the angle threshold M rotating in the reverse direction 33 ; In this example, |M1|=|M 11 |, |M2|=|M 22 |, |M3|=|M 33 ∣;

[0133] Setting an initial position of the first motor 5 and setting an initial position of the second motor 10;

[0134] In this example, when the monitoring unit Q1 is set to cooperate with the positioning magnet A, the first motor 5 is in the initial position, or when the monitoring unit Q3 is set to cooperate with the positioning magnet A, the first motor 5 is in the initial position, which is determined specifically according to the installation orientation of the safety seat body 1;

[0135] When the position monitoring unit Q5 is set to cooperate with the positioning magnet B, the second motor 10 is in the initial position;

[0136] S01. Initialization configuration

[0137] The first driving unit 3 and the second driving unit 9 are controlled to be in the initial positions.

[0138] Specifically: the control module can determine whether the first drive unit 3 and the second drive unit 9 are in the initial position by receiving the signal of the position monitoring unit 22. If the signal of the corresponding position monitoring unit 22 is received, the motor is controlled to remain stationary and wait for the next step to be executed; if not, the control module controls the first motor 5 and / or the second motor 10 to rotate in the positive direction first until it moves to the limit position. If the signal of the corresponding position monitoring unit 22 is received during the rotation, the motor is controlled to remain stationary and wait for the next step to be executed; otherwise, the control module controls the first motor 5 and / or the second motor 10 to rotate in the reverse direction again until the signal of the corresponding position monitoring unit 22 is received, and the motor is controlled to remain stationary and wait for the next step to be executed;

[0139] For example, if the control module receives a signal from the position monitoring unit Q1 in cooperation with the positioning magnet A, it indicates that the safety seat body 1 is in the front center position. If the control module receives a signal from the position monitoring unit Q3 in cooperation with the positioning magnet A, it indicates that the safety seat body 1 is in the reverse center position. If it cannot be received, the control module controls the first motor 5 to drive the turntable 7 to rotate in the positive direction to the limit position (the physical limit limit is at the 245-degree position). If the signal from the corresponding position monitoring unit is received during the process, the first motor 5 is controlled to stop moving and remain stationary. If it cannot be received, the control module controls the first motor 5 to drive the turntable 7 to rotate in the reverse direction to the limit position. This process will inevitably receive the signal of the initial position, and control the first motor 5 to stop moving and remain stationary. (If a power outage occurs in any case during the process, this method can also be used to initialize the first motor 5).

[0140] If the control module receives a signal from the position monitoring unit Q5 and the positioning magnet B, it means that the second drive unit 9 is in the initial position and the first arc gear 13 is in the middle position; the second motor 10 is controlled to stop moving and remain stationary.

[0141] If the control module receives a signal from the position monitoring unit Q6 and the positioning magnet C, it means that the second drive unit 9 is in the extreme position, and the second motor 10 is controlled to rotate in the corresponding direction until the control module receives a signal from the position monitoring unit Q5 and the positioning magnet B and returns to the initial position; the second motor 10 is controlled to stop moving and remain stationary; if the control module does not receive any signal, the second motor 10 is controlled to rotate in the positive direction. During the process, if the control module receives a signal from the position monitoring unit Q5 and the positioning magnet B, it means that the second drive unit 9 is in the initial position, and the second motor 10 is controlled to stop moving and remain stationary; otherwise, the second motor 10 is controlled to rotate in the opposite direction. During the process, if the control module receives a signal from the position monitoring unit Q5 and the positioning magnet B, it means that the second drive unit 9 is in the initial position, and the second motor 10 is controlled to stop moving and remain stationary; (If a power outage occurs in any case during the process, this method can also be used to initialize the second motor 10).

[0142] S02, Dynamic balance control

[0143] The following process is executed in a loop:

[0144] S021. Receive the operating parameters collected by the inertial monitoring unit, and calculate the change of the operating parameters (acceleration change and / or angular velocity change);

[0145] For example, define the change in acceleration for the nth time as △a n , then △a n =a n -a n-1 , where a n represents the acceleration collected at the nth time, a n-1 represents the acceleration collected at the n-1th time. When n=1, a n-1 =0;

[0146] For another example, define the change in angular velocity for the nth time as △ω n , then △ω n =ω n -ω n-1 , where ω n represents the angular velocity of the nth acquisition, ω n-1 Indicates the angular velocity collected for the n-1th time. When n=1, ω n-1 =0;

[0147] S022. Based on the variation of the operating parameters, the variable factors corresponding to the first motor 5, the second motor 10 and the third motor 16 are retrieved; the variable factors are pre-stored in the control module; wherein, the variable factors of the same motor when calculating the angle using the variation of the acceleration and the variation of the angular velocity are different, and the variable factors of different motors may be the same or different. In other words, for the same motor, the variation of the acceleration has a set of corresponding variable factors, and the variation of the angular velocity has another set of corresponding variable factors. Wherein, the variation of the acceleration can take a fixed value within a certain range. For example, the variable factor can be defined as follows: when 0≤△a≤2, the variable factor can be 0.1, 2<△a≤4, the variable factor can be 0.2, 4<△a≤6, the variable factor can be 0.3, and so on. In other examples, a variable factor can be defined for each different value of the variation of the acceleration. For example, when △a=1, the variable factor can be 0.05, △a=3, the variable factor can be 0.2, △a=4, the variable factor can be 0.35, and so on. The same is true for the angular velocity.

[0148] S023 . Based on the change amount of each operating parameter and the corresponding variable factor, respectively calculate the rotation angles of the first motor 5 , the second motor 10 , and the third motor 16 .

[0149] When the operating parameters include only acceleration, then b tn =& t1n *△a n , where △a n represents the change in the nth acceleration, & t1n b represents the variable factor of the t-th motor under the n-th acceleration change; tn Indicates the rotation angle of the t-th motor at the n-th time.

[0150] When the operating parameters only include angular velocity, then b pn =& p2n *△ω n , where △ω n represents the change in angular velocity for the nth time, & p2n represents the variable factor of the pth motor under the nth angular velocity change, b pn Indicates the rotation angle of the p-th motor at the n-th time.

[0151] When the operating parameters include angular velocity and acceleration, then b fn =& f3n *△a n +& f4n *△ω n ,in,& f4n represents the variable factor of the f-th motor under the n-th angular velocity change when the angular velocity and acceleration coexist, &f3n It represents the variable factor of the nth acceleration change of the fth motor when the angular velocity and acceleration coexist, b fn Indicates the rotation angle of the f-th motor at the n-th time.

[0152] In one example of the present disclosure, the operating parameters include only acceleration.

[0153] b 1n =& 11n *△a n ;

[0154] Among them, △a n represents the change in acceleration for the nth time, b 1n represents the rotation angle of the first motor 5 at the nth time, & 11n represents the variable factor of the first motor 5 under the nth acceleration change. In one example, b1 n ≤θ1*M1, θ1 represents the ratio of the diameter of the turntable gear 8 to the diameter of the first gear 6. In this example, M1 may be 5°.

[0155] b 2n =& 21n *△a n ;

[0156] Among them, △a n represents the change in acceleration for the nth time, b 2n represents the rotation angle of the second motor 10 at the nth time, & 21n represents the variable factor of the second motor 10 under the nth acceleration change. 2n ≤θ2*M2, θ2 represents the ratio of the diameter of the first arc-shaped gear 13 to the diameter of the second gear 11. In this example, M2 may be 7°.

[0157] b 3n =& 31n *△a n ;

[0158] Among them, △a n represents the change in acceleration for the nth time, b 3n represents the rotation angle of the third motor 16 at the nth time, & 31n represents the variable factor of the third motor 16 under the nth acceleration change. 3n ≤θ3*M3, θ3 represents the ratio of the diameter of the fourth gear 18 to the diameter of the third gear 17, and in this example, M3 may be 8.5°.

[0159] In another example, the operating parameters include only angular velocity;

[0160] b1n =& 12n *△ω n ;

[0161] Among them, △ω n represents the change in angular velocity for the nth time, b 1n represents the rotation angle of the first motor 5 at the nth time, & 12n represents the variable factor of the first motor 5 under the nth angular velocity change. 1n ≤θ1*M1, θ1 represents the ratio of the diameter of the turntable gear 8 to the diameter of the first gear 6. In this example, M1 may be 5°.

[0162] b 2n =& 22n *△ω n ;

[0163] Among them, △ω n represents the change in angular velocity for the nth time, b 2n represents the rotation angle of the second motor 10 at the nth time, & 22n represents the variable factor of the second motor 10 at the nth angular velocity change. 2n ≤θ2*M2, θ2 represents the ratio of the diameter of the first arc-shaped gear 13 to the diameter of the second gear 11. In this example, M2 may be 7°.

[0164] b 3n =& 32n *△ω n ;

[0165] Among them, △ω n represents the change in angular velocity for the nth time, b 3n represents the rotation angle of the third motor 16 at the nth time, & 32n represents the variable factor of the third motor 16 at the nth angular velocity change. 3n ≤θ3*M3, θ3 represents the ratio of the diameter of the fourth gear 18 to the diameter of the third gear 17, and in this example, M3 may be 8.5°.

[0166] In another example, the operating parameters include angular velocity and acceleration;

[0167] b 1n =& 13n *△a n +& 14n *△ω n ;

[0168] Among them, b 1n represents the rotation angle of the first motor 5 at the nth time, & 13nIt represents the variable factor based on the nth acceleration change of the first motor 5 under the premise that the acceleration change and the angular velocity change coexist, & 14n It represents the variable factor based on the nth angular velocity change of the first motor 5 under the premise that the acceleration change and the angular velocity change coexist. In one example, b1≤θ1*M1. θ1 represents the ratio of the diameter of the turntable gear 8 to the diameter of the first gear 6. In this example, M1 can be 5°.

[0169] b 2n =& 23n *△a n +& 24n *△ω n ;

[0170] Among them, b 2n represents the rotation angle of the second motor 10 at the nth time, & 23n It represents the variable factor based on the nth acceleration change of the second motor 10 under the premise that the acceleration change and the angular velocity change coexist, & 24n It represents the variable factor based on the nth angular velocity change under the premise that the acceleration change and the angular velocity change of the second motor 10 coexist. In one example, b2≤θ2*M2, θ2 represents the ratio of the diameter of the first arc gear 13 to the diameter of the second gear 11, and in this example, M2 can be 7°.

[0171] b 3n =& 33n *△a n +& 34n *△ω n ;

[0172] Among them, b 3n represents the rotation angle of the third motor 16 at the nth time, & 33n It represents the variable factor of the third motor 16 based on the nth acceleration change under the premise that the acceleration change and the angular velocity change coexist, & 34n It represents the variable factor based on the nth angular velocity change under the premise that the acceleration change and the angular velocity change of the third motor 16 coexist. In one example, b3≤θ3*M3, θ3 represents the ratio of the diameter of the fourth gear 18 to the diameter of the third gear 17, and in this example, M3 can be 8.5°.

[0173] S024, based on the rotation angles of the first motor 5, the second motor 10 and the third motor 16, output and save a first control parameter, wherein the first control parameter includes an adjustment angle of the first motor 5, the second motor 10 and the third motor 16;

[0174] S0241, calculating the accumulated angle values ​​of the first motor 5, the second motor 10, and the third motor 16 based on the rotation angles of the first motor 5, the second motor 10, and the third motor 16;

[0175] Specific:

[0176] C 1 =b 1n +C 1 n-1 , where C 1 represents the accumulated angle value of the first motor 5, b 1n represents the rotation angle of the first motor 5 at the nth time, C 1 n-1 represents the cumulative angle value of the first motor 5 n-1 times before; when n=1, C 1 n-1 =0;

[0177] C 2 =b 2n +C 2 n-1 , where C 2 represents the accumulated angle value of the second motor 10, b 2n represents the rotation angle of the second motor 10 at the nth time, C 2 n-1 represents the cumulative angle value of the second motor 10 n-1 times before; when n=1, C 2 n-1 =0;

[0178] C 3 =b 3n +C 3 n-1 , where C 3 represents the accumulated angle value of the third motor 16, b 3n represents the rotation angle of the third motor 16 at the nth time, C 3 n-1 represents the cumulative angle value of the third motor 16 n-1 times before; when n=1, C 3 n-1 =0;

[0179] S0242, based on the accumulated angle values ​​of the first motor 5, the second motor 10, and the third motor 16, output a first control parameter, that is, an adjustment angle of the first motor 5, the second motor 10, and the third motor 16;

[0180] Specific:

[0181] C 1 is a positive value, if C 1 >M1, then d1=M1-C 1n-1 , C 1 ≤M1, then d1=b 1n ;

[0182] C 1 If C is negative, 1 ≥M 11 , then d1=b 1n , C 1 <M 11 , then d1=M 11 -C 1 n-1 ;

[0183] Wherein, d1 represents the adjustment angle of the first motor 5;

[0184] C 2 is a positive value, if C 2 >M2, then d2=M2-C 2 n-1 , C 2 ≤M2, then d2=b 2n ;

[0185] C 2 If C is negative, 2 ≥M 22 , then d2=b 2n , C 2 <M 22 , then d2=M 22 -C 2 n-1 ;

[0186] Wherein, d2 represents the adjustment angle of the second motor 10;

[0187] C 3 is a positive value, if C 3 >M3, then d3=M3-C 3 n-1 , C 3 ≤M3, then d3=b 3n ;

[0188] C 3 If C is negative, 3 ≥M 33 , then d3=b 3n , C 3 <M 33 , then d3=M 33 -C 3 n-1 ;

[0189] Wherein, d3 represents the adjustment angle of the third motor 16 .

[0190] In the disclosed embodiment, the third motor 16 can be controlled to rotate in advance by the control module to adjust the position of the safety seat body 1 and increase the comfort.

[0191] In one embodiment of the present disclosure, if the carrier 38 is a car, then in the control method of the safety seat, a rotating loading function can also be implemented after S00. Specifically, when the infrared sensing module 32 detects that the door of the carrier 38 is open, the control module can output a corresponding control signal to control the movement of the first motor 5 of the driving module 2, and turn the entire safety seat body 1 toward the door for easy use. After the seat belt is buckled, it is turned back to the initial position and S01 is executed.

[0192] In one embodiment of the present disclosure, a control module may be provided to independently control the movement of the third motor 16 so that the safety seat body 1 moves only in the pitch direction, and the speed of the third motor 16 is controlled to gradually decrease to realize the rocking function mode.

[0193] In other embodiments of the present disclosure, the second drive unit 9 can drive all structures above it to rotate in the yaw direction (within the yaw plane), the first drive unit 3 can drive all structures above it to rotate in the roll direction (within the roll plane), and the third drive unit 14 can drive all structures above it to rotate in the pitch direction (within the pitch plane), wherein the structure of the second drive unit 9 is the same as the structure of the drive unit that can realize the yaw motion, and so on. In other embodiments of the present disclosure, the second drive unit 9 can drive all structures above it to rotate in the yaw direction (within the yaw plane), the first drive unit 3 can drive all structures above it to rotate in the pitch direction (within the pitch plane), and the third drive unit 14 can drive all structures above it to rotate in the roll direction (within the roll plane), wherein the structure of the second drive unit 9 is the same as the structure of the drive unit that can realize the yaw motion, and so on. Based on this, it can be understood that in the present disclosure, the first drive unit 3, the second drive unit 9 and the third drive unit 14 only need to drive the safety seat body 1 to rotate in the first plane, the second plane and the third plane, and there is no restriction on which plane the first drive unit 3 moves, which plane the second drive unit 9 moves, and which plane the third drive unit 14 moves.

[0194] The disclosed embodiment provides a carrier for installing a safety seat. Of course, in this example, the carrier 38 can be a car, and the rear seat of the car is connected to both sides of the first mounting frame 4 through a connecting component 34. In one embodiment, the connecting component 34 can be a connecting rod, and in other embodiments, the connecting component 34 can also be other structures that can achieve the function. In another example, the carrier 38 can be a car, and the safety seat can replace the co-pilot seat of the car. In other examples, the carrier 38 can also be equipment such as aircraft and ships, or other equipment that needs to be applied.

[0195] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. A safety seat, characterized in that: include: Safety seat body; A driving module is arranged below the safety seat body; The driving module comprises a first driving unit and a second driving unit; The first driving unit is arranged on the carrier, the first driving unit is connected to the second driving unit, and the second driving unit is connected to the safety seat body; the first driving unit is used to drive the safety seat body and the second driving unit to rotate in a first plane; the second driving unit is used to drive the safety seat body to rotate in a second plane, and the first plane intersects with the second plane; The monitoring module includes an inertial monitoring unit, and the inertial monitoring unit is used to collect operating parameters of the vehicle, and the operating parameters include at least one of acceleration and angular velocity.

2. The safety seat according to claim 1, characterized in that: The driving module further comprises a third driving unit; The third driving unit is connected to the second driving unit, and the third driving unit is connected to the lower side of the safety seat body; The second driving unit is used to drive the third driving unit and the safety seat body to rotate in the second plane, and the third driving unit is used to drive the safety seat body to rotate in a third plane; The first plane, the second plane and the third plane intersect each other.

3. The safety seat according to claim 2, characterized in that: The first driving unit includes a first mounting frame, a first power member and a first adapter; The first mounting frame is arranged on the carrier; the first power member comprises a first motor and a first gear; the first motor is arranged on the first mounting frame, and the first gear is coaxially mounted on the power output shaft of the first motor; The first adapter comprises a rotating gear, the rotating gear is arranged on the first mounting frame, and the first gear is meshed with the rotating gear, and is used to drive the rotating gear to rotate in the first plane; The second driving unit is disposed on the rotating gear.

4. The safety seat according to claim 3, characterized in that: The second driving unit includes a second power member and a second adapter member; The second power member comprises a second motor and a second gear, the second motor is mounted on the rotating gear, and the second gear is coaxially mounted on the power output shaft of the second motor; The second adapter comprises a second mounting frame, a first arc gear and a plurality of support columns, wherein the plurality of support columns are arranged on the rotating gear, the first arc gear is arranged on at least two of the support columns, and the second gear is meshed with the first arc gear to drive the first arc gear to rotate in the second plane; the second mounting frame is mounted above the first arc gear, and both ends of the second mounting frame are connected to the rotating gear through at least two of the support columns respectively; The second mounting bracket is connected to the third driving unit.

5. The safety seat according to claim 4, characterized in that: The third driving unit includes a third power member and a third adapter member; The third power member includes a third motor and a transmission gear set; the third motor is arranged on the second mounting frame, and the transmission gear set is connected to the power output shaft of the third motor; The third adapter comprises two groups of support structures, each group of the support structures comprises a support arc gear and a plurality of support columns; the transmission gear set is meshed with the support arc gear, and is used to drive the support arc gear to rotate in the third plane; the plurality of support columns are arranged on the second mounting frame and the first arc gear, and the support arc gear is arranged on the support column; The supporting arc gear is connected to the lower part of the safety seat body.

6. The safety seat according to claim 5, characterized in that: The support column includes a U-shaped frame and a plurality of rotating members rotatably connected to the U-shaped frame; The first arc-shaped gear and the supporting arc-shaped gear are both provided with arc-shaped sliding grooves, and the plurality of rotating members pass through the corresponding arc-shaped sliding grooves and can roll along the arc-shaped sliding grooves.

7. The safety seat according to claim 3, characterized in that: The rotating gear is arranged on the first mounting frame through a limiting structure; The limiting structure includes a plurality of limiting blocks and a plurality of fixing members; the plurality of limiting blocks are arranged on the first mounting frame along the circumferential direction, an annular limiting groove is arranged on the rotating gear, and the limiting blocks are arranged in the annular limiting groove; one end of the plurality of fixing members is arranged on the first mounting frame along the circumferential direction, and the other end is placed above the rotating gear.

8. The safety seat according to claim 5, characterized in that: The monitoring module also has at least two position monitoring units; at least one of the position monitoring units is used to monitor the initial position of the rotating gear, and the rotating gear has a positioning magnet for cooperating with the position monitoring unit; at least one of the position monitoring units is used to monitor the initial position of the first arc gear, and the second mounting bracket has a positioning magnet for cooperating with the position monitoring unit.

9. The safety seat according to claim 8, characterized in that: The number of the position monitoring units is eight; The four position monitoring units are sequentially mounted on the first mounting frame along the circumferential direction of the rotating gear, and a positioning magnet cooperating with the four position monitoring units is provided on the rotating gear; The two position monitoring units are arranged on the rotating gear along the movement path of the second mounting frame, and the second mounting frame is provided with two positioning magnets corresponding to the two position monitoring units, which are respectively used to monitor the initial position of the second mounting frame and the extreme position of the second mounting frame; The two position monitoring units are arranged on the second mounting frame along the movement path of the supporting arc gear. The supporting arc gear is provided with two positioning magnets corresponding to the two position monitoring units one by one, which are respectively used to monitor the highest position and the lowest position of the safety seat body.

10. The safety seat according to claim 1, characterized in that: The monitoring module also has at least one obstruction monitoring unit; At least one of the obstruction monitoring units is disposed on at least one side of the safety seat body, and the obstruction monitoring unit is used to monitor obstructions on both sides of the safety seat body.

11. A safety seat control system, characterized in that: It comprises a signal transmission module, a control module and the safety seat according to any one of claims 1 to 10; The signal transmission module is used to receive the operating parameters of the vehicle sent by the monitoring module of the safety seat, and send them to the control module; The control module is configured to determine and send a first control parameter through the signal transmission module according to an operating parameter of the vehicle, wherein the first control parameter is used to control the movement of the first drive unit and the second drive unit of the safety seat.

12. The safety seat control system according to claim 11, characterized in that: The driving module further comprises a third driving unit; The third driving unit is connected to the second driving unit, and the third driving unit is connected to the lower side of the safety seat body; The second driving unit is used to drive the third driving unit and the safety seat body to rotate in the second plane, and the third driving unit is used to drive the safety seat body to rotate in a third plane; The first plane, the second plane and the third plane intersect each other; The control module is configured to determine and send a first control parameter according to an operating parameter of the vehicle, where the first control parameter is used to control the movement of the first drive unit, the second drive unit, and the third drive unit of the safety seat.

13. A carrier, characterized in that: A safety seat according to any one of claims 1 to 10, a safety seat control system according to claim 11 or 12, and at least one connecting component; The connecting component connects the safety seat and the carrier.

14. The carrier according to claim 13, characterized in that: The carrier has a seat, and the safety seat is arranged on the seat.

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