阅读说明：本技术 一种电子防抖餐具 (Electronic anti-shake tableware ) 是由 付冬梅 宋广轩 秦昕 王美军 于 2019-09-25 设计创作，主要内容包括：本发明提供一种电子防抖餐具,包括手持柄、餐具本体、伺服机构和餐具本体固定装置；其中,餐具本体固定装置通过伺服机构与手持柄连接,餐具本体与餐具本体固定装置可拆卸连接；手持柄内设有主板和为主板供电的电源,主板上设有微控制器和第一传感器；餐具本体固定装置内设有第二传感器；第一传感器用于实时采集手持柄的空间姿态数据,第二传感器用于实时采集餐具本体的空间姿态数据,微控制器用于根据手持柄空间姿态的动态变化,驱动伺服机构带动餐具本体相对于手持柄运动,保持其在空间中的位置相对稳定。本发明具有响应速度快,调节准确,使用范围广,餐具本体可更换,可无线充电的特点,能辅助震颤症患者解决因手部抖动带来的进食不便的问题。(The invention provides electronic anti-shake tableware, which comprises a handheld handle, a tableware body, a servo mechanism and a tableware body fixing device, wherein the handheld handle is arranged on the tableware body; the tableware body fixing device is connected with the handle through the servo mechanism, and the tableware body is detachably connected with the tableware body fixing device; a main board and a power supply for supplying power to the main board are arranged in the handheld handle, and a microcontroller and a first sensor are arranged on the main board; a second sensor is arranged in the tableware body fixing device; the first sensor is used for collecting the space attitude data of the handheld handle in real time, the second sensor is used for collecting the space attitude data of the tableware body in real time, and the microcontroller is used for driving the servo mechanism to drive the tableware body to move relative to the handheld handle according to the dynamic change of the space attitude of the handheld handle, so that the position of the tableware body in the space is kept relatively stable. The invention has the characteristics of high response speed, accurate adjustment, wide application range, replaceable tableware body and wireless charging, and can assist tremor patients to solve the problem of inconvenient eating caused by hand trembling.)

1. An electronic anti-shake tableware comprises a handheld handle and a tableware body, and is characterized by further comprising a servo mechanism and a tableware body fixing device; wherein the content of the first and second substances,

the tableware body fixing device is in transmission connection with the handheld handle through the servo mechanism, and the tableware body is detachably connected with the tableware body fixing device; a main board and a power supply are arranged in the handheld handle, the main board is electrically connected with the power supply, and a microcontroller and a first sensor are arranged on the main board; the servo mechanism and the first sensor are both electrically connected with the microcontroller;

the first sensor is used for acquiring the spatial attitude data of the handheld handle in real time in the using process and transmitting the spatial attitude data of the handheld handle to the microcontroller in real time; the microcontroller is used for generating a control signal according to the dynamic change of the space posture of the handheld handle and transmitting the control signal to the servo mechanism so as to drive the servo mechanism to drive the tableware body to move in a direction opposite to the shaking direction of the handheld handle relative to the handheld handle through the tableware body fixing device, so that the space posture change of the tableware body caused by shaking is counteracted, and the position of the tableware body in the space is kept relatively stable.

2. The electronic anti-shake dinnerware of claim 1, wherein a second sensor is disposed within the dinnerware body fixture; the second sensor is electrically connected with the microcontroller and is used for acquiring the spatial attitude data of the tableware body in real time in the using process and transmitting the spatial attitude data of the tableware body to the microcontroller in real time;

the microcontroller is also used for compensating the control signal according to the space attitude data of the tableware body transmitted by the second sensor in real time in the process of controlling the servo mechanism according to the dynamic change of the space attitude of the handheld handle so as to complete the closed-loop control of the servo mechanism.

3. The electronic anti-shaking tableware according to claim 2, wherein said first sensor and said second sensor are of the same type, and are each a coaxial combination of an electronic gyroscope and an electronic accelerometer, and the relative positions of said first sensor and said second sensor have a mathematically describable spatial positional relationship.

4. The electronic anti-shake dinnerware of claim 3, wherein the microcontroller uses a data fusion algorithm to data-fuse the angular velocity and acceleration data collected by the first and second sensors, respectively, to obtain the spatial attitude of the handle and the spatial attitude of the dinnerware body.

5. The electronic anti-shake dinnerware of claim 1, wherein the servo comprises at least one rotating motor.

6. The electronic anti-shake tableware according to claim 5, wherein said servo mechanism is a motor set mechanically combined by a plurality of rotating motors, and the spatial position influence of the movement of each rotating motor in said motor set on said tableware body has a mathematically describable positional relationship.

7. The electronic anti-shake tableware according to claim 1, wherein said power source is a rechargeable lithium ion battery.

8. The electronic anti-shake dinnerware of claim 7, wherein the power source comprises a wireless charging module for charging the power source using wireless power transfer technology.

9. The electronic anti-shake tableware according to claim 1, wherein a connecting structure connected with the tableware body fixing device is arranged at one end of the tableware body, and a locking structure matched with the connecting structure is arranged at one end of the tableware body fixing device connected with the tableware body;

the inner wall of the locking structure is embedded with a press-in type spring plunger, the side wall of the connecting structure is provided with a circular groove matched with the spring plunger, the connecting structure is inserted into the locking structure, and the spring plunger is correspondingly clamped with the circular groove.

10. The electronic anti-shake tableware according to any one of claims 1 to 9, wherein a wireless communication module is further provided on said main board to wirelessly communicate said main board with a smart device.

Technical Field

The invention relates to the technical field of tableware, in particular to electronic anti-shaking tableware.

Background

Tremor, a diagnostic phenomenon in the field of western medicine, is classified clinically as resting tremor, physiological tremor, essential tremor, intention tremor, and the like, and is a rhythmic, alternating, oscillatory movement of the limbs. Parkinsonism, hepatolenticular degeneration, hyperthyroidism and some brain diseases cause tremors.

Some patients with severe tremor have severe tremor, because the hands shake violently, when eating the tableware, the food can shake off from the tableware, so that the life of the patients cannot be self-managed, and people are needed to feed the food for care. The existing tableware can not provide a stable platform or a container for holding food for patients with severe tremor phenomenon, so that the patients feel distressed and are seriously injured by self-esteem of the patients.

Disclosure of Invention

The invention aims to provide electronic anti-shaking tableware to assist tremor patients in solving the problem of inconvenience in self-feeding of the patients caused by shaking hands.

In order to solve the technical problems, the invention provides an electronic anti-shake tableware, which comprises a hand-held handle, a tableware body, a servo mechanism and a tableware body fixing device, wherein the hand-held handle is connected with the tableware body; wherein the content of the first and second substances,

the tableware body fixing device is in transmission connection with the handheld handle through the servo mechanism, and the tableware body is detachably connected with the tableware body fixing device; a main board and a power supply are arranged in the handheld handle, the main board is electrically connected with the power supply, and a microcontroller and a first sensor are arranged on the main board; the servo mechanism and the first sensor are both electrically connected with the microcontroller;

the first sensor is used for acquiring the spatial attitude data of the handheld handle in real time in the using process and transmitting the spatial attitude data of the handheld handle to the microcontroller in real time; the microcontroller is used for generating a control signal according to the dynamic change of the space posture of the handheld handle and transmitting the control signal to the servo mechanism so as to drive the servo mechanism to drive the tableware body to move in a direction opposite to the shaking direction of the handheld handle relative to the handheld handle through the tableware body fixing device, so that the space posture change of the tableware body caused by shaking is counteracted, and the position of the tableware body in the space is kept relatively stable.

Furthermore, a second sensor is arranged in the tableware body fixing device; the second sensor is electrically connected with the microcontroller and is used for acquiring the space attitude data of the tableware body in real time in the using process and transmitting the space attitude data of the tableware body to the microcontroller in real time;

the microcontroller is also used for compensating the control signal according to the space attitude data of the tableware body transmitted by the second sensor in real time in the process of controlling the servo mechanism according to the dynamic change of the space attitude of the handheld handle so as to complete the closed-loop control of the servo mechanism.

Preferably, the first sensor and the second sensor are of the same type, each being a coaxial combination of an electronic gyroscope and an electronic accelerometer, the relative positions of the first sensor and the second sensor having a mathematically describable spatial positional relationship.

Further, the microcontroller respectively performs data fusion on the angular velocity and the acceleration data acquired by the first sensor and the second sensor by using a data fusion algorithm to obtain the spatial posture of the handheld handle and the spatial posture of the tableware body.

Further, the servo mechanism comprises at least one rotating motor.

Optionally, the servo mechanism is a motor set formed by mechanically combining a plurality of rotating motors, and the spatial position influence generated by the movement of each rotating motor in the motor set on the tableware body has a position relation which can be mathematically described.

Optionally, the power source is a rechargeable lithium ion battery.

Optionally, the power supply includes a wireless charging module, and the wireless charging module is configured to charge the power supply using a wireless power transmission technology.

Furthermore, one end of the tableware body is provided with a connecting structure connected with the tableware body fixing device, and one end of the tableware body fixing device connected with the tableware body is provided with a locking structure matched with the connecting structure;

the inner wall of the locking structure is embedded with a press-in type spring plunger, the side wall of the connecting structure is provided with a circular groove matched with the spring plunger, the connecting structure is inserted into the locking structure, and the spring plunger is correspondingly clamped with the circular groove.

Optionally, a wireless communication module is further arranged on the main board to realize communication between the main board and the intelligent device in a wireless manner.

The technical scheme of the invention has the following beneficial effects:

the electronic anti-shaking tableware provided by the invention can be used for assisting tremor patients and reducing the problem of inconvenience in self-feeding of the patients caused by shaking hands, and has the advantages of high response speed, accurate adjustment, simple and convenient charging and use and replaceable tableware body. Jitter data is acquired through a built-in sensor, the data acquired by the sensor is analyzed by using a microcontroller, and a servo mechanism is controlled to react to eliminate the jitter of the tableware; the design structure with the replaceable tableware body greatly increases the application range of the invention; the charging mode of wireless electric energy transmission can greatly facilitate the user to charge the electronic anti-shake tableware.

Drawings

FIG. 1 is a schematic structural view of an electronic anti-shaking tableware according to the present invention;

FIGS. 2 and 3 are schematic views of tableware bodies in different shapes;

fig. 4 is a schematic diagram of a wireless charging base;

FIG. 5 is a schematic view of the fastening device of the tableware body of the present invention.

[ description of reference numerals ]

1. A handle; 2. a servo mechanism; 3. a tableware body fixing device; 4. a tableware body;

5. a main board; 6. a power source; 7. a first sensor; 8. a second sensor; 9. a cable;

10. a wireless charging base; 11. a spring plunger.

Detailed Description

In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1 to 5, the present embodiment provides an electronic anti-shake tableware, which includes a handle 1, a servo mechanism 2, a tableware body fixing device 3 and a tableware body 4; wherein the content of the first and second substances,

the tableware body fixing device 3 is in transmission connection with the handheld handle 1 through the servo mechanism 2, and the tableware body 4 is detachably connected with the tableware body fixing device 3 in a tool-free assembling and disassembling mode; the surface of the hand-held handle 1 is rough in texture, the shape of the hand-held handle accords with the ergonomic design, the hand-held handle is convenient for a user to grasp, and tableware is prevented from falling off;

a main board 5 and a power supply 6 are arranged in the handheld handle 1, the power supply 6 is electrically connected with the main board 5, and the power supply 6 is used for providing electric energy for the operation of equipment; a microcontroller and a first sensor 7 are arranged on the mainboard 5; the servo mechanism 2 and the first sensor 7 on the mainboard 5 are electrically connected with the microcontroller on the mainboard 5;

the first sensor 7 is used for acquiring the spatial attitude data of the handheld handle 1 in real time in the using process and transmitting the spatial attitude data of the handheld handle 1 to the microcontroller in real time; microcontroller is used for carrying out the analysis to the space gesture data of handing handle 1 and obtains the space gesture of handing handle 1, and according to the dynamic change of the space gesture of handing handle 1, generate control signal and give control signal to servo 2, servo 2 accepts microcontroller's control, respond in time, drive tableware body 4 for handing handle 1 through tableware body fixing device 3 and to the opposite direction motion of shake direction with handing handle 1, change because of the space gesture that the shake of handing handle 1 caused with offsetting tableware body 4, keep the position of tableware body 4 in the space relatively stable.

Further, a second sensor 8 is arranged in the tableware body fixing device 3; the second sensor 8 is electrically connected with the microcontroller through a cable 9, and the second sensor 8 is used for collecting the space attitude data of the tableware body 4 in real time in the using process and transmitting the space attitude data of the tableware body 4 to the microcontroller in real time; the microcontroller is also used for obtaining the spatial attitude of the tableware body 4 according to the spatial attitude data of the tableware body 4 transmitted by the second sensor 8 in real time in the process of controlling the servo mechanism 2 according to the dynamic change of the spatial attitude of the handheld handle 1, and compensating the control signal output to the servo mechanism 2 according to the movement of the tableware body 4 so as to complete the closed-loop control of the servo mechanism 2 and improve the control speed and precision.

Specifically, in the present embodiment, the first sensor 7 and the second sensor 8 respectively transmit the data acquired by the respective sensors to the microcontroller on the motherboard 5 according to the standard specified by the IIC protocol; the control algorithm built in the microcontroller is specifically a PID algorithm for resisting integral saturation; it is understood, of course, that the transmission protocol between each sensor and the microcontroller and the control algorithm built in the microcontroller are not specifically limited in this example.

The first sensor 7 and the second sensor 8 are of the same type and are coaxial combination of an electronic gyroscope and an electronic accelerometer, and the relative positions of the first sensor 7 and the second sensor 8 have a spatial position relationship which can be described mathematically, and the angular velocity and the acceleration of the handle 1 and the tableware body 4 are respectively and independently acquired. The microcontroller on the mainboard 5 uses a Kalman data fusion algorithm to perform data fusion on the angular velocity and acceleration data acquired by the first sensor 7 and the second sensor 8 respectively so as to obtain the space attitude of the handheld handle 1 and the space attitude of the tableware body 4. Therefore, the error caused by using one sensor alone is reduced, and the measurement precision is improved.

The servo mechanism 2 is a motor set, and the motor set can be mechanically combined by one, two or three rotating motors according to the characteristics of the shaking type during design, and the influence of the motion of each motor in the motor set on the space posture of the tableware body 4 has a position relation which can be described by mathematics; the microcontroller calculates and generates a control signal according to the algorithm, the control signal is transmitted to the servo mechanism 2 through a cable, a motor set of the servo mechanism 2 responds according to the control signal and rotates to enable the tableware body 4 and the handheld handle 1 to move relatively, and the tableware body 4 is kept dynamically and relatively stable in space under the condition that the handheld handle 1 shakes.

For example, aiming at the characteristic that an alcohol-dependent tremor patient has single type tremor, the motor set selects a rotating motor, and the rotating motor is installed to enable the rotating motion of the rotating motor to be in a linear relation with the rotation of the pitching shaft of the tableware body 4. Specifically, in the embodiment, the motor housing is rigidly connected with the handle 1, the motor rotor is rigidly connected with the tableware body fixing device 3 through the speed reducing mechanism, and when the motor moves under the control of the microprocessor, the tableware body 4 fixed on the tableware body fixing device 3 can rotate by a pitching axis;

as shown in fig. 1 to 3, the tableware body 4 has various different types such as a spoon, a fork, a chopstick and the like, and can be conveniently replaced by a user according to actual needs in different use scenes; thereby providing convenience to the user for eating. For example, when a user suffering from alcohol dependence wants to finish porridge drinking independently, the anti-shaking tableware can be provided with the tableware body 4 in a soup spoon shape, and when the handle 1 is shaken, the anti-shaking tableware can move oppositely to the handle 1 through the structure and the software algorithm, so that the tableware body 4 is kept stable in space, the liquid food is prevented from being scattered, and the user can be helped to eat food independently.

Specifically, the tableware body fixing device 3 and the tableware body 4 are assembled and disassembled without tools in the following modes: a connecting structure connected with the tableware body fixing device 3 is arranged at one end of the tableware body 4, and a locking structure matched with the connecting structure is arranged at one end of the tableware body fixing device 3 connected with the tableware body 4; so that the tableware body 4 can be connected to the tableware body fixing device in a tool-free manner;

further, as shown in fig. 5, a press-in type spring plunger 11 is embedded in the inner wall of the locking structure, a circular groove matched with the spring plunger 11 is formed in the side wall of the connecting structure, and after the connecting structure is inserted into the locking structure, the spring plunger 11 is correspondingly clamped with the circular groove. When the tableware fixing device is used, the connecting structure at one end of the tableware body 4 is manually pushed into the locking structure of the tableware body fixing device 3, and the tableware body 4 is fixed by the ball head pressure of the spring plunger 11.

The power supply 6 is a rechargeable lithium ion battery. It can be charged by a wired adapter or wirelessly charged by a wireless charging base 10 as shown in fig. 4; when the wireless charging base 10 is used for charging, the power supply 6 needs to be provided with a wireless charging module, so that the power supply 6 can be charged by the wireless charging base 10 through a wireless power transmission technology. The power supply 6 has a protection circuit, can manage the charging and discharging processes, avoid the overcharge, the overdischarge and the overhigh temperature of the power supply, and can provide the function of inquiring the residual electric quantity.

In addition, still be provided with wireless communication module on above-mentioned mainboard 5 to realize mainboard 5 and smart machine's connection and communication through wireless mode.

Further, in this embodiment, the electronic anti-shake tableware is specifically connected to the smart device through a wireless radio frequency communication technology (such as bluetooth communication), and performs data information transmission. The intelligent equipment can encrypt and store user data in the Internet, process the user data, provide specific parameters for the optimization of the electronic anti-shaking tableware and carry out targeted adjustment on shaking types specific to different users. The intelligent equipment can be used for checking the electric quantity of the tableware, collecting user habit data, setting working state and the like, so that algorithm parameters in the microcontroller can be further adjusted through data analysis, and an anti-shaking tableware algorithm can be updated.

The electronic anti-shake tableware that this embodiment provided can be used to supplementary tremor disease patient, reduces the inconvenient problem of independently eating that the patient brought because of the hand shake, and it has that response speed is fast, adjust accurate, charge and convenient to use, tableware body removable advantage. Jitter data is acquired through a built-in sensor, the data acquired by the sensor is analyzed by using a microcontroller, and a servo mechanism is controlled to react to eliminate the jitter of the tableware; the design structure with the replaceable tableware body greatly increases the application range of the invention; the charging mode of wireless power transmission can be greatly convenient for a user to charge the electronic anti-shake tableware of the embodiment.

Moreover, it is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.