A control method and related products based on an intelligent bed

Abstract

The embodiments of the present application relate to the technical field of smart home, and disclose a control method and related products based on a smart bed. The smart bed includes a tabletop, a foldable robotic arm, a bed frame, and a smart mattress placed on the bed frame; when the foldable robotic arm is folded and retracted on a designated side of the bed frame, the tabletop is perpendicular to the horizontal plane; when the foldable robotic arm is fully extended along a predetermined trajectory, the tabletop is above the smart bed. The feature is that the smart mattress detects and obtains the pressure distribution of the smart mattress; the smart mattress identifies whether the posture of the user on the smart mattress is a sitting posture according to the pressure distribution; if so, it sends an unfolding instruction to the foldable robotic arm; the foldable robotic arm responds to the unfolding instruction and is fully extended along the predetermined trajectory, so that the user can use the tabletop above the smart bed. Implementing the above method does not require the user to manually arrange a table on the bed, automatically forms a desktop, improves the automation degree and functionality of the smart bed, and enhances the comfort.

Description

Technical Field

[0001] This application relates to the technical field of smart home, and particularly relates to a control method and related products based on a smart bed. Background Art

[0002] In practice, it is found that users have a need to use a table on the bed, such as reading and studying on the bed using a table, eating on the bed using a table, etc. In the prior art, users usually use some foldable small desks to meet the needs. However, these foldable desks need to be manually arranged by users, and the arrangement is inconvenient. Summary of the Invention

[0003] The embodiments of this application disclose a control method and related products based on a smart bed, which can automatically form a desktop for users to use according to the user's posture without the need for users to manually arrange a table on the bed, improving the automation degree, functionality of the smart bed, and enhancing the comfort.

[0004] In the first aspect of the embodiments of this application, a control method based on a smart bed is disclosed. The smart bed includes a table board, a foldable robotic arm, a bed frame, and a smart mattress placed on the bed frame; the gripper of the foldable robotic arm clamps one side of the table board, and the bottom end of the robotic arm is connected to a designated side of the bed frame. When the foldable robotic arm is folded and retracted on the designated side of the bed frame, the table board is perpendicular to the horizontal plane; when the foldable robotic arm is fully unfolded along a predetermined trajectory, the table board is above the smart bed; the method includes: the smart mattress detects and obtains the pressure distribution of the smart mattress; the smart mattress, according to the pressure distribution, identifies whether the posture of the user on the smart mattress is a sitting posture; if so, sends an unfolding instruction to the foldable robotic arm; the foldable robotic arm responds to the unfolding instruction and is fully unfolded along the predetermined trajectory, so that the user can use the table board above the smart bed.

[0005] In the second aspect of the embodiments of this application, a smart bed is disclosed. The smart bed includes a table board, a foldable robotic arm, a bed frame, and a smart mattress placed on the bed frame; the gripper of the foldable robotic arm clamps one side of the table board, and the bottom end of the robotic arm is connected to a designated side of the bed frame. When the foldable robotic arm is folded and retracted on the designated side of the bed frame, the table board is perpendicular to the horizontal plane; when the foldable robotic arm is fully unfolded along a predetermined trajectory, the table board is above the smart bed; the smart mattress is used to detect and obtain the pressure distribution of the smart mattress; and is further used to identify whether the posture of the user on the smart mattress is a sitting posture according to the pressure distribution; if so, sends an unfolding instruction to the foldable robotic arm; the foldable robotic arm is used to respond to the unfolding instruction and is fully unfolded along the predetermined trajectory, so that the user can use the table board above the smart bed.

[0006] In the third aspect of the embodiments of the present application, a computer-readable storage medium is disclosed, on which a computer program is stored. When the computer program is executed by a processor, the steps in the control method based on the intelligent bed disclosed in the first aspect of the embodiments of the present application are implemented.

[0007] Compared with the prior art, the embodiments of the present application have the following beneficial effects: When the intelligent mattress detects that the user is in a sitting position, it controls the folding robotic arm to unfold and moves the table top to above the intelligent bed for the user to use, realizing the linkage between the intelligent mattress and the robotic arm. There is no need for the user to manually arrange a table on the bed, and a table top can be automatically formed according to the user's posture for the user to use, improving the automation degree and functionality of the intelligent bed and enhancing the comfort. Description of the Drawings

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0009] Figure 1 It is a schematic flowchart of the control method based on the intelligent bed disclosed in the embodiments of the present application;

[0010] Figure 2 It is a schematic structural diagram of the intelligent bed disclosed in the embodiments of the present application;

[0011] Figure 3 It is another schematic structural diagram of the intelligent bed disclosed in the embodiments of the present application;

[0012] Figure 4 It is a schematic diagram of dividing the surface layer of the intelligent mattress into several regions disclosed in the embodiments of the present application;

[0013] Figure 5 It is a schematic flowchart of the second embodiment of the control method based on the intelligent bed disclosed in the embodiments of the present application. Detailed Embodiments

[0014] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all of them. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0015] It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units need not be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0016] The embodiments of the present application disclose a control method and related products based on an intelligent bed, realizing the linkage between the intelligent mattress and the robotic arm. Without the need for the user to manually arrange a table on the bed, a desktop can be automatically formed according to the user's posture for the user to use, improving the automation degree, functionality of the intelligent bed, and enhancing the comfort. The following will be described in detail with reference to the accompanying drawings.

[0017] The control method is implemented based on an intelligent bed. The intelligent bed includes an electric bed body, and a drive motor and an electric push rod are provided inside the electric bed body. The electric bed body can control the operation of the electric push rod to adjust the transformation of different angles of the bed body, so as to adapt to various different human postures, achieve maximum comfort and meet various functional requirements.

[0018] In the intelligent bed, the electric bed body can cooperate with the intelligent mattress. The intelligent mattress is designed according to human sleep habits and integrates a variety of high-quality and healthy sleep raw materials. It is a mattress that can adjust different softness and hardness. The intelligent mattress can raise the leg position under the action of the motor to promote blood return, which is of great benefit to the heart, brain, and legs; in addition, the intelligent mattress can raise the head position to facilitate the user to read books, watch TV, and other leisure and entertainment on the bed. Further, the intelligent mattress can also provide massage services for the user, enabling the user to relax the body, regulate the body and mind, relax the muscles and bones, taste the beauty of life, and fully guarantee the sleep quality of the user.

[0019] Please refer to Figures 1 to 3 , Figure 1 which is a schematic flowchart of the first embodiment of the control method based on the intelligent bed disclosed in the embodiments of the present application, Figure 2 and which is a schematic structural diagram of the intelligent bed disclosed in the embodiments of the present application. As Figure 2 shown, in the embodiments of the present application, the intelligent bed 200 includes a table board 210, a foldable robotic arm 220, a bed frame 230, and an intelligent mattress 240 placed on the bed frame;

[0020] As Figure 2 shown, the gripper of the foldable robotic arm clamps one side of the table board, and the bottom end of the robotic arm is connected to a specified side of the bed frame. Figure 2Exemplarily, the robotic arm is arranged on the left side of the headboard of the bed frame. In other embodiments of the present application, the arrangement of the robotic arm may also be in other reasonable forms. For example, it may be arranged on the right side, or one robotic arm may be arranged on each side. The robotic arm may be arranged on the side of the headboard of the bed frame or on the side of the bed body of the bed frame. The present application does not limit this.

[0021] As Figure 2 shown, when the folding robotic arm is folded and retracted on the designated side of the bed frame, the tabletop is fixed to the side of the bed frame by the robotic arm in a manner perpendicular to the horizontal plane and parallel to the side of the bed frame. In some embodiments of the present application, the tabletop is hidden inside the bed frame. For example, a notch slightly larger than the tabletop and having the same shape is reserved on the side of the headboard of the bed frame. This notch can serve as a receiving groove for the tabletop. When the folding robotic arm is folded and retracted, the tabletop enters the notch and exists as a part of the side of the headboard of the bed frame.

[0022] When the folding robotic arm is fully extended along a predetermined trajectory, the tabletop is above the intelligent bed.

[0023] The folding robotic arm can be extended according to the preset extension trajectory of the robotic arm. In the extended state of the robotic arm, the tabletop will be moved above the intelligent bed. For example, as Figure 2 shown, the extension trajectory of the folding arm of the intelligent bed can be: the first member of the folding arm extends a certain distance in the horizontal direction, and then the second member of the folding arm extends obliquely upward and extends a certain distance. After the robotic arm is extended, the tabletop is moved above the intelligent bed. Finally, the user can manually flip or the robotic arm automatically flips the gripper connecting the foldable robotic arm and the tabletop, so that the tabletop is above the intelligent bed and parallel to the horizontal plane for the user to use. The intelligent bed after the robotic arm is extended is as Figure 3 shown. Figure 3 is another structural schematic diagram of the intelligent bed disclosed in the embodiments of the present application. In the embodiments of the present application, the folding robotic arm and its preset trajectory may also have other reasonable forms. The present application does not limit this. For example, Figure 2 the second member of the robotic arm in

[0024] As Figure 1 shown, the control method based on the intelligent bed may include the following steps:

[0025] 101. The intelligent mattress detects and obtains the pressure distribution of the intelligent mattress.

[0026] The intelligent mattress is provided with a pressure detection device, which can detect and obtain the pressure distribution of the intelligent mattress. For example, the intelligent mattress can be provided with one or more pressure sensors on the surface layer to detect the pressure at multiple positions of the intelligent mattress and obtain the pressure distribution.

[0027] 102. The intelligent mattress determines whether the posture of the user on the intelligent mattress is a sitting posture according to the pressure distribution; if so, it sends an unfolding instruction to the folding robotic arm.

[0028] The control module on the intelligent mattress determines the posture of the user on the intelligent mattress according to the pressure distribution. For example, different pressure values are set in advance for different postures of the user. For example, when the user lies flat, the pressure value is set to be less than 50N, and when the user sits, the pressure value is set to be greater than 50N. When there is a pressure value greater than 50N in the pressure distribution, the user's posture is recognized as a sitting posture. On the contrary, when there is a pressure value greater than 50N in the pressure distribution, the user's posture is recognized as a sleeping posture.

[0029] After the control module recognizes that the user's posture is a sitting posture, it means that the user is sitting on the bed and may need to use a table. It sends an unfolding instruction to the folding robotic arm through a communication module on the intelligent mattress, such as Bluetooth, mobile communication network, etc.

[0030] In some embodiments, the surface layer of the intelligent mattress is divided into several regions, and each region is provided with a pressure sensor. The pressure distribution is the pressure value detected by each pressure sensor. Figure 4 It is a schematic diagram of dividing the surface layer of the intelligent mattress into several regions. As Figure 4 shown, the surface layer of the intelligent mattress is divided into several regions (such as region 1 to region 15), and each region is provided with a pressure sensor. The pressure sensor can be a gauge pressure sensor, a differential pressure sensor, or an absolute pressure sensor. Exemplarily, a number is set for each region pressure sensor, such as setting the same number as the region where the pressure sensor is located.

[0031] In the case where the surface layer of the intelligent mattress is divided into several regions, the pressure distribution is the pressure value detected by each pressure sensor of the intelligent mattress, and this data reflects the pressure value of each region of the intelligent mattress.

[0032] The intelligent mattress determines whether the posture of the user on the intelligent mattress is a sitting posture according to the pressure distribution, including:

[0033] Step A: Determine whether there is a target pressure value greater than a preset value in the pressure distribution.

[0034] The intelligent mattress searches in the pressure distribution for a pressure value greater than a preset value, which is called the target pressure value. For example, if the preset value is set to 50 N, it searches in the pressure distribution for a pressure value greater than 50 N. If there is such a value, it obtains that value.

[0035] Step B: When there is a target pressure value greater than the preset value in the pressure distribution, obtain the target pressure sensor corresponding to the target pressure value.

[0036] When there is a target pressure value greater than the preset value, obtain the pressure sensor corresponding to the target pressure value. For example, if the preset value is set to 50 N and a pressure value of 80 N is found in the pressure distribution, obtain the pressure sensor that detected this value, such as pressure sensor 8.

[0037] Step C: Obtain the adjacent sensors adjacent to the target pressure sensor in the horizontal direction.

[0038] Obtain the pressure sensors adjacent to the target pressure sensor in the horizontal direction on the intelligent mattress. For pressure sensor 8, obtain the horizontally adjacent pressure sensors 7 and 9 as the adjacent sensors.

[0039] Step D: Obtain the pressure value of each of the adjacent sensors in the pressure distribution.

[0040] Obtain the pressure values detected by each adjacent sensor when obtaining the pressure distribution previously. For example, obtain the pressure values of pressure sensor 7 and pressure sensor 9 in the pressure distribution, such as the pressure value of pressure sensor 7 being 78 N and the pressure value of pressure sensor 9 being 60 N.

[0041] Step E: When the difference between the pressure value of any one of the adjacent sensors in the pressure distribution and the target pressure value is within a preset range, identify the posture of the user on the intelligent mattress as a sitting posture.

[0042] It can be understood that when the user sits on the bed, the weight is concentrated on the buttocks, and the pressure value of the intelligent mattress is relatively large. When the user sits down, the contact surface formed between the buttocks and the intelligent mattress is in a relatively horizontal direction, so there will be two horizontally adjacent sensors in the mattress detecting similar pressure values. Then when the difference between the pressure value of any one of the adjacent sensors in the pressure distribution and the target pressure value is within a predetermined range. For example, if the preset range is set to ±5 N, then the pressure value of pressure sensor 7, which is 78 N, and the target pressure value of 80 N are within the above preset range, and it can be determined that the user's posture is a sitting posture.

[0043] Among them, by implementing the above embodiments, the posture of the user is judged based on the magnitude of the pressure exerted on the intelligent mattress by the user when sitting down and the way of exerting the pressure, thereby improving the accuracy of the intelligent mattress in judging the user's posture.

[0044] 103. The folding robotic arm fully unfolds along the predetermined trajectory in response to the unfolding instruction, so that the user can use the tabletop above the intelligent bed.

[0045] After receiving the unfolding instruction sent by the intelligent mattress, the folding robotic arm unfolds according to the instruction along the predetermined trajectory, moves the tabletop above the intelligent bed, and the robotic arm can control the tabletop to rotate to the horizontal direction for the user to use, or the user manually flips the tabletop to make it in the horizontal direction.

[0046] Implementation Figure 1 In the described control method based on the intelligent bed, when the intelligent mattress detects that the user is in a sitting position, it controls the folding robotic arm to unfold, moves the tabletop above the intelligent bed for the user to use, realizes the linkage between the intelligent mattress and the robotic arm, eliminates the need for the user to manually arrange a table on the bed, and can automatically form a tabletop according to the user's posture for the user to use, improving the automation level, functionality of the intelligent bed and enhancing the comfort.

[0047] In some embodiments of the present application, a hydraulic rod is provided at the tail of the bed frame, and the method further includes:

[0048] After the folding robotic arm fully unfolds along the predetermined trajectory, the intelligent mattress controls the hydraulic rod to rise, so that one end of the intelligent mattress is lifted.

[0049] A hydraulic rod is provided at the tail of the bed frame, and the tail refers to the side where the user's feet are located. For example, in Figure 2 In the described intelligent bed, the tail refers to the side away from the headboard of the bed, and the hydraulic rod is used to lift the intelligent mattress to form a slope when it extends.

[0050] When the human body is in a certain state, the blood return from the legs to the heart is blocked, and sitting for a long time will cause symptoms such as numb feet and fatigue in the human body. Lifting the legs will help the blood return from the legs and reduce the body load.

[0051] After the intelligent mattress sends the unfolding instruction to the folding robotic arm, the intelligent mattress controls the hydraulic rod to rise to a preset height, so that the intelligent mattress forms a slope from the end of the bed to the head of the bed, enabling the user's legs to be lifted.

[0052] Further, the intelligent mattress controls the hydraulic rod to rise, so that one end of the intelligent mattress is lifted, including: the intelligent mattress judges the weight of the user according to the pressure distribution; determines the rising height of the hydraulic rod according to the weight; controls the hydraulic rod to rise according to the rising height, so that one end of the intelligent mattress is lifted.

[0053] The intelligent mattress determines the user's weight based on the pressure distribution. For example, the pressure values are summed to obtain the total pressure value, and the total pressure value is converted into weight. When the pressure unit is N (Newton), the total pressure value can be divided by 9.8 kg / N to obtain the user's weight.

[0054] Determine the height that the hydraulic rod needs to rise according to the user's weight. For example, establish a weight-height correspondence table. For example, 0-59 kg corresponds to a height of 0.5 m, 60-70 kg corresponds to a height of 0.6 m, 70-80 kg corresponds to a height of 0.7 m. Look up the table according to the user's weight to obtain the rising height.

[0055] Control the hydraulic rod to rise to the rising height, so that the intelligent mattress forms a slope from the end of the bed to the head of the bed, which can raise the user's legs.

[0056] Among them, implementing the above implementation manner, determining the height that the hydraulic rod rises according to the user's weight can make the lifting angle and height of the intelligent mattress more in line with the user's needs, enhance the adaptability and intelligence of the intelligent bed, and improve the comfort.

[0057] In this embodiment, control the hydraulic rod to rise, so that the intelligent mattress forms a slope, raise the user's legs, so that the blood in the user's feet can flow back smoothly, reduce the user's physical burden, make the intelligent bed more ergonomic, and enhance the comfort of the intelligent bed.

[0058] Please refer to Figure 5 , Figure 5 which is a schematic flowchart of the second embodiment of the control method based on the intelligent bed disclosed in the embodiment of the present application. In the embodiment of the present application, the surface layer of the intelligent mattress is divided into several regions (such as Figure 2 the 15 regions shown). Each region is provided with a pressure sensor, and a number can also be set for each pressure sensor. For example, each pressure sensor is set with the same number as the region where it is located.

[0059] As Figure 5 shown, the control method based on the intelligent bed may include the following steps:

[0060] 501. The intelligent mattress detects and obtains the pressure distribution of the intelligent mattress;

[0061] The intelligent mattress obtains the pressure values detected by the pressure sensors in each region of the surface layer to obtain the pressure distribution of the intelligent mattress.

[0062] 502. The intelligent mattress identifies whether the posture of the user on the intelligent mattress is a sitting posture according to the pressure distribution.

[0063] The intelligent mattress determines the user's posture based on the obtained pressure distribution. For example, the intelligent mattress determines whether the distribution state of the pressure values is parallel to the long side of the mattress, and the pressure value at one end is greater than a preset value. For example, in the pressure distribution obtained by the intelligent mattress, the pressure sensors 5, 6, 7, and 8 detect pressure values, and the pressure values of the pressure sensors 5 and 6 are 60N and 65N respectively. In this distribution, the pressure sensors 6 and 7 are parallel to the long side of the mattress, and the pressure values of the pressure sensors 5 and 6 are both greater than the preset value of 50N. Then the intelligent mattress determines the user's posture as sitting position.

[0064] 503. The intelligent mattress obtains the sitting area of the user based on the pressure distribution, and determines whether there is an overlap between the sitting area and the pre-recorded tabletop coverage area; if so, perform the step of sending an unfolding instruction to the folding robotic arm; if not, the intelligent mattress outputs a prompt message; the prompt message is used to prompt the user of the intelligent mattress to adjust the sitting area; wherein, the tabletop coverage area is the partial area of the intelligent mattress covered by the tabletop when the tabletop is above the intelligent bed after the folding robotic arm is fully unfolded along the predetermined trajectory.

[0065] After the intelligent mattress identifies that the posture of the user on the intelligent mattress is a sitting position, it determines whether there is an overlap between the sitting area of the user and the pre-recorded tabletop coverage area. The tabletop coverage area is the partial area of the intelligent mattress covered by the tabletop when the tabletop is above the intelligent bed after the folding robotic arm is fully unfolded along the predetermined trajectory. For example, the two areas with the largest pressure values in the pressure distribution are determined as the sitting area. For example, the areas corresponding to the pressure sensors 5 and 6 are determined as the sitting area, and the tabletop coverage area is obtained. The tabletop coverage area is the partial area of the intelligent mattress covered by the tabletop when the tabletop is above the intelligent bed after the folding robotic arm is fully unfolded along the predetermined trajectory. This area can be the area of the intelligent mattress covered when the tabletop is in a horizontal state, or a usage coverage area set when the tabletop is above the intelligent bed after the folding robotic arm is unfolded. For example, after the folding robotic arm is unfolded, the tabletop is located above area 5. Considering the differences in the usage postures of the tabletop by different users, areas 5, 6, and 7 can be set as the usage coverage area.

[0066] Determine whether there is an overlap between the sitting area and the pre-recorded tabletop coverage area, such as determining whether there is an overlap between the sitting areas 5 and 6 and the coverage areas 5, 6, and 7.

[0067] Determining that there is an overlap between the sitting area and the coverage area indicates that the user is sitting in the correct position, and the intelligent mattress sends an unfolding instruction to the folding robotic arm.

[0068] If it is determined that there is no overlap between the sitting posture area and the coverage area, it indicates that the user is sitting in the wrong position and may not be able to use the tabletop. The intelligent mattress outputs a prompt message, which is used to prompt the user of the intelligent mattress to adjust the sitting posture area. For example, a vibration instruction is sent to make the coverage area of the intelligent mattress vibrate, reminding the user that the position is incorrect and needs to be adjusted.

[0069] 504. In response to the unfolding instruction, the folding robotic arm unfolds completely along the predetermined trajectory so that the user can use the tabletop above the intelligent bed.

[0070] After receiving the unfolding instruction sent by the intelligent mattress, the folding robotic arm unfolds along the predetermined trajectory in response to the instruction, moving the tabletop above the intelligent bed. The robotic arm can control the tabletop to rotate to the horizontal direction for the user to use, or the user can manually flip the tabletop to make it horizontal.

[0071] 505. The intelligent mattress detects that the user leaves the intelligent mattress.

[0072] After the folding robotic arm unfolds completely along the predetermined trajectory, the intelligent mattress also needs to detect whether the user has left the intelligent mattress. For example, the intelligent mattress detects the pressure distribution in real time or at regular intervals. When the pressure values of all pressure sensors in the pressure distribution are zero or less than a preset threshold, it is determined that the user has left the intelligent mattress.

[0073] 506. The intelligent mattress sends a folding instruction to the folding robotic arm.

[0074] In the case where the user leaves the intelligent mattress, the intelligent mattress sends a folding instruction to the folding robotic arm, and this instruction is used to make the robotic arm fold.

[0075] In some embodiments of the present application, after the intelligent mattress detects that the user leaves the intelligent mattress, the method further includes: the intelligent mattress detects whether there are items on the tabletop above the intelligent bed and parallel to the horizontal plane; if not, the step of sending the folding instruction to the folding robotic arm is executed.

[0076] During use, although the user leaves, the folding robotic arm still cannot retract the tabletop. For example, when the user still places items on the tabletop, at this time the intelligent mattress detects whether there are items on the tabletop above the intelligent bed and parallel to the horizontal plane, and only sends the folding instruction if there are no items.

[0077] Furthermore, a pressure sensor is provided on the desktop panel, and the smart mattress detects whether there is an object on the desktop panel above the smart bed and parallel to the horizontal plane, including: the smart mattress sends a detection instruction to the desktop panel; the desktop panel detects the pressure of the desktop panel in response to the detection instruction; when there is pressure on the desktop panel, the desktop panel sends an existence instruction to the smart mattress, and the existence instruction indicates that there is an object on the desktop panel; when there is no pressure on the desktop panel, the desktop panel sends an object non-existence instruction to the smart mattress, and the object non-existence instruction indicates that there is no object on the desktop panel.

[0078] The smart mattress sends a detection instruction to the desktop panel when it needs to know whether there is an object on the desktop panel.

[0079] After receiving the detection instruction, the desktop panel detects the pressure of the desktop panel in response to the detection instruction. When there is pressure on the desktop panel or the detected pressure value is greater than a preset threshold, the desktop panel sends an existence instruction to the smart mattress, and the existence instruction indicates that there is an object on the desktop panel.

[0080] When there is no pressure on the desktop panel or the detected pressure value is less than a preset threshold, the desktop panel sends an object non-existence instruction to the smart mattress, and the object non-existence instruction indicates that there is no object on the desktop panel.

[0081] Among them, when the above-mentioned embodiment is implemented, the desktop panel and the smart mattress are linked to determine whether there are objects on the desktop panel, and the desktop panel is retracted only when there are objects to ensure safety.

[0082] 507. In response to the folding instruction, the folding robot arm executes a folding trajectory to fold at a designated side of the bed frame so that the table top is perpendicular to a horizontal plane.

[0083] After receiving the folding instruction, the folding robot arm executes the folding trajectory in response to the folding instruction to fold at the specified side of the bed frame so that the table top is perpendicular to the horizontal plane. The folding trajectory can be the reverse trajectory of the predetermined trajectory for unfolding, such as Figure 2 The folding trajectory in may be: the second component of the folding arm is fully retracted, and then the first component of the folding arm is fully retracted in the horizontal direction.

[0084] exist Figure 5In the control method of the intelligent bed shown, when the intelligent mattress detects that the user is in a sitting position, it controls the folding robotic arm to unfold, moves the tabletop to above the intelligent bed for the user to use, realizes the linkage between the intelligent mattress and the robotic arm, eliminates the need for the user to manually arrange a table on the bed, can automatically form a tabletop according to the user's posture, and can further detect the sitting area of the user to ensure that the user can use the tabletop, improving the automation, functionality and comfort of the intelligent bed.

[0085] And after the folding robotic arm is fully unfolded along the predetermined trajectory, the intelligent mattress detects that the user leaves the intelligent mattress. In the case of the user leaving, the robotic arm is automatically folded and retracted, eliminating the need for the user to manually instruct the retraction of the tabletop, improving the automation and functionality of the intelligent bed.

[0086] Please refer to Figure 2 , Figure 2 which is a schematic structural diagram of an intelligent bed disclosed in an embodiment of the present application. As Figure 2 shown, the intelligent bed 200 includes a tabletop 210, a foldable robotic arm 220, a bed frame 230, and an intelligent mattress 240 placed on the bed frame; the gripper of the foldable robotic arm 220 clamps one side of the tabletop 210, and the bottom end of the robotic arm 220 is connected to a designated side of the bed frame 230. When the folding robotic arm 220 is folded and retracted on the designated side of the bed frame 230, the tabletop 210 is perpendicular to the horizontal plane; when the folding robotic arm 220 is fully unfolded along the predetermined trajectory, the tabletop 210 is above the intelligent bed 200;

[0087] The intelligent mattress 240 is used to detect and obtain the pressure distribution of the intelligent mattress; it is also used to identify whether the posture of the user on the intelligent mattress is a sitting position according to the pressure distribution; if so, it sends an unfolding instruction to the folding robotic arm.

[0088] The folding robotic arm 220 is used to respond to the unfolding instruction and fully unfold along the predetermined trajectory so that the user can use the tabletop above the intelligent bed.

[0089] In some embodiments, a hydraulic rod is provided at the tail of the bed frame, and the intelligent mattress is also used to control the hydraulic rod to rise, lifting one end of the intelligent mattress.

[0090] The intelligent mattress is also used to judge the weight of the user according to the pressure distribution; determine the rising height of the hydraulic rod according to the weight; control the hydraulic rod to rise according to the rising height, lifting one end of the intelligent mattress.

[0091] In some embodiments, the intelligent mattress is specifically configured to determine whether there is a target pressure value greater than a preset value in the pressure distribution; when there is a target pressure value greater than the preset value in the pressure distribution, obtain the target pressure sensor corresponding to the target pressure value; obtain the adjacent sensors adjacent to the target pressure sensor in the horizontal direction; obtain the pressure value of each adjacent sensor in the pressure distribution; when the difference between the pressure value of any adjacent sensor in the pressure distribution and the target pressure value is within a preset range, identify the posture of the user on the intelligent mattress as a sitting posture.

[0092] In some embodiments, the intelligent mattress is further configured to obtain the sitting area of the user based on the pressure distribution, and determine whether the sitting area overlaps with a pre-recorded tabletop coverage area; if so, perform the step of sending an unfolding instruction to the folding robotic arm; if not, the intelligent mattress outputs a prompt message; the prompt message is used to prompt the user of the intelligent mattress to adjust the sitting area; wherein, the tabletop coverage area is a partial area of the intelligent mattress covered by the tabletop when the folding robotic arm is fully unfolded along the predetermined trajectory and the tabletop is above the intelligent bed.

[0093] In some embodiments, the intelligent mattress is further configured to detect that the user leaves the intelligent mattress;

[0094] The intelligent mattress is further configured to send a folding instruction to the folding robotic arm;

[0095] The folding robotic arm is further configured to respond to the folding instruction and execute a folding trajectory to retract to a specified side of the bed frame, so that the tabletop is perpendicular to the horizontal plane.

[0096] In some embodiments, the intelligent mattress is further configured to detect whether there is an item on the tabletop that is above the intelligent bed and parallel to the horizontal plane; if not, perform the step of sending a folding instruction to the folding robotic arm.

[0097] In some embodiments, pressure sensors are provided on the tabletop, and the intelligent mattress is further configured to send a detection instruction to the tabletop;

[0098] The tabletop is further configured to respond to the detection instruction and detect the pressure of the tabletop; when there is pressure on the tabletop, the tabletop sends an existence instruction to the intelligent mattress, and the existence instruction indicates that there is an item on the tabletop; when there is no pressure on the tabletop, the tabletop sends an item non-existence instruction to the intelligent mattress, and the item non-existence instruction indicates that there is no item on the tabletop.

[0099] An embodiment of the present application further discloses a computer-readable storage medium, on which a computer program is stored, characterized in that when the computer program is executed by a processor, the steps in the control method based on the intelligent bed described in the previous embodiments are implemented.

[0100] The above has introduced in detail a control method based on an intelligent bed and related products disclosed in the embodiments of the present application. Specific examples are used herein to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the application.

Claims

1. A control method based on an intelligent bed, characterized in that, The intelligent bed includes a tabletop, a foldable robotic arm, a bed frame, and an intelligent mattress placed on the bed frame; the gripper of the foldable robotic arm clamps one side of the tabletop, and the bottom end of the robotic arm is connected to a designated side of the bed frame. When the foldable robotic arm is folded and retracted on the designated side of the bed frame, the tabletop is perpendicular to the horizontal plane; When the foldable robotic arm is fully extended along a predetermined trajectory, the tabletop is above the intelligent bed; the method includes: The intelligent mattress detects and obtains the pressure distribution of the intelligent mattress; Based on the pressure distribution, the intelligent mattress identifies whether the posture of the user on the intelligent mattress is a sitting posture; if so, it sends an extension instruction to the foldable robotic arm; In response to the extension instruction, the foldable robotic arm is fully extended along the predetermined trajectory, enabling the user to use the tabletop above the intelligent bed; After the intelligent mattress identifies that the posture of the user on the intelligent mattress is a sitting posture, the method further includes: The intelligent mattress obtains the sitting area of the user based on the pressure distribution and determines whether the sitting area overlaps with a pre-recorded tabletop coverage area; if so, it performs the step of sending the extension instruction to the foldable robotic arm; if not, the intelligent mattress outputs a prompt message; the prompt message is used to prompt the user of the intelligent mattress to adjust the sitting area; wherein, the tabletop coverage area is the partial area of the intelligent mattress covered by the tabletop when the foldable robotic arm is fully extended along the predetermined trajectory and the tabletop is above the intelligent bed.

2. The control method according to claim 1, wherein After the foldable robotic arm is fully extended along the predetermined trajectory, enabling the user to use the tabletop above the intelligent bed, the method further includes: The intelligent mattress detects that the user leaves the intelligent mattress; The intelligent mattress sends a folding instruction to the foldable robotic arm; In response to the folding instruction, the foldable robotic arm executes a folding trajectory and retracts on the designated side of the bed frame, making the tabletop perpendicular to the horizontal plane.

3. The control method according to claim 2, characterized in that After the intelligent mattress detects that the user leaves the intelligent mattress, the method further includes: The intelligent mattress detects whether there are items on the tabletop above the intelligent bed and parallel to the horizontal plane; if not, it performs the step of sending the folding instruction to the foldable robotic arm.

4. The control method of the intelligent bed according to claim 1, wherein, A hydraulic rod is provided at the tail of the bed frame, and the method further includes: After the foldable robotic arm is fully extended along the predetermined trajectory, the intelligent mattress controls the hydraulic rod to rise, lifting one end of the intelligent mattress.

5. An intelligent bed, characterized in that, The intelligent bed includes a tabletop, a foldable robotic arm, a bed frame, and an intelligent mattress placed on the bed frame; the gripper of the foldable robotic arm clamps one side of the tabletop, and the bottom end of the robotic arm is connected to a designated side of the bed frame. When the foldable robotic arm is folded and retracted on the designated side of the bed frame, the tabletop is perpendicular to the horizontal plane; when the foldable robotic arm is fully extended along a predetermined trajectory, the tabletop is above the intelligent bed; The intelligent mattress is used to detect and obtain the pressure distribution of the intelligent mattress; it is also used to identify whether the posture of the user on the intelligent mattress is a sitting posture according to the pressure distribution; if so, it sends an unfolding instruction to the folding robotic arm; The folding robotic arm is used to fully unfold along the predetermined trajectory in response to the unfolding instruction, so that the user can use the tabletop above the intelligent bed; The intelligent mattress is further used to obtain the sitting area of the user according to the pressure distribution, and determine whether there is an overlap between the sitting area and the pre-recorded tabletop coverage area; if so, perform the step of sending the unfolding instruction to the folding robotic arm; if not, the intelligent mattress outputs a prompt message; the prompt message is used to prompt the user of the intelligent mattress to adjust the sitting area; wherein, the tabletop coverage area is the partial area of the intelligent mattress covered by the tabletop when the folding robotic arm is fully unfolded along the predetermined trajectory above the intelligent bed.

6. The intelligent bed according to claim 5, wherein, The intelligent mattress is further used to detect that the user leaves the intelligent mattress; The intelligent mattress is further used to send a folding instruction to the folding robotic arm; The folding robotic arm is further used to execute a folding trajectory to fold in on the designated side of the bed frame in response to the folding instruction, so that the tabletop is perpendicular to the horizontal plane.

7. The intelligent bed according to claim 6, characterized in that, The intelligent mattress is further used to detect whether there are items on the tabletop above the intelligent bed and parallel to the horizontal plane; if not, perform the step of sending the folding instruction to the folding robotic arm.

8. The intelligent bed according to claim 5, wherein A hydraulic rod is provided at the tail of the bed frame, and the intelligent mattress is further used to control the hydraulic rod to rise, so that one end of the intelligent mattress is lifted.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps in the control method based on the intelligent bed according to any one of claims 1 to 4.

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