An intelligent bed angle adjusting method, system and storage medium

Abstract

The application provides a smart bed angle adjusting method and system and a storage medium. The method comprises the following steps: obtaining a self-check request, generating a return-to-origin instruction based on the self-check request, and outputting the return-to-origin instruction to make the corresponding target smart bed in an initial state; obtaining each motor model in the target smart bed, and obtaining corresponding motor parameters based on each motor model; generating a self-check control instruction, obtaining the maximum running speed of each motor in the target smart bed based on the self-check control instruction and all motor parameters; judging whether a use request is received, if yes, obtaining a motion stroke corresponding to the use request, generating a corresponding effective signal based on the use request and the corresponding motion stroke, determining the maintenance time of the effective signal needed to be sent to the corresponding motor in the target smart bed based on the maximum running speed and the motion stroke; judging whether the effective signal is output, if yes, continuously outputting the effective signal for the maintenance time. The application can improve the accuracy of smart bed angle adjustment.

Description

Technical Field

[0001] This application relates to the field of smart bed adjustment technology, and in particular to a smart bed angle adjustment method, system and storage medium. Background Technology

[0002] A bed is an indispensable piece of furniture in every home. People spend at least a third of their day in bed, and a comfortable bed provides a good sleep environment, which in turn ensures a refreshed and energetic day. To create an intelligent sleep environment and promote restful sleep, various types and functions of smart beds are increasingly popular on the market, with adjustable backrest and footrest angles being a core and mainstream feature.

[0003] Currently, smart beds use electric actuators to adjust the backrest and footrest angles. Combined with a corresponding app for preset modes, this allows for quick adjustment of either the backrest or footrest angle through mode selection. However, because the speed of conventional motors of the same model can vary by ±10% during manufacturing, there will be discrepancies in the operating speed of the motors within the actuator. Furthermore, variations in the voltage supplied by the transformer to the motor also contribute to the problem. Therefore, directly calculating the actuator's operating time based on the motor's rated speed for backrest or footrest angle adjustment will result in significant errors, as the actual operating speed of motors of the same type may differ from the set rated speed.

[0004] Currently, the main approach is to add Hall effect sensors inside the motor to accurately determine the position of the electric actuator. However, adding Hall effect sensors increases the production cost of smart beds, and these sensors are electrostatically sensitive and easily damaged. Therefore, at this stage, it is still necessary to improve the accuracy of smart bed angle adjustment by increasing the cost of the smart bed itself. Summary of the Invention

[0005] To address the issue of inaccurate angle adjustment in smart beds due to discrepancies between the actual operating speed of the motor and the rated speed, and to improve the accuracy of angle adjustment in smart beds, this application provides a method, system, and storage medium for adjusting the angle of a smart bed.

[0006] In a first aspect, this embodiment provides a method for adjusting the angle of a smart bed, the method comprising:

[0007] Obtain a self-test request, generate a return-to-origin instruction based on the self-test request, and output the return-to-origin instruction to bring the target smart bed corresponding to the self-test request to the initial state.

[0008] Obtain the model number of each motor in the target smart bed, and obtain the corresponding motor parameters based on each motor model;

[0009] Generate a self-test control command, obtain the maximum operating speed corresponding to each motor in the target smart bed based on the self-test control command and all motor parameters, and store the maximum operating speed;

[0010] Determine whether a usage request has been received. If so, obtain the motion stroke corresponding to the usage request, generate a corresponding valid signal based on the usage request and the corresponding motion stroke, and determine the duration for which a valid signal needs to be sent to the corresponding motor in the target smart bed based on the maximum running speed and the motion stroke.

[0011] Determine whether a valid signal is output. If so, continue outputting the valid signal for the duration to complete the angle adjustment of the target smart bed.

[0012] In some embodiments, the self-test control command includes a sub-self-test control command corresponding to each motor, and each motor corresponds to a uniquely determined push rod. Obtaining the maximum operating speed corresponding to each motor in the target smart bed based on the self-test control command and all motor parameters includes:

[0013] Obtain the total stroke of the push rod corresponding to each motor, and output each sub-self-test control command to obtain the total sub-self-test time experienced by the corresponding push rod to complete the total stroke of the push rod;

[0014] The activation time of the relay associated with each motor, the speed transition time from zero speed to maximum operating speed represented by each motor parameter, and the acceleration change coefficient of the motor speed during the speed transition time are obtained. The maximum operating speed corresponding to the motor is obtained based on the total stroke of the push rod, the total self-test time, the activation time, the speed transition time, and the acceleration change coefficient corresponding to the same motor.

[0015] In some embodiments, the maximum operating speed corresponding to each motor includes the maximum opening operating speed and the maximum retraction operating speed, and the total sub-self-test time corresponding to each motor includes the total opening sub-self-test time and the total retraction sub-self-test time. The maximum operating speed corresponding to the motor is obtained based on the total push rod stroke, total sub-self-test time, engagement time, speed transition time, and acceleration change coefficient corresponding to the same motor, respectively.

[0016] Subtract the product of the difference between the value one and the acceleration change coefficient and the speed transition time and the engagement time from the total self-test time of the opening sub-motor corresponding to the same motor, respectively, to obtain the opening smooth time characterizing the motor running smoothly at the maximum opening speed.

[0017] Divide the total stroke of the push rod corresponding to the same motor by the opening smoothing time to obtain the maximum opening speed corresponding to the motor;

[0018] Subtract the product of the difference between the value one and the acceleration change coefficient and the speed transition time, and the engagement time, respectively, from the total self-test time of the retraction sub-motor corresponding to the same motor to obtain the retraction smooth time, which characterizes the motor running smoothly at the maximum retraction speed.

[0019] Divide the total stroke of the push rod corresponding to the same motor by the retraction smoothing time to obtain the maximum retraction speed corresponding to the motor.

[0020] In some embodiments, obtaining the acceleration change coefficient of the motor speed during the speed transition time includes: obtaining the training speed transition time from zero speed to maximum operating speed for a first number of training motors of the same model as the motor, and the corresponding training stroke value traversed during the training speed transition time, wherein the training speed transition time of each training motor includes multiple sub-training speed transition times, and the training stroke value of each training motor includes a sub-training stroke value corresponding to each sub-training speed transition time.

[0021] The transition time of all sub-training speeds and the corresponding stroke values ​​of all sub-training speeds of the same training motor are processed using a deep learning model to obtain the acceleration change coefficient of the training motor.

[0022] The average value of the acceleration change coefficients for all training motors of the same model is calculated to obtain the acceleration change coefficients of motor speed for all models during the speed transition time.

[0023] In some embodiments, the backrest and footrest of the smart bed each have a starting origin and an ending origin, and generating corresponding valid signals based on the usage request and the corresponding movement stroke includes:

[0024] Determine whether the usage request is a usage request representing a return to the starting origin or an end origin. If so, generate a return origin signal for the corresponding motor based on the motion stroke.

[0025] If not, obtain the number of times that a usage request to return to the starting point or the ending point has not been received consecutively, and determine whether the number is less than a preset number. If it is less, generate a valid signal for the corresponding motor to operate based on the motion stroke.

[0026] If the distance is not less than the specified distance, a first valid signal is generated based on the motion stroke, indicating that the corresponding motor needs to return to the starting point or the ending point, and a second valid signal is generated indicating that the corresponding motor needs to move again from the starting point or the ending point. The valid signal includes the first valid signal and the second valid signal.

[0027] In some embodiments, determining the duration for which a valid signal needs to be sent to the corresponding motor in the target smart bed, based on the maximum operating speed and the movement stroke, includes:

[0028] The motor corresponding to the usage request is identified as the target motor, and the deceleration transition time of the target motor from maximum operating speed to zero speed is obtained, as well as the deceleration change coefficient of the target motor speed during the deceleration transition time.

[0029] Determine whether the valid signals include only one valid signal. If so, divide the motion stroke by the maximum operating speed of the target motor to obtain a first time. Add the first time to the product of the difference between the target motor's engagement time and the acceleration change coefficient minus a value, and the speed transition time, and subtract the product between the deceleration transition time and the deceleration change coefficient to obtain the duration for sending a valid signal to the motor corresponding to the use request.

[0030] If not, obtain the first motion stroke corresponding to the first valid signal, and determine the first duration for sending the first valid signal to the motor corresponding to the use request based on the first motion stroke and the maximum operating speed of the target motor; obtain the second motion stroke corresponding to the second valid signal, and determine the second duration for sending the second valid signal to the motor corresponding to the use request based on the second motion stroke and the maximum operating speed of the target motor.

[0031] The first duration is added to the second duration to obtain the duration for sending a valid signal to the motor corresponding to the use request.

[0032] In some embodiments, determining the first duration for sending a first valid signal to the motor corresponding to the use request includes:

[0033] Divide the first motion stroke by the maximum operating speed of the target motor to obtain the second time. Add the second time to the product of the difference between the target motor's engagement time and the acceleration change coefficient minus a value, and the speed transition time, and subtract the product between the deceleration transition time and the deceleration change coefficient to obtain the first sustaining time for sending the first valid signal to the motor corresponding to the use request.

[0034] Secondly, this embodiment provides an intelligent bed angle adjustment system, the system comprising: a return-to-origin module, an information acquisition module, a self-test module, and an angle adjustment module; wherein,

[0035] The return-to-origin module is used to acquire a self-test request, generate a return-to-origin instruction based on the self-test request, and output the return-to-origin instruction to put the target smart bed corresponding to the self-test request into the initial state.

[0036] The information acquisition module is used to acquire the model number of each motor in the target smart bed and obtain the corresponding motor parameters based on each motor model.

[0037] The self-test module generates a self-test control command, obtains the maximum operating speed corresponding to each motor in the target smart bed based on the self-test control command and all motor parameters, and stores the maximum operating speed.

[0038] The angle adjustment module is used to determine whether a usage request has been received. If a usage request is received, the module obtains the motion stroke corresponding to the usage request, generates a corresponding valid signal based on the usage request and the corresponding motion stroke, determines the duration for which a valid signal needs to be sent to the corresponding motor in the target smart bed based on the maximum running speed and the motion stroke, and determines whether a valid signal needs to be output. If so, the module continuously outputs the valid signal for the duration to complete the angle adjustment of the target smart bed.

[0039] In some embodiments, the system further includes a display module for displaying the usage request.

[0040] Thirdly, embodiments of this application provide a storage medium storing a computer program that can run on a processor, wherein the computer program, when executed by the processor, implements a smart bed angle adjustment method as described in the first aspect.

[0041] By employing the above method, this application first requests a self-test, generates a return-to-origin command based on the self-test request, and outputs the return-to-origin command to bring the target smart bed corresponding to the self-test request to its initial state. On the one hand, it eliminates the need to measure and calculate the travel distance required for the smart bed to move from the completed state to the given preset state based on the smart bed's completed state and a given preset state; instead, the length of each push rod is directly determined as the required travel distance, reducing additional errors caused by measurement and calculation. On the other hand, it allows each electric push rod to operate at its maximum travel distance, reducing the amplification of errors caused by short travel distances.

[0042] Then, the model number of each motor in the target smart bed is obtained, and the corresponding motor parameters are derived based on each model number. Having these motor parameters for each model number makes it easier to determine the maximum operating speed of each motor in the target smart bed during the self-test phase.

[0043] Next, a self-test control command is generated. Based on the self-test control command and all motor parameters, the maximum operating speed corresponding to each motor in the target smart bed is obtained and stored. This way, before the smart bed is put into market use, a self-test operation is performed to take into account the relay engagement time and the motor's speed transition time from zero speed to maximum speed. This yields the maximum opening speed of the motor during the push rod opening process and the maximum retracting speed during the push rod retraction process. This serves as the actual operating speed of the corresponding motor during use, rather than simply using the rated speed marked on the motor's nameplate. This reduces the accumulated angle error caused by frequent adjustments to the backrest or footrest angles when the target smart bed is later launched on the market, providing a basis for more precise angle adjustments. Furthermore, by calculating and storing the actual push rod speed during the self-test phase in the MCU, the user can use this speed to calculate and control the push rod's operating time for angle adjustments, resulting in more accurate angle adjustments and avoiding angle differences caused by individual motor speed variations and power supply voltage deviations.

[0044] Finally, it determines whether a usage request has been received. If so, it acquires the motion stroke corresponding to the usage request, generates a valid signal based on the request and the corresponding motion stroke, and determines the duration for which the valid signal needs to be sent to the corresponding motor in the target smart bed based on the maximum operating speed and motion stroke. It then determines whether to output a valid signal; if so, it continuously outputs the valid signal for the specified duration to complete the angle adjustment of the target smart bed. In this way, during actual use of the smart bed, the user can calculate the control rod's operating time based on the actual maximum operating speed obtained during the self-test phase to achieve angle adjustment. This makes the adjusted angle more precise and eliminates the need for any additional Hall effect sensors, thus avoiding angle differences caused by individual motor speed variations and power supply voltage deviations without increasing production costs. Attached Figure Description

[0045] Figure 1 This is a simplified structural diagram of the smart bed provided in this embodiment.

[0046] Figure 2 This is a circuit diagram of the control motor in the processing unit of a smart bed.

[0047] Figure 3 This is a block diagram of an intelligent bed angle adjustment method provided in this embodiment.

[0048] Figure 4 This is a schematic diagram showing the change of the push rod speed over time provided in this embodiment.

[0049] Figure 5 This is a schematic diagram of the workflow of the smart bed in the self-testing stage provided in this embodiment.

[0050] Figure 6 This is a schematic diagram of the workflow of the smart bed during the use phase provided in this embodiment.

[0051] Figure 7 This is a framework diagram of an intelligent bed angle adjustment system provided in this embodiment. Detailed Implementation

[0052] To better understand the purpose, technical solutions, and advantages of this application, it has been described and illustrated below with reference to the accompanying drawings and embodiments. However, those skilled in the art should understand that this application can be implemented without these details. It will be apparent to those skilled in the art that various modifications can be made to the embodiments disclosed in this application, and the general principles defined in this application can be applied to other embodiments and application scenarios without departing from the principles and scope of this application. Therefore, this application is not limited to the illustrated embodiments, but is consistent with the broadest scope claimed in this application.

[0053] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0054] Figure 1 This is a simplified structural diagram of the smart bed provided in this embodiment. Figure 1 As shown, the bed board of the smart bed is the moving part. The backrest and footrest are angle-adjustable via an electric backrest actuator, and both actuators are linearly driven by internal motors that extend and retract internal lead screws. Each actuator has a corresponding motor to drive its movement. By using an app, remote control, or manually inputting usage requests into the smart bed's input device, multiple angle rotation modes can be achieved, quickly rotating at least one of the backrest or footrest to the desired angle. For example, the smart bed includes zero-pressure mode, cinema mode, anti-snoring mode, reading mode, and other modes that can be set and stored according to user needs. In each mode, the backrest and footrest have different preset angles.

[0055] Each smart bed is equipped with a processing terminal, which is typically an MCU or a microcontroller. This embodiment uses an MCU as the processing terminal. The MCU has multiple output terminals, with each pair of output terminals used to control one motor. This embodiment uses a circuit diagram of the MCU controlling one motor as an example to illustrate how the MCU controls the motor to achieve rotation. The principle of the MCU controlling each motor to achieve rotation is the same; the MCU controls the rotation of each motor independently.

[0056] Figure 2 This is a circuit diagram of the control motor in a smart bed. (Example:) Figure 2 The diagram shown illustrates a circuit where an MCU controls a single motor. The motor's forward and reverse rotation is primarily driven by two single-pole double-throw relays, K1 and K2. The MCU's M1_UP terminal is connected to the base of a first transistor Q1 via a first resistor R1. The collector of transistor Q1 is connected to the anode of a first diode D1, and the cathode of diode D1 is connected to the power supply. One end of relay K1 is connected to the power supply, and the other end is connected to the collector of transistor Q1. The emitter of transistor Q1 is grounded. Similarly, the MCU's M1_DOWN terminal is connected to the base of a second transistor Q2 via a second resistor R2. The collector of transistor Q2 is connected to the anode of a second diode D2, and the cathode of diode D2 is connected to the power supply. One end of relay K2 is connected to the power supply, and the other end is connected to the collector of transistor Q2. The emitter of transistor Q2 is grounded. In relay K1, contact 1 is connected to the positive terminal of the motor, contact 2 is grounded, and contact 3 is connected to the power supply. In relay K2, contact 1 is connected to the negative terminal of the motor, contact 2 is grounded, and contact 3 is connected to the power supply. Contact 1 of relay K1 is also connected to contact 1 of relay K2 via a sliding rheostat VR1.

[0057] When M1_UP outputs a high level, the first transistor Q1 is turned on, and contacts 1 and 3 of relay K1 are connected. When M1_UP outputs a low level, the first transistor Q1 is not turned on, and contacts 1 and 2 of relay K1 are connected. Similarly, when M1_DOWN outputs a high level, the second transistor Q2 is turned on, and contacts 1 and 3 of relay K2 are connected. When M1_DOWN outputs a low level, the second transistor Q2 is not turned on, and contacts 1 and 2 of relay K2 are connected. Therefore, when both M1_UP and M1_DOWN output low levels, contacts 1 and 2 of relay K1 and relay K2 are connected. At this time, both the positive and negative terminals of the motor are at low levels, there is no potential difference, and the motor stops operating. When M1_UP outputs a high level and M1_DOWN outputs a low level, contacts 1 and 3 of relay K1 and contacts 1 and 2 of relay K2 are connected. At this time, the positive terminal of the motor is at a high level, and the negative terminal is at a low level, creating a potential difference, causing the motor to rotate forward. When M1_UP outputs a low level and M1_DOWN outputs a high level, contacts 1 and 2 of relay K1 and contacts 1 and 3 of relay K2 are connected. At this time, the positive terminal of the motor is at a low level, and the negative terminal is at a high level, creating a potential difference, causing the motor to rotate in reverse. Thus, by controlling the output level of the MCU, the forward and reverse rotation of the motor is controlled, thereby adjusting the angle of the smart bed.

[0058] Figure 3 This is a block diagram of an intelligent bed angle adjustment method provided in this embodiment. Figure 3 As shown, a smart bed angle adjustment method includes the following steps:

[0059] Step S100: Obtain a self-test request, generate a return-to-origin instruction based on the self-test request, and output the return-to-origin instruction to bring the target smart bed corresponding to the self-test request to the initial state.

[0060] Each smart bed undergoes a self-test before being released to the market. This self-test primarily determines the maximum operating speed of each motor in the smart bed during actual operation, rather than directly using the rated speed indicated on the motor's nameplate. After all, a ±10% error is allowed between the maximum operating speed of motors released to the market and the rated speed indicated on the nameplate.

[0061] The aforementioned self-test request represents a signal used to perform a self-test on the smart bed. This self-test request can be sent by an operator to the processing terminal in the smart bed that needs to perform the self-test, so that the processing terminal can receive the self-test request. The smart bed where the processing terminal receiving the self-test request is located is the target smart bed. After production, each smart bed corresponds to a pre-set fixed state, meaning the initial angle value of the backrest and footrest being raised is known. The initial stroke required for each electric actuator is calculated when all changes in this initial angle value are zero. Each initial stroke is then converted into a corresponding return-to-origin command, which is output through the corresponding output port of the MCU to cause the corresponding motor to rotate, thus ensuring that the backrest and footrest of the target smart bed have no rotation angle, meaning the target smart bed is parallel to the horizontal plane, and is in its initial state. This initial state refers to the smart bed having no rotation angle between the backrest and footrest. Upon receiving a self-test request, the target smart bed corresponding to that request is first restored to its initial state with no rotation angle in the backrest and footrest. This ensures that during subsequent self-test operations to determine the motor's maximum operating speed, each electric actuator can travel its maximum stroke. Firstly, it eliminates the need to measure and calculate the required stroke of the smart bed from its completed state to a given preset state based on the completed state and the given preset state. Instead, the length of each actuator is directly determined as the required stroke, reducing additional errors from measurement and calculation. Secondly, it ensures that each electric actuator operates at its maximum stroke, minimizing the amplification of errors caused by short strokes.

[0062] Step S200: Obtain the model number of each motor in the target smart bed, and obtain the corresponding motor parameters based on each motor model.

[0063] The MCU of the target smart bed stores the model number of each motor used in the bed. Therefore, by checking the information stored in the MCU, the model number of each motor in the target smart bed can be obtained. Each motor model corresponds to unique motor parameters, which are recorded on the corresponding nameplate. After obtaining the motor model, the MCU generates a corresponding parameter acquisition instruction for each motor model and sends this instruction to the operator's mobile device. This allows the operator to send the motor parameters corresponding to the motor signal to the processing unit of the target smart bed, enabling the processing unit to obtain the motor parameters corresponding to each motor model. Once the motor parameters for each motor model are obtained, they can be used to determine the maximum operating speed of each motor in the target smart bed during the self-test phase.

[0064] Step S300: Generate self-test control instructions, obtain the maximum operating speed corresponding to each motor in the target smart bed based on the self-test control instructions and all motor parameters, and store the maximum operating speed.

[0065] When the processing end obtains the motor parameters corresponding to each motor in the target smart bed, it simultaneously generates a self-test control command. This self-test control command includes a sub-self-test control command corresponding to each motor in the target smart bed. Each sub-self-test control command informs the processing end to use the motor parameters to determine the maximum operating speed corresponding to each motor. Each motor corresponds to a uniquely defined push rod. Determining the maximum operating speed corresponding to each motor in the target smart bed based on the self-test control command and all motor parameters includes the following steps:

[0066] Step S301: Obtain the total stroke of the push rod corresponding to each motor, and output each sub-self-test control command to obtain the total sub-self-test time experienced by the corresponding push rod after completing the total stroke.

[0067] Step S302: Obtain the pull-in time of the relay associated with each motor, the speed transition time of the motor from zero speed to maximum operating speed represented by each motor parameter, and the acceleration change coefficient of the motor speed during the speed transition time. Based on the total stroke of the push rod, the total self-test time, the pull-in time, the speed transition time and the acceleration change coefficient corresponding to the same motor, the maximum operating speed of the motor is obtained.

[0068] In the target smart bed, both the backrest and footrest have a corresponding starting origin and an ending origin. When the backrest has no rotation angle, it is located at its corresponding starting origin, meaning the backrest push rod is also at the starting origin. When the backrest is at its maximum allowed rotation angle, it is located at its corresponding ending origin, meaning the backrest push rod is also at the ending origin. Similarly, when the footrest has no rotation angle, it is located at its corresponding starting origin, meaning the footrest push rod is also at the starting origin. When the footrest is at its maximum allowed rotation angle, it is located at its corresponding ending origin, meaning the footrest push rod is also at the ending origin. The total push rod stroke represents the distance traveled by each motor from the starting origin to the ending origin, or from the ending origin to the starting origin. The total push rod stroke of each push rod is determined and stored in the processing unit before the smart bed is manufactured. Therefore, the total push rod stroke of each motor's corresponding push rod can be obtained by viewing the information stored in the processing unit.

[0069] Each sub-detection control command is sent to the corresponding output port of the MCU. At this time, the corresponding output port is at the first level, and each motor moves, thereby driving the push rod to move, so that the backrest and footrest of the target smart bed move to the end point. When the backrest moves to the corresponding end point, it will simultaneously feed back a signal to the MCU that the backrest has reached the end point, so as to stop the output of the corresponding sub-self-test control command. At this time, the corresponding output port is at the second level, so as to stop the corresponding motor. Similarly, when the footrest moves to the corresponding end point, it will simultaneously feed back a signal to the MCU that the footrest has reached the end point, so as to stop the output of the corresponding sub-self-test control command. At this time, the corresponding output port is at the second level, so as to stop the corresponding motor. In this way, by observing the level changes of the MCU's output port, the total sub-self-test time taken for the corresponding push rod to complete its total stroke can be obtained.

[0070] Figure 4 This is a schematic diagram illustrating the change of the push rod speed over time as provided in this embodiment. Additionally, as... Figure 4 As shown, from the output of the sub-self-test control command to the receipt of the corresponding signal from the backrest or footrest reaching the termination origin, the MCU needs to sequentially experience the relay engagement time t1, the motor speed transition time from zero speed to maximum operating speed t2, and the motor constant speed running time t3. The engagement time of the relay associated with each motor is fixed and related to the relay itself. The engagement time of each relay used in the target smart bed is stored in the processing terminal; therefore, the engagement time of the relay associated with each motor can be obtained by viewing the information stored in the processing terminal. The speed transition time of the motor from zero speed to maximum operating speed is fixed and related to the motor; the processing terminal in the target smart bed stores the speed transition time of each motor. Therefore, the speed transition time from zero speed to maximum operating speed represented by the parameters of each motor can be obtained by viewing the information stored in the processing terminal.

[0071] The acceleration coefficient mentioned above refers to the average rate of speed change during the speed transition period. For example... Figure 4 As shown, the motor speed does not accelerate uniformly during the speed transition period. Therefore, in order to accurately obtain the distance traveled by the motor during the speed transition period, it is also necessary to obtain the acceleration coefficient of the motor speed during the speed transition period. Obtaining the acceleration coefficient of the motor speed during the speed transition period includes the following steps:

[0072] Step S302-1: Obtain the training speed transition time from zero speed to maximum operating speed for a first number of training motors of the same model as the motor, and the corresponding training stroke value during the training transition time. The training speed transition time of each training motor includes multiple sub-training speed transition times, and the training stroke value of each training motor includes a sub-training stroke value that corresponds one-to-one with each sub-training speed transition time.

[0073] Step S302-2: Use a deep learning model to process the transition time of all sub-training speeds and the corresponding stroke values ​​of all sub-training motors for the same training motor, so as to obtain the acceleration change coefficients corresponding to the training motors.

[0074] Step S302-3: Calculate the average value of the acceleration change coefficients for all training motors of the same model to obtain the acceleration change coefficients of motor speed for all models during the speed transition time.

[0075] Staff will conduct offline data tests on multiple training motors of the same model as those used in the target smart bed, storing the data on their respective mobile devices. Each worker's mobile device stores the training speed transition time and the corresponding training stroke value for each of the first set of training motors of the same model as those in the target smart bed. Multiple data tests will be performed on each training motor, resulting in each training motor's training speed transition time comprising multiple sub-training speed transition times, and the corresponding training stroke value comprising a one-to-one sub-training stroke value for each sub-training speed transition time. In this way, each motor in the target smart bed corresponds to the first set of training motors, and each training motor corresponds to multiple sub-training speed transition times and corresponding sub-training strokes.

[0076] The deep learning model is trained by using the transition times of all sub-training speeds belonging to the same training motor as input parameters and the corresponding travel values ​​of all sub-training strokes as output parameters. This results in a trained deep learning model. The speed-related weights are then extracted from this model. The acceleration coefficient for each training motor is obtained by calculating the rate of change between adjacent weights and averaging all rates of change. Similarly, the acceleration coefficient for each training motor is obtained by using the same method to store the transition times of all sub-training speeds and the corresponding travel values ​​of all sub-training strokes for each training motor stored in the worker's mobile device.

[0077] Then, by averaging the acceleration change coefficients of all training motors of the same model, the acceleration change coefficient of the corresponding motor model in the target smart bed during the speed transition time can be obtained. Similarly, by averaging the acceleration change coefficients of all other training motors of the same model, the acceleration change coefficient of the motor speed of each motor in the target smart bed during the speed transition time can be obtained. The process of obtaining the acceleration change coefficient of the motor speed during the speed transition time is pre-obtained offline and stored in the MCU.

[0078] Once these parameters are obtained, the maximum operating speed of the motor can be calculated based on the total stroke of the push rod, the total self-test time, the engagement time, the speed transition time, and the acceleration coefficient corresponding to the same motor. The movement of the push rod from the starting zero point to the ending zero point is the opening motion, and the movement from the ending zero point to the starting zero point is the retraction motion. The maximum operating speed for each motor includes the maximum opening speed and the maximum retraction speed. The total self-test time for each motor includes the total opening self-test time and the total retraction self-test time. Calculating the maximum operating speed of the motor based on the total stroke of the push rod, the total self-test time, the engagement time, the speed transition time, and the acceleration coefficient corresponding to the same motor involves the following steps:

[0079] Step S302-4: Subtract the product of the difference between the value one and the acceleration change coefficient and the speed transition time, and the engagement time, respectively, from the total self-test time of the opening sub-operation corresponding to the same motor, so as to obtain the opening smooth time characterizing the motor running smoothly at the maximum opening speed.

[0080] Step S302-5: Divide the total stroke of the push rod corresponding to the same motor by the opening smoothing time to obtain the maximum opening speed of the motor.

[0081] Step S302-6: Subtract the product of the difference between the value one and the acceleration change coefficient and the speed time, as well as the engagement time, from the total self-test time of the retraction sub-motor corresponding to the same motor, in order to obtain the retraction smooth time that characterizes the motor running smoothly at the maximum retraction speed.

[0082] Step S302-7: Divide the total stroke of the push rod corresponding to the same motor by the retraction smoothing time to obtain the maximum retraction running speed corresponding to the motor.

[0083] Substitute the total push rod stroke, total self-test time of the opening mechanism, engagement time, speed transition time, and acceleration change coefficient corresponding to the same motor into the... This formula yields the maximum opening speed of the motor. Substituting the total push rod stroke, total retraction self-check time, engagement time, speed transition time, and acceleration change coefficient for the same motor into the formula... This formula calculates the maximum retraction speed of the motor and stores the calculated maximum opening and retraction speeds of each motor in the target smart bed in the MCU. Before the smart bed is put on the market, a self-test operation takes into account the relay engagement time and the motor's transition time from zero speed to maximum speed to determine the maximum opening and retraction speeds of the motors during the push-rod opening and retraction processes. This data serves as the actual operating speed of the corresponding motors during use, rather than simply using the rated speed indicated on the motor's nameplate. This reduces accumulated angle errors caused by frequent adjustments to the backrest or footrest angles when the target smart bed is launched, providing a basis for more precise angle adjustments. Furthermore, by calculating and storing the actual push-rod operating speed in the MCU during the self-test phase, users can use this speed to calculate and control the push-rod operation time for angle adjustments, resulting in more accurate angle adjustments and avoiding angle variations caused by individual motor speed differences and power supply voltage deviations.

[0084] Figure 5 This is a schematic diagram of the workflow of the smart bed provided in this embodiment during the self-test phase. Figure 5 As shown, after the self-test begins, the target smart bed is first placed flat, and even though the target smart bed is in its initial state, all push rods return to the zero position. Then, the backrest push rod is controlled to fully extend and the maximum opening speed Vm1 of the corresponding motor is calculated. The backrest push rod is controlled to fully retract and the maximum retraction speed Vm2 of the corresponding motor is calculated. The footrest push rod is controlled to fully extend and the maximum opening speed Vm3 of the corresponding motor is calculated. The footrest push rod is controlled to fully retract and the maximum retraction speed Vm4 of the corresponding motor is calculated. Finally, all the calculated speeds Vm1, Vm2, Vm3, and Vm4 are stored in the MCU to complete the self-test phase of the smart bed. Alternatively, Vm3 and Vm4 can be calculated first, followed by Vm1 and Vm2. This embodiment does not further limit the calculation order.

[0085] Step S400: Determine whether a usage request has been received. If received, obtain the motion stroke corresponding to the usage request, generate a corresponding valid signal based on the usage request and the corresponding motion stroke, and determine the duration for which a valid signal needs to be sent to the corresponding motor in the target smart bed based on the maximum running speed and the motion stroke.

[0086] After the target smart bed completes its self-test phase, it will be released to the market for users to purchase or try. When a user tries or uses the target smart bed, they will input a usage request via a corresponding app, remote control, or manually into the input device on the target smart bed, causing the MCU in the target smart bed to receive the request. If no user is using or trying the target smart bed, the MCU input will not receive the usage request. Therefore, checking the MCU input for a usage request determines whether it has been received. If the MCU input does not show a usage request, it means no usage request has been received, and the target smart bed will not respond.

[0087] If the target smart bed's MCU input terminal receives a usage request, it indicates that the usage request has been received. It is necessary to further obtain the running stroke corresponding to the usage request so that the corresponding motor can be rotated according to the movement stroke, thereby adjusting the target smart bed to the angle corresponding to the usage request.

[0088] The MCU stores the historical pusher positions of each pusher after each use request from the target smart bed. If the use request is a usage mode already stored in the MCU, the request pusher position corresponding to each pusher in the target smart bed can be obtained by checking the MCU. By subtracting the most recently stored historical pusher position from the request pusher positions belonging to the same pusher, the movement stroke of each pusher corresponding to the use request can be obtained. This movement stroke is a vector stroke, including magnitude and direction.

[0089] If the usage request is not a usage mode already stored in the MCU, the MCU will use the stored distance values ​​between the backrest motor and the backrest rotation vertex, and the angle value required for the usage request, as well as the distance values ​​between the footrest motor and the footrest rotation vertex and the angle value required for the usage request, to determine the position of each push rod corresponding to the request push rod in the target smart bed. Specifically, the straight line between the backrest motor and the backrest rotation vertex, the backrest push rod, and the backrest can form a right triangle; similarly, the straight line between the footrest motor and the footrest rotation vertex, the footrest push rod, and the footrest can form a right triangle. Using trigonometric formulas, the position of each push rod corresponding to the request push rod in the target smart bed can be obtained. Then, by subtracting the most recently stored historical push rod position from the position of each request push rod belonging to the same push rod, the travel distance of each push rod corresponding to the usage request can be obtained. This travel distance is a vector travel distance, including both magnitude and direction.

[0090] Once the motion stroke corresponding to the usage request is obtained, a corresponding valid signal is generated based on the usage request and the corresponding motion stroke to drive the corresponding motor. Generating the corresponding valid signal based on the usage request and the corresponding motion stroke includes the following steps:

[0091] Step S401: Determine whether the usage request is a usage request representing the start origin or the end origin. If so, generate a return origin signal for the corresponding motor that needs to return to the start origin or the end origin based on the motion stroke.

[0092] Step S402: If not, obtain the number of times a use request to return to the starting point or the ending point has not been received consecutively, determine whether the number is less than a preset number, and if it is less, generate a valid signal for the corresponding motor to operate based on the motion stroke.

[0093] Step S403: If not less than, generate a first valid signal that the corresponding motor needs to return to the starting origin or the ending origin based on the motion stroke, and a second valid signal that the corresponding motor needs to move again from the starting origin or the ending origin, wherein the valid signal includes the first valid signal and the second valid signal.

[0094] The start and end origins correspond to fixed usage requests, which are stored in the MCU. If the received usage request is any one of the usage requests stored in the MCU regarding the start and end origins, then this usage request represents a request to return to the start or end origin. In this case, the level value at the port of the MCU output terminal corresponding to each motor is directly generated based on the motion stroke corresponding to the usage request, thereby generating the corresponding valid signal.

[0095] If the received usage request is neither a usage request corresponding to the start origin nor a usage request corresponding to the end origin stored in the MCU, then the usage request is not a usage request representing a return to the start origin or the end origin. To reduce the excessive increase of accumulated errors, it is necessary to first check the number of times the historical push rod position stored in the MCU is neither the start origin nor the end origin, and compare it with the preset number. If the number obtained by checking is less than the preset number, it indicates that the accumulated error is very small, and the level value at the port of the MCU output terminal corresponding to each motor can be directly generated according to the motion stroke corresponding to the usage request, thereby generating the corresponding valid signal.

[0096] If the number of checks is not less than the preset number, it indicates that there may be a certain degree of error. To reduce the impact on the accuracy of angle adjustment, the push rod needs to be returned to either the starting origin or the ending origin, from which any origin can be selected. First, subtract the most recently stored historical push rod position from the origin push rod position corresponding to the selected origin to obtain the first motion stroke of each push rod corresponding to the usage request. This first motion stroke is a vector stroke, including magnitude and direction. Based on this first motion stroke, a level value is generated at the port of the MCU output terminal corresponding to each motor, thereby generating a corresponding first valid signal. Then, subtract the origin push rod position corresponding to the selected origin from the requested push rod position belonging to the same push rod to obtain the second motion stroke of each push rod corresponding to the usage request. This second motion stroke is a vector stroke, including magnitude and direction. Based on this second motion stroke, a level value is generated at the port of the MCU output terminal corresponding to each motor, thereby generating a corresponding second valid signal. In this way, if the push rod is detected to have been adjusted multiple times in the middle position without returning to the initial or final origin, the push rod will be forced to return to the origin when the angle adjustment is selected in a specific mode. This will clear the accumulated error from the multiple adjustments in the middle process before the angle adjustment is performed again, thus reducing the accumulated error.

[0097] In addition, to ensure the accurate movement of the corresponding motors and that the target smart bed meets the usage request, the duration of the valid signal needs to be determined. Determining the duration for which a valid signal needs to be sent to the corresponding motor in the target smart bed, based on the maximum operating speed and travel distance, includes the following steps:

[0098] Step S404: The motor corresponding to the usage request is identified as the target motor, and the deceleration transition time of the target motor from maximum operating speed to zero speed is obtained, as well as the deceleration change coefficient of the target motor speed during the deceleration transition time.

[0099] Step S405: Determine whether the valid signals include only one valid signal. If so, divide the motion stroke by the maximum operating speed of the target motor to obtain the first time. Add the first time to the product of the difference between the target motor's engagement time and the acceleration change coefficient minus the value, and the speed transition time, and subtract the product between the deceleration transition time and the deceleration change coefficient to obtain the duration for sending a valid signal to the motor corresponding to the use request.

[0100] Step S406: If not, obtain the first motion stroke corresponding to the first valid signal, and determine the first maintenance time for sending the first valid signal to the motor corresponding to the use request based on the first motion stroke and the maximum operating speed of the target motor.

[0101] Step S407: Obtain the second motion stroke corresponding to the second valid signal, and determine the second maintenance time for sending the second valid signal to the motor corresponding to the use request based on the second motion stroke and the maximum operating speed of the target motor.

[0102] Step S408: Add the first duration to the second duration to obtain the duration for sending a valid signal to the motor corresponding to the use request.

[0103] In addition, determining the first duration for sending a first valid signal to the motor corresponding to the use request includes: dividing the first motion stroke by the maximum operating speed of the target motor to obtain a second time, adding the second time to the product of the difference between the target motor's engagement time and the acceleration change coefficient minus a numerical value and the speed transition time, and subtracting the product between the deceleration transition time and the deceleration change coefficient, to obtain the first duration for sending a first valid signal to the motor corresponding to the use request.

[0104] The aforementioned deceleration transition time characterizes the time required for the motor to decrease from its maximum operating speed to zero speed. The speed transition time and deceleration transition time are the same for the same motor. During the deceleration transition time, the deceleration coefficient of the target motor speed is the same as the acceleration coefficient for the corresponding motor. If only one valid signal is generated, it indicates that there is only one duration. The motion stroke, the target motor's maximum operating speed, engagement time, acceleration coefficient, deceleration coefficient, speed transition time, and deceleration transition time are substituted into the equation based on whether the motion stroke corresponds to the opening or retraction of the push rod. In this formula, or

[0105] In this formula, the duration for which a valid signal is sent to the motor corresponding to the usage request is obtained.

[0106] If two valid signals are generated, it indicates that there are two durations. First, based on whether the first motion stroke corresponds to the opening or retracting motion of the push rod, substitute the first motion stroke, the target motor's maximum operating speed, engagement time, acceleration coefficient, deceleration coefficient, speed transition time, and deceleration transition time into the... In this formula, or In this formula, the first duration for sending a valid signal to the motor corresponding to the usage request is obtained.

[0107] Then, based on whether the second motion stroke corresponds to the opening or retracting motion stroke of the push rod, the second motion stroke, the maximum operating speed of the target motor, the engagement time, the acceleration coefficient, the deceleration coefficient, the speed transition time, and the deceleration transition time are substituted into the equation. In this formula, or

[0108] In this formula, the second holding time for sending a valid signal to the motor corresponding to the usage request is obtained.

[0109] Step S500: Determine whether a valid signal is output. If so, continue to output the valid signal for a specified time to complete the angle adjustment of the target smart bed.

[0110] After a valid signal is generated, the MCU automatically outputs the signal through the corresponding output terminal after a preset time and maintains the signal for that duration. This allows the corresponding motor to drive the push rod to move, ultimately ensuring that the target smart bed meets the model corresponding to the usage request. The preset time can be determined based on the MCU's data processing speed to ensure that the MCU can complete the calculation of the maintenance time within the preset time.

[0111] Figure 6 This is a schematic diagram illustrating the workflow of the smart bed during its use, as provided in this embodiment. Figure 6 As shown, the smart bed is first powered on, and then the MCU reads the maximum operating speed of each push rod when it is open and closed. Next, the MCU calculates the duration required to drive the relay by changing the level of the corresponding output terminal according to the required travel distance of the received request. Then, the MCU outputs a valid signal, and its internal timer counts synchronously. After the duration expires, the corresponding output terminal level is changed to disconnect the relay, stop the motor, and thus the push rod moves to the designated position, and the smart bed completes the angle adjustment.

[0112] Figure 7 This is a framework diagram of an intelligent bed angle adjustment system provided in this embodiment. Figure 7 As shown, an intelligent bed angle adjustment system includes: a return-to-origin module, an information acquisition module, a self-test module, an angle adjustment module, and a display module.

[0113] The system comprises several modules: a home-to-home module, an information acquisition module, and a display module. The home-to-home module receives self-test requests, generates home-to-home commands based on these requests, and outputs the commands to return the target smart bed to its initial state. An information acquisition module acquires the model number of each motor in the target smart bed and obtains the corresponding motor parameters. A self-test module generates self-test control commands, obtains the maximum operating speed of each motor in the target smart bed based on these commands and all motor parameters, and stores the maximum operating speed. An angle adjustment module determines whether a usage request has been received. If so, it acquires the corresponding motion stroke, generates a valid signal based on the request and the motion stroke, determines the duration for which the valid signal needs to be sent to the corresponding motor in the target smart bed based on the maximum operating speed and motion stroke, and determines whether to output a valid signal. If so, it continuously outputs the valid signal for the specified duration to complete the angle adjustment of the target smart bed. A display module shows the usage request.

[0114] The other functions performed in the above-mentioned return-to-origin module, information acquisition module, self-test module, angle adjustment module, and display module, as well as the technical details of each function, are the same as or similar to the corresponding features in the intelligent bed angle adjustment method described above, so they will not be repeated here.

[0115] This application provides a computer-readable storage medium storing a computer program that, when run on a computer, enables the computer to execute the relevant content in the aforementioned embodiment of an intelligent bed angle adjustment method.

[0116] It should be understood that although the steps in the flowcharts in the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order requirement for the execution of these steps, and they can be performed in other orders.

[0117] The above description is only a partial embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for adjusting the angle of an intelligent bed, characterized in that, The method includes: Obtain a self-test request, generate a return-to-origin instruction based on the self-test request, and output the return-to-origin instruction to bring the target smart bed corresponding to the self-test request to the initial state. Obtain the model number of each motor in the target smart bed, and obtain the corresponding motor parameters based on each motor model; Generate a self-test control command, obtain the maximum operating speed corresponding to each motor in the target smart bed based on the self-test control command and all motor parameters, and store the maximum operating speed; Determine whether a usage request has been received. If so, obtain the motion stroke corresponding to the usage request, generate a corresponding valid signal based on the usage request and the corresponding motion stroke, and determine the duration for which a valid signal needs to be sent to the corresponding motor in the target smart bed based on the maximum running speed and the motion stroke. Determine whether a valid signal is output. If so, continue to output the valid signal for the duration to complete the angle adjustment of the target smart bed. The self-test control command includes a sub-self-test control command corresponding to each motor. Each motor corresponds to a uniquely determined push rod. Based on the self-test control command and all motor parameters, the maximum operating speed corresponding to each motor in the target smart bed is obtained as follows: Obtain the total stroke of the push rod corresponding to each motor, and output each sub-self-test control command to obtain the total sub-self-test time experienced by the corresponding push rod to complete the total stroke of the push rod; The engagement time of the relay associated with each motor, the speed transition time of the motor from zero speed to maximum operating speed as characterized in each motor parameter, and the acceleration change coefficient of the motor speed during the speed transition time are obtained. The maximum operating speed corresponding to the motor is obtained based on the total stroke of the push rod, the total self-test time, the engagement time, the speed transition time and the acceleration change coefficient corresponding to the same motor. The maximum operating speed corresponding to each motor includes the maximum opening operating speed and the maximum retraction operating speed. The total sub-self-test time corresponding to each motor includes the total opening sub-self-test time and the total retraction sub-self-test time. The maximum operating speed corresponding to the motor is obtained based on the total push rod stroke, total sub-self-test time, engagement time, speed transition time, and acceleration change coefficient corresponding to the same motor. Subtract the product of the difference between the value one and the acceleration change coefficient and the speed transition time and the engagement time from the total self-test time of the opening sub-motor corresponding to the same motor, respectively, to obtain the opening smooth time characterizing the motor running smoothly at the maximum opening speed. Divide the total stroke of the push rod corresponding to the same motor by the opening smoothing time to obtain the maximum opening speed corresponding to the motor; Subtract the product of the difference between the value one and the acceleration change coefficient and the speed transition time, and the engagement time, respectively, from the total self-test time of the retraction sub-motor corresponding to the same motor to obtain the retraction smooth time, which characterizes the motor running smoothly at the maximum retraction speed. Divide the total stroke of the push rod corresponding to the same motor by the retraction smoothing time to obtain the maximum retraction speed corresponding to the motor.

2. The method according to claim 1, characterized in that, Obtaining the acceleration change coefficient of the motor speed during the speed transition time includes: The training speed transition time from zero to maximum operating speed of a first number of training motors of the same model as the motor is obtained respectively, and the corresponding training stroke value is obtained during the training speed transition time. The training speed transition time of each training motor includes multiple sub-training speed transition times, and the training stroke value of each training motor includes a sub-training stroke value that corresponds one-to-one with each sub-training speed transition time. The transition time of all sub-training speeds and the corresponding stroke values ​​of all sub-training speeds of the same training motor are processed using a deep learning model to obtain the acceleration change coefficient of the training motor. The average value of the acceleration change coefficients for all training motors of the same model is calculated to obtain the acceleration change coefficients of motor speed for all models during the speed transition time.

3. The method according to claim 1, characterized in that, The smart bed's backrest and footrest each have a starting origin and an ending origin. Based on the usage request and the corresponding movement stroke, it generates corresponding valid signals, including: Determine whether the usage request is a usage request representing a return to the starting origin or an ending origin. If so, generate a return-to-origin signal for the corresponding motor based on the motion stroke. If not, obtain the number of times that a usage request to return to the starting point or the ending point has not been received consecutively, and determine whether the number is less than a preset number. If it is less, generate a valid signal for the corresponding motor to operate based on the motion stroke. If the distance is not less than the specified distance, a first valid signal is generated based on the specified motion stroke, indicating that the corresponding motor needs to return to the starting point or the ending point, and a second valid signal is generated indicating that the corresponding motor needs to move again from the starting point or the ending point. The valid signal includes the first valid signal and the second valid signal.

4. The method according to claim 3, characterized in that, The duration for which a valid signal needs to be sent to the corresponding motor in the target smart bed is determined based on the maximum operating speed and the motion stroke includes: The motor corresponding to the usage request is identified as the target motor, and the deceleration transition time of the target motor from its maximum operating speed to zero speed is obtained, as well as the deceleration change coefficient of the target motor speed during the deceleration transition time. Determine whether the valid signals include only one valid signal. If so, divide the motion stroke by the maximum operating speed of the target motor to obtain a first time. Add the first time to the product of the difference between the target motor's engagement time and the acceleration change coefficient minus a value, and the speed transition time, and subtract the product between the deceleration transition time and the deceleration change coefficient to obtain the duration for sending a valid signal to the motor corresponding to the use request. If not, obtain the first motion stroke corresponding to the first valid signal, and determine the first duration for sending the first valid signal to the motor corresponding to the use request based on the first motion stroke and the maximum operating speed of the target motor; Obtain the second motion stroke corresponding to the second valid signal, and determine the second maintenance time for sending the second valid signal to the motor corresponding to the use request based on the second motion stroke and the maximum operating speed of the target motor; The first duration is added to the second duration to obtain the duration for sending a valid signal to the motor corresponding to the use request.

5. The method according to claim 4, characterized in that, Determining the first duration for sending a first valid signal to the motor corresponding to the usage request includes: Divide the first motion stroke by the maximum operating speed of the target motor to obtain the second time. Add the second time to the product of the difference between the target motor's engagement time and the acceleration change coefficient minus a value, and the speed transition time, and subtract the product between the deceleration transition time and the deceleration change coefficient to obtain the first sustaining time for sending the first valid signal to the motor corresponding to the use request.

6. An intelligent bed angle adjustment system, characterized in that, The system includes: a homing module, an information acquisition module, a self-test module, and an angle adjustment module; wherein, The return-to-origin module is used to acquire a self-test request, generate a return-to-origin instruction based on the self-test request, and output the return-to-origin instruction to put the target smart bed corresponding to the self-test request into the initial state. The information acquisition module is used to acquire the model number of each motor in the target smart bed and obtain the corresponding motor parameters based on each motor model. The self-test module generates a self-test control command, obtains the maximum operating speed corresponding to each motor in the target smart bed based on the self-test control command and all motor parameters, and stores the maximum operating speed. The angle adjustment module is used to determine whether a usage request has been received. If a usage request is received, the module obtains the motion stroke corresponding to the usage request, generates a corresponding valid signal based on the usage request and the corresponding motion stroke, determines the duration for which a valid signal needs to be sent to the corresponding motor in the target smart bed based on the maximum running speed and the motion stroke, and determines whether a valid signal needs to be output. If so, the module continuously outputs the valid signal for the duration to complete the angle adjustment of the target smart bed. The self-test control command includes a sub-self-test control command corresponding to each motor. Each motor corresponds to a uniquely determined push rod. Based on the self-test control command and all motor parameters, the maximum operating speed corresponding to each motor in the target smart bed is obtained as follows: Obtain the total stroke of the push rod corresponding to each motor, and output each sub-self-test control command to obtain the total sub-self-test time experienced by the corresponding push rod to complete the total stroke of the push rod; The engagement time of the relay associated with each motor, the speed transition time of the motor from zero speed to maximum operating speed as characterized in each motor parameter, and the acceleration change coefficient of the motor speed during the speed transition time are obtained. The maximum operating speed corresponding to the motor is obtained based on the total stroke of the push rod, the total self-test time, the engagement time, the speed transition time and the acceleration change coefficient corresponding to the same motor. The maximum operating speed corresponding to each motor includes the maximum opening operating speed and the maximum retraction operating speed. The total sub-self-test time corresponding to each motor includes the total opening sub-self-test time and the total retraction sub-self-test time. The maximum operating speed corresponding to the motor is obtained based on the total push rod stroke, total sub-self-test time, engagement time, speed transition time, and acceleration change coefficient corresponding to the same motor. Subtract the product of the difference between the value one and the acceleration change coefficient and the speed transition time and the engagement time from the total self-test time of the opening sub-motor corresponding to the same motor, respectively, to obtain the opening smooth time characterizing the motor running smoothly at the maximum opening speed. Divide the total stroke of the push rod corresponding to the same motor by the opening smoothing time to obtain the maximum opening speed corresponding to the motor; Subtract the product of the difference between the value one and the acceleration change coefficient and the speed transition time, and the engagement time, respectively, from the total self-test time of the retraction sub-motor corresponding to the same motor to obtain the retraction smooth time, which characterizes the motor running smoothly at the maximum retraction speed. Divide the total stroke of the push rod corresponding to the same motor by the retraction smoothing time to obtain the maximum retraction speed corresponding to the motor.

7. The system according to claim 6, characterized in that, The system also includes a display module; wherein the display module is used to display the usage request.

8. A computer-readable storage medium having a computer program stored thereon that can run on a processor, characterized in that, When the computer program is executed by the processor, it implements a smart bed angle adjustment method as described in any one of claims 1 to 5.

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