Bed frame inclination control method and device and storage medium

Abstract

The invention discloses a bed frame inclination control method and device and a storage medium, and relates to the technical field of mechanical control. According to the method, the target inclination angle is obtained, the target telescopic length corresponding to the electric telescopic device is determined according to the target inclination angle and the preset geometric parameters, the preset geometric parameters comprise the first side length and the second side length, the first side length is the installation distance between the fixed rotating shaft point and the movable rotating shaft point, and the second side length is the installation distance between the fixed rotating shaft point and the movable rotating shaft point. The second side length is the mounting distance between the fixed rotating shaft point and the bed frame fixing point; then, the length difference value between the current telescopic length and the target telescopic length of the electric telescopic device is determined, and the target number of rotation turns of a motor of the electric telescopic device is determined according to the ratio of the length difference value to the transmission coefficient of the electric telescopic device; finally, the motor is controlled to rotate based on the target rotation number of turns, so that the electric telescopic device is driven to stretch to the target telescopic length, and accurate adjustment of the inclination angle of the bed frame is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical control, in particular to a control method, device and storage medium for bed frame tilting. BACKGROUND

[0002] Many current tiltable beds usually adopt manual adjustment or fixed-step control mode, wherein the manual adjustment mode relies on a related sensor to detect whether the tilting angle reaches a target tilting angle, the sensor is susceptible to integral drift and will accumulate errors over time. The fixed-step control mode presets several fixed tilting angles, and each time the push rod motor can only adjust the angle according to the fixed step. Therefore, the above methods have low precision in angle adjustment.

[0003] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0004] The main purpose of the present application is to provide a control method, device and storage medium for bed frame tilting, aiming to solve the technical problem of low precision in adjusting the tilting angle of the bed frame.

[0005] To achieve the above purpose, the present application provides a control method for bed frame tilting, applied to an electric bed frame, wherein the electric bed frame is provided with an electric telescopic device, one end of the electric telescopic device is connected with a bed frame fixed point, and the other end is connected with a movable pivot point, and the control method for bed frame tilting comprises the following steps: obtaining a target tilting angle, determining a target telescopic length corresponding to the electric telescopic device according to the target tilting angle and preset geometric parameters, wherein the preset geometric parameters include a first side length and a second side length, the first side length is the installation distance between the fixed pivot point and the movable pivot point, and the second side length is the installation distance between the fixed pivot point and the bed frame fixed point; determining the length difference between the current telescopic length of the electric telescopic device and the target telescopic length, and determining the target rotation number of the motor of the electric telescopic device according to the ratio of the length difference to the transmission coefficient of the electric telescopic device; controlling the motor to rotate based on the target rotation number to drive the electric telescopic device to telescope to the target telescopic length.

[0006] In an embodiment, the target tilting angle is the included angle between the first side length and the second side length. The step of determining the target telescopic length corresponding to the electric telescopic device according to the target tilting angle and the preset geometric parameters comprises: The target tilt angle is determined according to the first side length and the second side length, and the product of the cosine of the first side length, the second side length and the target tilt angle.

[0007] In an embodiment, after the step of controlling the motor to rotate based on the target rotation number, the method further comprises: obtaining a current number of rotations of the motor, and re-determining the current telescopic length according to the product of the current number of rotations and the transmission coefficient; determining an actual tilt angle of the bed frame according to the new current telescopic length and the preset geometric parameters; When the difference between the actual angle and the target tilt angle is greater than a preset angle difference, the steps of determining the length difference between the current telescopic length of the electric telescopic device and the target telescopic length, and determining the target rotation number of the motor of the electric telescopic device according to the ratio of the length difference to the transmission coefficient of the electric telescopic device are performed.

[0008] In an embodiment, the preset geometric parameters further include a preset maximum value and a preset minimum value of the telescopic length, and before the step of determining the target telescopic length corresponding to the electric telescopic device according to the target tilt angle and the preset geometric parameters, the method further comprises: sending a device identification code to a cloud platform; receiving the first side length and the second side length corresponding to the device identification code, and the preset maximum value and the preset minimum value sent by the cloud platform; After the electric telescopic device is controlled to run to a mechanical limit point, the current telescopic length is determined based on the current number of rotations of the motor of the electric telescopic device.

[0009] In an embodiment, after the step of determining the target telescopic length corresponding to the electric telescopic device according to the target tilt angle and the preset geometric parameters, the method further comprises: determining whether the target telescopic length is between the preset maximum value and the preset minimum value; When the target telescopic length is between the preset maximum value and the preset minimum value, the steps of determining the length difference between the current telescopic length of the electric telescopic device and the target telescopic length, and determining the target rotation number of the motor of the electric telescopic device according to the ratio of the length difference to the transmission coefficient of the electric telescopic device are performed; When the target telescopic length is not between the preset maximum value and the preset minimum value, a warning prompt is issued.

[0010] In an embodiment, after the step of determining the target rotation number of the motor of the electric telescopic device according to the ratio of the length difference and the transmission coefficient of the electric telescopic device, the method further comprises: obtaining a weight of the active bed plate, and determining a gravity moment according to the weight and a sine value of the target inclination angle; determining an output torque of the electric telescopic device according to the gravity moment, and determining an output current of the electric telescopic device according to the output torque, so as to control the rotation of the motor of the electric telescopic device through the output current.

[0011] In an embodiment, the step of obtaining the target inclination angle comprises: receiving a scene mode instruction, the scene mode instruction comprising at least one preset inclination angle corresponding to the active bed plate; determining the target inclination angle corresponding to each active bed plate according to the scene mode instruction.

[0012] In addition, to achieve the above-mentioned purpose, the present application also provides a control device for bed frame inclination, which comprises a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the control method for bed frame inclination as described above.

[0013] In addition, to achieve the above-mentioned purpose, the present application also provides a storage medium, which is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the control method for bed frame inclination as described above.

[0014] The present application provides a control method for bed frame inclination, which is applied to an electric bed frame provided with an electric telescopic device, one end of the electric telescopic device being connected with a fixed point of the bed frame and the other end being connected with a movable pivot point. The method comprises the following steps: obtaining a target inclination angle, and determining a target telescopic length corresponding to the electric telescopic device according to the target inclination angle and preset geometric parameters, wherein the preset geometric parameters comprise a first side length and a second side length, the first side length being an installation distance between the fixed pivot point and the movable pivot point, and the second side length being an installation distance between the fixed pivot point and the fixed point of the bed frame; determining a length difference between a current telescopic length and the target telescopic length of the electric telescopic device, and determining a target rotation number of a motor of the electric telescopic device according to a ratio of the length difference and a transmission coefficient of the electric telescopic device; and finally, controlling the rotation of the motor based on the target rotation number, so as to drive the electric telescopic device to telescope to the target telescopic length.

[0015] The above method solves the problem of low angle adjustment accuracy of the existing tiltable bed by accurately calculating and controlling the telescopic length of the electric telescopic device. First, the target tilting angle is obtained, and then the target telescopic length corresponding to the electric telescopic device is determined according to the target tilting angle and the preset geometric parameters. By replacing sensor detection and fixed step adjustment with arithmetic operation, the difference between the current telescopic length of the electric telescopic device and the target telescopic length is converted into the target number of rotations of the motor, so as to drive the electric telescopic device to accurately telescope to the target telescopic length, thereby realizing accurate adjustment of the tilting angle of the bed frame and avoiding the problems of accumulated error caused by the influence of integral drift of the sensor in the traditional manual adjustment mode and low angle adjustment accuracy in the fixed step control mode. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments consistent with the present application and, together with the description, further serve to explain the principles of the application.

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0018] Figure 1 The structural schematic diagram provided for the control method for tilting of the bed frame in Embodiment One of the present application; Figure 2 The flowchart provided for the control method for tilting of the bed frame in Embodiment One of the present application; Figure 3 The flowchart provided for the control method for tilting of the bed frame in Embodiment Three of the present application; Figure 4 The flowchart provided for the control method for tilting of the bed frame in Embodiment Four of the present application; Figure 5 The structural schematic diagram provided for the control method for tilting of the bed frame in Embodiment Four of the present application; Figure 6 The device structural schematic diagram of the hardware running environment involved in the control method for tilting of the bed frame in the embodiments of the present application.

[0019] The object implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0020] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application, and are not used to limit the present application.

[0021] In order to better understand the technical solutions of the present application, the following will be described in detail in combination with the drawings of the specification and specific embodiments. It should be noted that all actions of obtaining signals, information or data in the present application are carried out in accordance with the corresponding data protection regulations and policies of the country where the device is located, and with the authorization of the corresponding device owner.

[0022] Many current tiltable beds usually use manual adjustment or fixed step control methods. The manual adjustment method relies on sensors to detect whether the tilt angle reaches the target tilt angle. The sensors are susceptible to integral drift and will accumulate errors over time. The fixed step control method presets several fixed tilt angles. Each time the adjustment is made, the push rod motor can only adjust the angle by a fixed step. Therefore, the above methods have low angle adjustment precision.

[0023] In view of the above problems, the present application proposes a control method for tilting a bed frame, which is applied to an electric bed frame. The electric bed frame is provided with an electric telescopic device. One end of the electric telescopic device is connected to a fixed point of the bed frame, and the other end is connected to a movable pivot point. The method obtains a target tilt angle, determines a target telescopic length corresponding to the electric telescopic device according to the target tilt angle and preset geometric parameters, wherein the preset geometric parameters include a first side length and a second side length. The first side length is the installation distance between the fixed pivot point and the movable pivot point, and the second side length is the installation distance between the fixed pivot point and the fixed point of the bed frame. Then, the length difference between the current telescopic length of the electric telescopic device and the target telescopic length is determined. According to the ratio of the length difference to the transmission coefficient of the electric telescopic device, the target rotation number of the motor of the electric telescopic device is determined. Finally, the motor is controlled to rotate based on the target rotation number to drive the electric telescopic device to telescope to the target telescopic length.

[0024] The above method solves the problem of low angle adjustment precision of existing tiltable beds by accurately calculating and controlling the telescopic length of the electric telescopic device. First, the target tilt angle is obtained, and then the target telescopic length corresponding to the electric telescopic device is determined according to the target tilt angle and the preset geometric parameters. The difference between the current telescopic length of the electric telescopic device and the target telescopic length is converted into the target rotation number of the motor by arithmetic operation instead of sensor detection and fixed step adjustment. The electric telescopic device is accurately telescoped to the target telescopic length, which realizes precise adjustment of the tilt angle of the bed frame and avoids the cumulative error caused by the influence of the sensor on the integral drift in the traditional manual adjustment method and the low angle adjustment precision in the fixed step control method.

[0025] It should be noted that the execution subject of the embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a control system of bed frame tilting, etc.

[0026] Based on this, the first embodiment of the present application provides a control method for bed frame tilting, applied to an electric bed frame, referring to Figure 1 , the electric bed frame is provided with an electric telescopic device A1 and a movable bed plate A2, one end of the electric telescopic device A1 is connected with a bed frame fixed point D1, the other end is connected with a movable pivot point D2, wherein the movable bed plate A2 is connected with a bed frame A3 through a fixed pivot point D3.

[0027] Referring to Figure 2 , in the embodiment, the control method for bed frame tilting comprises steps S10-S30: Step S10, obtaining a target inclination angle, determining a target telescopic length corresponding to the electric telescopic device according to the target inclination angle and preset geometric parameters, wherein the preset geometric parameters include a first side length and a second side length, the first side length is the installation distance between the fixed pivot point and the movable pivot point, and the second side length is the installation distance between the fixed pivot point and the bed frame fixed point.

[0028] Exemplarily, referring to Figure 1 , the first side length L1 is the installation distance between the fixed pivot point D3 and the movable pivot point D2, that is, the length of the movable bed plate A2, and the second side length L2 is the installation distance between the fixed pivot point D3 and the bed frame fixed point D1, the first side length L1 and the second side length L2 can be measured in advance when the bed frame is assembled and stored in the cloud platform.

[0029] Then, the bed frame fixed point D1, the movable pivot point D2 and the fixed pivot point D3 are regarded as the vertices of a triangle, wherein the side D3D2=L1, the side D3D1=L2, and the side D1D2 is the target telescopic length to be solved .

[0030] Optionally, referring to Figure 1 , the target inclination angle is the included angle between the first side length L1 and the second side length L2 ; the step of determining the target telescopic length corresponding to the electric telescopic device according to the target inclination angle and the preset geometric parameters comprises: determining the target telescopic length corresponding to the target inclination angle according to the sum of the squares of the first side length and the second side length, and the product of the cosine value of the target inclination angle and the first side length and the second side length.

[0031] Preferably, the electric telescopic device can be an electric push rod, in which the motor drives the screw rod to rotate through gear reduction, and the screw rod and the nut form a screw pair mechanism. When the screw rod rotates, the nut cannot rotate due to axial constraint and can only move linearly along the screw rod axis, thereby converting the rotary motion into the telescopic action of the push rod.

[0032] Exemplarily, the user can input the target inclination angle through the control panel , and then solve the target telescopic length according to the cosine law algorithm .

[0033] It can be understood that the traditional angle control scheme relies on angle sensors such as gyroscopes, and there is long-term error accumulation caused by integral drift. The present embodiment converts the angle into the corresponding target telescopic length of the electric telescopic device through a pure geometric model, and changes the angle by controlling the telescopic action of the electric telescopic device, without real-time angle feedback, avoiding the drift problem, and supporting arbitrary target inclination angle input.

[0034] Optionally, a scene mode instruction is received, the scene mode instruction including a preset inclination angle corresponding to each movable bed plate, and the target inclination angle corresponding to each movable bed plate is determined according to the scene mode instruction.

[0035] Exemplarily, the electric bed frame can be provided with multiple movable bed plates at different positions such as a headboard and a leg plate. At the same time, the system can be provided with a scene library, which stores the inclination angle configurations of the movable bed plates at different positions corresponding to different scene modes. For example, the “reading mode” corresponds to a 30° inclination of the headboard, and the “newborn care mode” corresponds to a 15° inclination of the whole bed plate. When the user inputs the scene mode instruction, the system reads the scene ID in the instruction, queries the angle parameter table associated with the ID in the database, outputs the target inclination angle of each movable bed plate, and then calculates the target telescopic length of each electric telescopic device connected to the movable bed plate.

[0036] In step S20, the length difference between the current telescopic length of the electric telescopic device and the target telescopic length is determined, and the target rotation number of the motor of the electric telescopic device is determined according to the ratio of the length difference to the transmission coefficient of the electric telescopic device.

[0037] Exemplarily, the current rotation number is read in real time through the built-in encoder of the motor , and the current telescopic length of the electric telescopic device is determined in combination with the transmission coefficient K = K, wherein K represents the telescopic length corresponding to each rotation of the motor. Then, the length difference between the current telescopic length of the electric telescopic device and the target telescopic length is calculated , and the target rotation number of the motor of the electric telescopic device is calculated according to the physical meaning of the transmission coefficient Wherein, if AL is positive, it means the electric telescopic device needs to be lengthened, otherwise it means to be shortened.

[0038] Optionally, a error compensation factor can also be determined by historical data calibration of mechanical friction, load change and other nonlinear factors , the transmission coefficient K is corrected by the error compensation factor , and the dynamic transmission coefficient K1=K .

[0039] For example, the load torque T of the motor is detected by the motor current sensor to reflect the bearing weight of the bed frame, and the error compensation factor is dynamically adjusted according to the load torque T: = .Wherein, is the rated load torque, which is used to reflect the weight of the bed frame itself, is the load sensitive coefficient. Then, the target rotation number of the motor of the electric telescopic device is calculated using the dynamic transmission coefficient .

[0040] Step S30, based on the target rotation number, the motor is controlled to rotate to drive the electric telescopic device to extend or retract to the target extension length.

[0041] For example, the target rotation number is converted into pulse number, for example, according to the step angle of the motor, the number of pulses required per revolution is calculated, then the target rotation number is multiplied by the number of pulses required per revolution to obtain the target total pulse number, then the PWM frequency is determined according to the rated speed of the motor, and the PWM signal is output by the microcontroller (such as PLC) to control the motor to rotate, and the motor stops when the pulse number counter accumulates to the target total pulse number. The rotation direction can be controlled by the direction pin level to control the forward and reverse rotation, corresponding to the positive and negative of the length difference AL.

[0042] In this embodiment, the physical length difference AL is converted into motor controllable rotation number by arithmetic operation instead of sensor detection and fixed step adjustment, which provides accurate input for subsequent motor driving and realizes fine angle tilt control.

[0043] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as the above embodiment one can be referred to the above introduction, and the subsequent will not be described in detail. On this basis, after step S30, the control method of the bed frame tilting further includes steps S40-S60: Step S40, obtaining the current number of the motor, and re-determining the current extension length according to the product of the current number and the transmission coefficient.

[0044] Step S50, determining the actual tilt angle of the bed frame according to the new current telescopic length and the preset geometric parameters.

[0045] Step S60, when the difference between the actual angle and the target tilt angle is greater than the preset angle difference, performing the step of determining the length difference between the current telescopic length of the electric telescopic device and the target telescopic length, and determining the target rotation number of the motor of the electric telescopic device according to the ratio of the length difference to the transmission coefficient of the electric telescopic device.

[0046] For example, after the motor rotates or the motor rotation stops, the motor rotation number is collected in real time by the motor encoder or the Hall sensor, and the current telescopic length of the electric telescopic device is re-determined according to the number of rotations of the motor . Then, the preset geometric parameters, i.e., the first side length and the second side length, are used to convert the telescopic length into the actual tilt angle of the bed frame according to the cosine theorem . .

[0047] When the actual tilt angle deviates from the target tilt angle by more than the preset angle difference, steps S20-S30 are re-executed to trigger the telescopic control process.

[0048] In this embodiment, during the execution of the angle adjustment, or after the execution of the angle adjustment, the current rotation number is obtained by the motor encoder or the Hall sensor, multiplied by the transmission coefficient to calculate the current telescopic length in real time, and the actual tilt angle is calculated by the cosine theorem based on the current length and the preset geometric parameters, the angle adjustment is verified, and the closed-loop feedback mechanism is realized by comparing the actual tilt angle and the target tilt angle.

[0049] Based on the above embodiments of the present application, in the third embodiment of the present application, the same or similar contents as the above embodiments can be referred to the above introduction, and will not be repeated hereinafter. On this basis, the preset geometric parameters further include a preset maximum value and a preset minimum value of the telescopic length. Please refer to Figure 3 , before step S10, the control method of the bed frame further includes steps S70-S90: Step S70, sending a device identification code to a cloud platform.

[0050] Exemplarily, when the electric bed frame is powered on, the device identification code such as the MAC address or the serial number of the electric telescopic device is read, the device identification code is encapsulated into a data packet through an encryption protocol, and the data packet is sent to the cloud platform specified Topic. Optionally, before sending the data packet, the system can generate a random number, combine the device identification code to generate a dynamic token through an encryption algorithm, and send the data packet to the cloud platform together. The cloud platform responds after verifying the legality of the token.

[0051] Step S80, receiving the first edge length and the second edge length corresponding to the device identification code sent by the cloud platform, and the preset maximum value and the preset minimum value.

[0052] The preset maximum value and the preset minimum value are the safety boundaries of the telescopic length of the electric telescopic device, which are used to prevent the mechanical structure from being damaged due to excessive extension or contraction of the telescopic device.

[0053] Optionally, after receiving the preset maximum value and the preset minimum value sent by the cloud platform, the control method of the bed frame tilting after step S10 further comprises: determining whether the target telescopic length is between the preset maximum value and the preset minimum value, when the target telescopic length is between the preset maximum value and the preset minimum value, performing the step of determining the length difference between the current telescopic length of the electric telescopic device and the target telescopic length, and determining the target rotation number of the motor of the electric telescopic device according to the ratio of the length difference to the transmission coefficient of the electric telescopic device; when the target telescopic length is not between the preset maximum value and the preset minimum value, a warning prompt is issued.

[0054] Exemplarily, the warning prompt can be prompted by a buzzer or an LED lamp, or the user can be reminded by displaying prompt information on the user interface. Alternatively, the angle interval of the bed frame tilting is calculated according to the above-mentioned preset maximum value and preset minimum value, and the angle interval is displayed on the user interface to prompt the user to input the target tilting angle within the above-mentioned angle interval.

[0055] Through the above steps, the preset maximum value and the preset minimum value can limit the physical travel of the telescopic device, prevent the motor from being overloaded, the structure from being deformed or the mechanism from being stuck, indirectly constrain the tilting angle of the bed frame by limiting the physical travel of the telescopic device, and avoid the user from slipping or muscle injury due to the too large angle.

[0056] Step S90, controlling the electric telescopic device to run to the mechanical limit point, and determining the current telescopic length based on the current number of the motor of the electric telescopic device.

[0057] Optionally, the motor is controlled to retract the telescopic device at a preset speed, the motor current is sampled in real time, the average current in the sliding window is calculated, when the average current in the sliding window is greater than a preset ratio such as 150% of the rated current, the minimum mechanical limit point min_len is determined, and the motor turns N_min are recorded. Similarly, the motor is controlled to extend to the maximum mechanical limit point max_len at a preset speed, and N_max is recorded.

[0058] Then, based on the current turns of the motor of the electric telescopic device The current telescopic length is determined :

[0059] Optionally, limit switches can also be installed at both ends of the telescopic device, when the motor rotates to retract the telescopic device until triggering the minimum limit switch, the minimum mechanical limit point min_len is determined, the turns N_min are recorded and the motor is immediately stopped, similarly, when the motor rotates to extend the telescopic device until triggering the maximum limit switch, the maximum mechanical limit point max_len is determined, the turns N_max are recorded. The calculation of the current telescopic length is the same as described above.

[0060] Based on the above embodiments of the present application, in the fourth embodiment of the present application, the same or similar contents as the above embodiments can be referred to the above description, and will not be described in detail. On this basis, please refer to Figure 4 , after step S20, the control method of the bed frame tilting further includes steps S130-S140: Step S130, the weight of the movable bed plate is obtained, and the gravitational moment is determined according to the weight and the sine value of the target tilting angle.

[0061] Exemplarily, the weight W of the movable bed plate is collected in real time by a pressure sensor such as a strain gauge installed at four corners of the bed plate, and then the gravitational moment corresponding to the movable bed plate is calculated according to the horizontal distance L from the fixed pivot point to the center of gravity of the bed plate and the sine value of the target tilting angle . =W L .

[0062] Among them, referring to Figure 5 , since the fixed pivot point D3 and the bed frame fixed point D1 are fixed, that is, the side D3D1 is fixed, when the movable bed plate A2 is horizontal, the included angle between the movable bed plate A2 and the side D3D1 is known, that is, the included angle between the movable bed plate and the horizontal plane can be determined by the difference between the target tilting angle and the included angle : = - The length of the movable bed board is known, so we can take its center as the geometric center G. The horizontal distance l from the geometric center to the fixed pivot point D3 is half the length of the movable bed board, i.e., half the length of its first side, i.e., l = L1 / 2. Therefore, the horizontal distance L from the center of gravity of the bed board to the fixed pivot point is: L = l1 / 2 .

[0063] Step S140: Determine the output torque of the electric telescopic device based on the gravitational torque, and determine the output current of the electric telescopic device based on the output torque, so as to control the rotation of the motor of the electric telescopic device through the output current.

[0064] For example, according to the gravitational torque Determine the output torque of the electric telescopic device = × , For safety, a factor of 1.2 to 1.5 can be used to allow for torque margin. Then, the quotient of the output torque and the motor torque constant is taken as the output current. The unit of the motor torque constant is N·m / A, which is determined by the motor model.

[0065] It is understandable that the load characteristics of the push rod motor will change when objects of different weights are placed on the bed board. In this embodiment, through an adaptive control algorithm, the output torque and output current of the motor of the electric telescopic device corresponding to the movable bed board can be determined according to the load-bearing capacity of the movable bed board, and the speed of the motor can be automatically adjusted to ensure that the movable bed board can stably and accurately reach the target tilt angle.

[0066] It should be noted that the technical solutions provided in this application can also be applied to electric reclining furniture such as electric sofas in some variant embodiments, and are not limited to electric bed frames.

[0067] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the method for controlling the tilt of the bed frame in this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0068] This application provides a bed frame tilt control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the bed frame tilt control method in the first embodiment described above.

[0069] The following is for reference. Figure 6The diagram illustrates a structural schematic of a control device suitable for implementing bed frame tilting in embodiments of this application. The control device for bed frame tilting in embodiments of this application may include, but is not limited to, mobile terminals such as laptops and tablets (PADs), and fixed terminals such as digital TVs and desktop computers. Figure 6 The bed frame tilt control device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0070] like Figure 6 As shown, the bed frame tilting control device may include a processing unit 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 1002 or a program loaded from storage device 1003 into random access memory (RAM) 1004. The random access memory 1004 also stores various programs and data required for the operation of the bed frame tilting control device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the bed frame tilting control device to communicate wirelessly or wiredly with other devices to exchange data. Although bed frame tilting control devices with various systems are shown in the figures, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems may be implemented alternatively.

[0071] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from read-only memory 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0072] The bed frame tilt control device provided in this application, employing the bed frame tilt control method described in the above embodiments, can solve the technical problem of achieving precise adjustment of the bed frame tilt angle. Compared with the prior art, the beneficial effects of the bed frame tilt control device provided in this application are the same as those of the bed frame tilt control method provided in the above embodiments, and other technical features of the bed frame tilt control device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0073] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0074] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0075] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the bed frame tilting control method in the above embodiments.

[0076] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or flash memory, optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, radio frequency (RF), etc., or any suitable combination thereof.

[0077] The aforementioned computer-readable storage medium may be included in the control device for bed frame tilting; or it may exist independently and not assembled into the control device for bed frame tilting.

[0078] The aforementioned computer-readable storage medium carries one or more programs that, when executed by a bed-tilting control device, enable the bed-tilting control device to write computer program code for performing the operations of this application in one or more programming languages ​​or a combination thereof. These programming languages ​​include object-oriented programming languages—such as Java, Smalltalk, and C++—and conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, or as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0079] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0080] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0081] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described bed frame tilt control method, thereby solving the technical problem of achieving precise adjustment of the bed frame tilt angle. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the bed frame tilt control method provided in the above embodiments, and will not be repeated here.

[0082] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the bed frame tilt control method described above.

[0083] The computer program product provided in this application can solve the technical problem of achieving precise adjustment of the bed frame tilt angle. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the bed frame tilt control method provided in the above embodiments, and will not be repeated here.

[0084] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A method for controlling bed frame tilt, characterized in that, This method is applied to electric bed frames, which are equipped with an electric telescopic device. One end of the electric telescopic device is connected to a fixed point on the bed frame, and the other end is connected to a movable pivot point. The method for controlling the tilt of the bed frame includes the following steps: Obtain the target tilt angle, and determine the target telescopic length corresponding to the electric telescopic device based on the target tilt angle and preset geometric parameters. The preset geometric parameters include a first side length and a second side length. The first side length is the installation distance between the fixed pivot point and the movable pivot point, and the second side length is the installation distance between the fixed pivot point and the bed frame fixing point. Determine the length difference between the current telescopic length and the target telescopic length of the electric telescopic device, and determine the target number of rotations of the motor of the electric telescopic device based on the ratio of the length difference to the transmission coefficient of the electric telescopic device; The motor is controlled to rotate based on the target number of rotations, so as to drive the electric telescopic device to extend or retract to the target telescopic length.

2. The method for controlling bed frame tilt as described in claim 1, characterized in that, The target tilt angle is the angle between the first side length and the second side length; The step of determining the target telescopic length corresponding to the electric telescopic device based on the target tilt angle and preset geometric parameters includes: Using the law of cosines, the target extension length corresponding to the target tilt angle is determined based on the sum of the squares of the first side length and the second side length, and the product of the cosine values ​​of the first side length, the second side length, and the target tilt angle.

3. The method for controlling bed frame tilt as described in claim 1, characterized in that, Following the step of controlling the motor rotation based on the target number of rotations, the method further includes: Obtain the current number of revolutions of the motor, and redetermine the current extension length based on the product of the current number of revolutions and the transmission coefficient; The actual tilt angle of the bed frame is determined based on the new current telescopic length and the preset geometric parameters; When the difference between the actual angle and the target tilt angle is greater than the preset angle difference, the step of determining the length difference between the current telescopic length and the target telescopic length of the electric telescopic device is executed, and the target number of rotations of the motor of the electric telescopic device is determined according to the ratio of the length difference to the transmission coefficient of the electric telescopic device.

4. The method for controlling bed frame tilt as described in claim 1, characterized in that, The preset geometric parameters also include a preset maximum value and a preset minimum value for the telescopic length. Before the step of determining the target telescopic length corresponding to the electric telescopic device based on the target tilt angle and the preset geometric parameters, the method further includes: Send the device identification code to the cloud platform; Receive the first side length and the second side length corresponding to the device identification code sent by the cloud platform, as well as the preset maximum value and the preset minimum value; After controlling the electric telescopic device to run to the mechanical limit point, the current telescopic length is determined based on the current number of revolutions of the motor of the electric telescopic device.

5. The method for controlling bed frame tilt as described in claim 4, characterized in that, After the step of determining the target telescopic length corresponding to the electric telescopic device based on the target tilt angle and preset geometric parameters, the method further includes: Determine whether the target stretch length is between the preset maximum value and the preset minimum value; When the target telescopic length is between the preset maximum value and the preset minimum value, the following steps are performed: determining the length difference between the current telescopic length and the target telescopic length of the electric telescopic device, and determining the target number of rotations of the motor of the electric telescopic device based on the ratio of the length difference to the transmission coefficient of the electric telescopic device; If the target extension length is not between the preset maximum and preset minimum values, a warning message will be issued.

6. The method for controlling bed frame tilt as described in claim 1, characterized in that, After determining the length difference between the current telescopic length and the target telescopic length of the electric telescopic device, and determining the target number of rotations of the motor of the electric telescopic device based on the ratio of the length difference to the transmission coefficient of the electric telescopic device, the method further includes: Obtain the weight borne by the movable bed board, and determine the gravitational torque based on the sine value of the weight and the tilt angle of the target; The output torque of the electric telescopic device is determined based on the gravitational torque, and the output current of the electric telescopic device is determined based on the output torque, so as to control the rotation of the motor of the electric telescopic device through the output current.

7. The method for controlling bed frame tilt as described in claim 1, characterized in that, The steps for obtaining the target tilt angle include: Receive a scene mode command, the scene mode command including at least one preset tilt angle corresponding to the movable bed board; The target tilt angle corresponding to each of the movable bed boards is determined according to the scene mode command.

8. A control device for tilting a bed frame, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the bed frame tilting control method as described in any one of claims 1 to 7.

9. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the bed frame tilting control method as described in any one of claims 1 to 7.

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