An intelligent seven-zone sleep feeling control system based on an ergonomic bionic mattress

Abstract

The present application relates to intelligent mattress control technical field, disclose a kind of based on ergonomics bionics mattress intelligent seven-area sleep feeling control system, the system includes film pressure sensor array, support air bag, public static pressure chamber, branch pipeline, two-way proportional solenoid valve, air pump, exhaust proportional valve and microcontroller, microcontroller obtains mattress surface pressure by data acquisition module and constructs global pressure matrix, vector analysis module calculates centrosome first-order speed and second-order acceleration vector accordingly, state machine determination module enters feedforward preparation, transient dynamic pressure or steady-state compensation mode according to the above vector determination system, fluid servo execution module receives operating state instruction and drives corresponding solenoid valve and air pump.The present application can predict turning trend and advance local pressure relief to reduce physical resistance, dynamically shift gas to maintain support force continuity during turning process, and carry out trace air pressure compensation to eliminate local high pressure point during sleep stationary phase, optimize overall pressure distribution.

Description

Technical Field

[0001] This invention relates to the field of intelligent mattress control technology, and in particular to an intelligent seven-zone sleep sensation control system based on an ergonomic bionic mattress. Background Technology

[0002] With the development of smart home technology, smart mattresses with built-in airbags have been adopted because they have the function of adjusting the firmness. Existing airbag mattresses collect the force data of the human body surface through pressure sensors, and then use microcontrollers to drive air pumps and solenoid valves to adjust the internal air pressure of the corresponding airbags to match different sleeping postures of the human body.

[0003] Existing technologies exhibit control lag when handling dynamic posture changes in the human body. When a person rolls over, the control system often only triggers the decompression action after detecting an increase in local airbag pressure. This delayed feedback mechanism means that the gas inside the local airbag cannot be expelled in time during the initial stage of local airbag compression, forming air resistance on the mattress surface and increasing the physical resistance when the person rolls over. During the continuous transfer of the center of gravity, simple passive decompression is difficult to maintain the continuity of airflow transfer between adjacent airbags, which will cause sudden changes in local support force and lead to uneven force on the human body.

[0004] After the body completes the movement and enters a stable sleep posture, due to the hardware response delay in the early dynamic adjustment process, a certain amount of air pressure error will remain inside each airbag. The existing system lacks a smooth micro-pressure compensation mechanism during the posture stabilization stage. If the regular inflation and deflation program is started, the airflow fluctuations generated by the hardware movement will interfere with sleep. This causes the system to be unable to eliminate the static pressure error accumulated during dynamic operation, leaving local high pressure points on the mattress surface. Long-term pressure will increase the frequency of micro-awakening during sleep, thereby reducing the overall sleep quality. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent seven-zone sleep control system based on an ergonomic bionic mattress, which solves the problems of existing airbag mattresses having lag in control when the body turns over, resulting in greater resistance, and lacking a smooth fine-tuning mechanism after the sleeping posture is stabilized, resulting in excessive local pressure.

[0006] To achieve the above objectives, the present invention provides the following technical solution: This invention provides an intelligent seven-zone sleep control system based on an ergonomic biomimetic mattress, comprising: A thin-film pressure sensor array is arranged on the surface of the mattress to collect real-time pressure readings of the mattress surface; Support airbags are arranged in the internal support layer of the mattress, and there are multiple pressure sensing zones on the mattress surface, each corresponding to a different pressure sensing zone. The common static pressure chamber serves as the central physical node for fluid interaction. Branch pipelines are connected at their starting ends to the supporting airbags and at their ends to the common static pressure chamber. A two-way proportional solenoid valve is installed on the corresponding branch pipeline; The main air pump is connected to the system's main air inlet via a one-way fluid valve and is connected to the common static pressure chamber. An exhaust proportional valve is installed on the exhaust branch that connects the common static pressure chamber to the external environment; The microcontroller is electrically connected to the thin-film pressure sensor array, the bidirectional proportional solenoid valve, the main air pump and the exhaust proportional valve, and internally includes a data acquisition module, a vector analysis module, a state machine determination module and a fluid servo execution module. The data acquisition module acquires the real-time pressure reading and maps it to construct a global pressure matrix; the vector analysis module receives the global pressure matrix and calculates the first-order velocity vector and the second-order acceleration vector of the center of mass; the state machine determination module extracts the operating state of the above vector determination system as feedforward preparation mode, transient dynamic pressure mode, or steady-state compensation mode; the fluid servo execution module receives the operating state command and controls the gas to transfer physical potential energy between the support airbags that are subjected to force changes, or selects to wake up the main air pump to perform gas replenishment integral servo action, or opens the exhaust proportional valve to perform pressure relief integral servo action, thereby eliminating static pressure error during system operation.

[0007] This technical solution collects the pressure on the mattress surface through a thin-film pressure sensor array, calculates the human motion vector data by a microcontroller and determines the current operating mode of the system, and then controls the bidirectional proportional solenoid valve and air pump through a fluid servo actuator module to achieve closed-loop adjustment of the mattress airbag pressure according to the changes in human posture.

[0008] Furthermore, the data acquisition module polls and scans the thin-film pressure sensor array according to a fixed sampling period to obtain the underlying circuit signals, calls the existing digital low-pass filtering algorithm to perform smoothing processing on the raw digital pressure signals of each independent sensor node to eliminate abnormal signal jumps and output effective pressure readings, and maps the effective pressure readings to a two-dimensional spatial coordinate system to construct the global pressure matrix.

[0009] By eliminating abrupt changes in sensor signals through a digital low-pass filtering algorithm and mapping discrete pressure readings to a two-dimensional coordinate system, the actual pressure area and pressure distribution of the human body on the mattress surface can be accurately obtained.

[0010] Furthermore, the vector analysis module receives the global pressure matrix, performs spatial discrete integration to extract the spatial centroid coordinates of the human body pressure within the current sampling period, combines the spatial centroid coordinates of the historical periods, uses a difference algorithm to calculate the first-order velocity vector of the centroid, and extracts the first-order velocity vector of the centroid calculated in the current sampling period and the first-order velocity vector of the centroid of the previous period stored in the internal memory, performs high-order difference operation logic to parse and obtain the second-order acceleration vector of the centroid.

[0011] The global pressure matrix is ​​converted into the first-order velocity vector and the second-order acceleration vector of the center of mass using discrete integral and difference algorithms, thereby quantifying the human body's movement speed and the tendency to roll over.

[0012] Furthermore, the state machine determination module extracts the magnitude of the first-order velocity vector of the center of mass and the magnitude of the second-order acceleration vector of the center of mass and performs a logical comparison. If the absolute value of the magnitude of the first-order velocity vector of the center of mass is less than the dynamic velocity magnitude determination threshold constant and the absolute value of the magnitude of the second-order acceleration vector of the center of mass is greater than or equal to the dynamic acceleration magnitude determination threshold constant, the feedforward preparation mode is switched to. If the absolute value of the magnitude of the first-order velocity vector of the center of mass is greater than or equal to the dynamic velocity magnitude determination threshold constant, the transient dynamic pressure mode is switched to. If the magnitude of the first-order velocity vector of the center of mass is continuously less than the stationary determination parameter within a time span exceeding the steady-state time determination window constant, the steady-state compensation mode is triggered and switched to.

[0013] By comparing the calculated velocity and acceleration modulus with the threshold set by the system, it is possible to identify the human body's preparatory movements for turning over, the dynamic turning over process, and the static sleep state, and switch the pneumatic control mode accordingly.

[0014] Furthermore, when the received operating status command switches to the feedforward preparation mode, the fluid servo execution module extracts the calculated second-order acceleration vector of the centroid, calculates the spatial angle between the second-order acceleration vector of the centroid and the reference geometric vector pre-recorded by the system, extracts the support airbag with the smallest absolute value of the spatial angle as the predicted pressure-bearing zone, and generates a full-pulse-width modulation signal to the bidirectional proportional solenoid valve corresponding to the predicted pressure-bearing zone and the common static pressure chamber, so that the predicted pressure-bearing zone performs short-term pre-depressurization through the common static pressure chamber.

[0015] By using the second-order acceleration vector of the center of mass to predict the target airbag that the human body will press against, the corresponding solenoid valve is opened in advance to release pressure briefly, reducing the damping of the airbag before the human torso is fully pressed down, and providing flexible support.

[0016] Furthermore, when the received operating status command switches to the transient dynamic pressure mode, the fluid servo execution module scans the global pressure matrix to extract the airflow source zone where the pressure surges and the target destination zone where the pressure drops sharply. It uses the absolute coordinates of the physical centroids of the two zones to construct a unit direction topological vector from the source point to the destination point. It extracts the first-order velocity vector of the centroid and uses the projection operation rule to calculate the mathematical projection component formed by the velocity vector on the unit direction topological vector. Based on the projection component, it calculates the duty cycle in real time and sends it to the target bidirectional proportional solenoid valve to control the transfer of physical potential energy between the support airbags where the force changes.

[0017] The projected component of the center of mass velocity in the direction of airflow is calculated, and the opening of the bidirectional proportional solenoid valve is dynamically adjusted to change the gas transfer rate between airbags, thereby buffering the kinetic energy generated when the human body turns over.

[0018] Furthermore, the fluid servo execution module continuously monitors the instantaneous average pressure ratio between the airflow source zone and the target destination zone during the airflow transmission. The system calculates the real-time dynamic ratio formed by the average pressure value of all sensor nodes in the target destination zone and the average pressure value of the corresponding node in the airflow source zone. When the real-time dynamic ratio is monitored to reach the theoretical target pressure difference ratio, a hardware interrupt signal is triggered, and a zero duty cycle cutoff command is simultaneously sent to the bidirectional proportional solenoid valves at both ends to block the fluid pipeline.

[0019] During the airflow transfer process, the pressure ratio between the airbags is monitored in real time. When the theoretical target pressure difference ratio is reached, the air path is quickly cut off to maintain the internal air pressure of each support airbag at the theoretically designed support ratio.

[0020] Furthermore, when the received operating status command switches to the steady-state compensation mode, the fluid servo execution module sends a zero duty cycle command to all bidirectional proportional solenoid valves to physically block the underlying airflow exchange channel. It extracts the global pressure matrix to obtain the geometric boundary features of the pressure profile, uses the existing two-dimensional profile template matching algorithm to identify the specific steady-state sleep posture of the human body, retrieves the theoretical target pressure matrix corresponding to the posture preset and performs a difference operation with the global pressure matrix execution node to calculate the spatial steady-state residual data.

[0021] When the human body is in a stable sleeping posture, the specific sleeping posture is identified by the contour matching algorithm, and the actual pressure distribution is compared with the theoretical pressure model of the corresponding sleeping posture to calculate the pressure deviation value of each airbag.

[0022] Furthermore, the fluid servo execution module selects to wake up the main air pump to perform a replenishment integral servo action or open the exhaust proportional valve to perform a pressure relief integral servo action based on the positive or negative polarity of the spatial steady-state residual data. It extracts the minimum integral gain coefficient built into the microcontroller to perform time-dimensional accumulation and integration calculation on the spatial steady-state residual and generates control commands. When the dynamic residual value is detected to enter the numerical range corresponding to the differential pressure dead zone constant, a hardware interrupt signal is triggered to cut off the power supply to the main air pump and simultaneously close all bidirectional proportional solenoid valves, while also closing the exhaust proportional valve.

[0023] Based on the calculated spatial steady-state residual, integral servo actions are executed to perform micro-inflation or depressurization compensation of the airbag, gradually eliminating the static pressure error generated during system operation.

[0024] Furthermore, the branch pipelines include a first branch pipeline to a seventh branch pipeline that corresponds one-to-one with each of the support airbags. The support airbags, the branch pipelines, and the common static pressure chamber form a star-shaped air path topology. The support airbags include a first support airbag to a seventh support airbag arranged sequentially along the length of the mattress, corresponding to the head and neck support area, shoulder and back support area, waist support area, hip support area, thigh support area, calf support area, and foot support area, respectively. Each support airbag corresponds to a pressure acquisition zone on the mattress surface.

[0025] The star-shaped air path topology allows the common static pressure chamber to be independently connected to the seven support air bladders of the mattress, ensuring that the pressure adjustment of each zone is independent and does not interfere with each other.

[0026] In summary, the present invention has at least one of the following beneficial technical effects: 1. This invention calculates the second-order acceleration vector of the center of mass in the human body pressure space through a vector analysis module. It can predict the target support airbag that the center of gravity will press against in advance during the initial stage of the human body turning over. The system then switches to feedforward preparation mode and sends a command to the corresponding bidirectional proportional solenoid valve, so that the predicted pressure zone is depressurized briefly through the common static pressure chamber. The technical feature is that before the human torso is completely transferred and full weight is applied, the internal air pressure of the target airbag is reduced in advance, reducing the reverse physical resistance generated when the fluid is passively compressed, and reducing the physical energy consumption during the human body turning over.

[0027] 2. In the transient dynamic pressure mode of human body turning over, this invention extracts the centroid coordinates of pressure surge and sudden decrease zones to construct a unit direction topological vector, and orthogonally projects the first-order velocity vector of the centroid to the vector. In this way, the duty cycle of the corresponding bidirectional proportional solenoid valve is calculated and adjusted in real time. The technical feature enables the system to control the gas to be transferred proportionally between the support airbags under force changes according to the actual displacement rate of the human body, and to quickly block the pipeline when the theoretical target pressure difference is reached, thereby maintaining continuous support force during dynamic displacement and avoiding sudden changes in local support force on the mattress surface.

[0028] 3. This invention identifies the current sleep posture using a two-dimensional contour matching algorithm after determining that the human body has entered a steady-state compensation mode. It then calculates the difference between the global pressure matrix and the theoretical target pressure matrix of the corresponding posture to obtain spatial steady-state residual data. The system extracts the minimum integral gain coefficient and controls the main air pump or exhaust proportional valve to perform slow integral servo air replenishment or depressurization actions based on the residual polarity. The technical feature is that by using extremely low-rate closed-loop micro-inflation and depressurization, the static pressure error accumulated by the system in the early dynamic adjustment is gradually corrected, smoothing out local high-pressure points on the mattress surface and making the pressure distribution of each area of ​​the body more uniform. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the module architecture of the present invention; Figure 2 This is a schematic diagram of the method flow of the present invention; Figure 3 This is the timing diagram of the multi-order kinematic vector analysis of the present invention; Figure 4 This is a schematic diagram of the transient passive fluid control principle of the present invention; Figure 5 The present invention introduces integral gain and time-dimensional convergence curves after dead zone; Figure 6 This is a bar chart comparing the physical interaction indicators of the control group and the experimental group in this invention. Figure 7 This is a bar chart comparing the sleep physiology and comfort indices of the control group and the experimental group in this invention.

[0030] Among them, 100 is a thin-film pressure sensor array; 200 is a microcontroller; 201 is a data acquisition module; 202 is a vector analysis module; 203 is a state machine determination module; 204 is a fluid servo execution module; 300 is a support airbag; 400 is a common static pressure chamber; 500 is a bidirectional proportional solenoid valve; 600 is a branch pipeline; 700 is a main air pump; 800 is a one-way fluid valve; and 900 is an exhaust proportional valve. Detailed Implementation

[0031] The following is in conjunction with the appendix Figure 1 -Appendix Figure 7 The present invention will be further described in detail below.

[0032] See attached document Figure 1 This invention provides an intelligent seven-zone sleep control system based on an ergonomic bionic mattress, which may include: A thin-film pressure sensor array 100 is arranged on the surface of the mattress to collect real-time pressure distribution data on the mattress surface.

[0033] Support airbags 300 are arranged in the internal support layer of the mattress. The support airbags 300 include a first support airbag 300 to a seventh support airbag 300 arranged sequentially along the length of the mattress, which respectively correspond to the head and neck support area, shoulder and back support area, waist support area, hip support area, thigh support area, calf support area and foot support area; each support airbag 300 corresponds to a pressure collection zone on the mattress surface.

[0034] The common static pressure chamber 400 has a fixed physical volume structure and serves as a central physical node for fluid interaction. When the bidirectional proportional solenoid valves 500 of each branch pipeline 600 are closed, the common static pressure chamber 400 maintains a relatively stable internal pressure. When at least two bidirectional proportional solenoid valves 500 are open, it serves as a buffer node for transient fluid exchange between different support airbags 300.

[0035] Branch lines 600 are connected at their beginning to support airbags 300 and at their end to a common static pressure chamber 400. Branch lines 600 include first branch lines 600 to seventh branch lines 600, each corresponding to a first support airbag 300 to a seventh support airbag 300. Each branch line 600 is independently connected to the corresponding support airbag 300 and the common static pressure chamber 400. The support airbags 300, branch lines 600, and common static pressure chamber 400 form a star-shaped airway topology.

[0036] A bidirectional proportional solenoid valve 500 is installed on the corresponding branch pipeline 600. At least one bidirectional proportional solenoid valve 500 is provided on each branch pipeline 600. The bidirectional proportional solenoid valve 500 and the corresponding support airbag 300 form a one-to-one zone fluid regulation relationship. It is used to receive the duty cycle signal sent by the control terminal and adjust the fluid flow resistance in the branch pipeline 600 in real time.

[0037] The main air pump 700 is connected to the system's main air inlet via a one-way fluid valve 800. The main air inlet is connected to the common static pressure chamber 400, enabling the main air pump 700 to replenish gas to the common static pressure chamber 400 and the target support airbag 300 via the one-way fluid valve 800.

[0038] The exhaust proportional valve 900 is located on the exhaust branch connecting the common static pressure chamber 400 to the external environment. It is used to release the gas in the common static pressure chamber 400 or the target support airbag 300 under the control of the microcontroller 200. When the target support airbag 300 needs to be depressurized, the microcontroller 200 opens the bidirectional proportional solenoid valve 500 corresponding to the target support airbag 300 and opens the exhaust proportional valve 900, so that the gas in the target support airbag 300 is discharged through the common static pressure chamber 400 and the exhaust branch.

[0039] The microcontroller 200 is electrically connected to the thin-film pressure sensor array 100, the bidirectional proportional solenoid valve 500, the main air pump 700, and the exhaust proportional valve 900. The microcontroller 200 contains a data acquisition module 201, a vector analysis module 202, a state machine determination module 203, and a fluid servo execution module 204.

[0040] See attached document Figure 2 This invention provides an intelligent seven-zone sleep sensation control method based on an ergonomic bionic mattress, comprising the following steps: S1, the data acquisition module 201 polls and scans the thin film pressure sensor array 100 according to a fixed sampling period to obtain the instantaneous pressure readings of each physical node on the mattress surface, and maps the instantaneous pressure readings to a two-dimensional spatial coordinate system to construct a global pressure matrix; S2, the vector analysis module 202 receives the global pressure matrix, performs spatial discrete integration on the global pressure matrix to extract the spatial centroid coordinates of human body pressure in the current sampling period, and uses a difference algorithm to calculate the first-order velocity vector and the second-order acceleration vector of the centroid by combining the spatial centroid coordinates of the historical period. S3, the state machine determination module 203 extracts the magnitude of the first-order velocity vector of the center of mass and the magnitude of the second-order acceleration vector of the center of mass, and performs a logical comparison between the magnitude data and the kinematic threshold set inside the system to determine whether the current operating state of the system is feedforward preparation mode, transient dynamic pressure mode or steady-state compensation mode. S4, the fluid servo execution module 204 receives the running status command output by the state machine judgment module 203. When the running status enters the feedforward preparation mode, the fluid servo execution module 204 determines the predicted pressure-bearing zone that the human body will press against based on the second-order acceleration vector of the center of mass, and opens the bidirectional proportional solenoid valve 500 corresponding to the predicted pressure-bearing zone, so that the predicted pressure-bearing zone performs short-term pre-decompression through the common static pressure chamber 400. When the running status enters the transient dynamic pressure mode, the fluid servo execution module 204 outputs a hardware interrupt signal to lock the power circuit of the main air pump 700, calculates the projection component of the first-order velocity vector of the center of mass in the direction of the star-shaped air path topology, calculates the duty cycle in real time based on the projection component and sends it to the target bidirectional proportional solenoid valve 500 to control the transfer of physical potential energy between the support airbags 300 where the force changes. S5, when the operation state enters the steady-state compensation mode, the fluid servo execution module 204 outputs a zero-duty-cycle closing signal to all bidirectional proportional solenoid valves 500, calculates the spatial steady-state residual between the current global pressure matrix and the theoretical steady-state matrix of the system, and selects to wake up the main air pump 700 to perform the air replenishment integral servo action or open the exhaust proportional valve 900 to perform the pressure relief integral servo action according to the positive and negative polarity of the spatial steady-state residual, thereby eliminating the static pressure error in the system operation process.

[0041] In specific implementations, step S1 provided by this invention may include the following steps: S101, the data acquisition module 201 performs hardware polling scanning on the thin-film pressure sensor array 100 according to a preset sampling frequency and acquires the underlying circuit signals. The thin-film pressure sensor array 100 contains multiple independent sensor nodes arranged in a matrix grid pattern. The system microcontroller 200 internally sets a sampling period constant. In this embodiment, the value of the sampling period constant ranges from 10 milliseconds to 50 milliseconds. The system reads the physical resistance change of each independent sensor node sequentially at this fixed time interval. The operation of converting the resistance change into the original digital pressure signal is performed according to the existing analog-to-digital conversion circuit and supporting means. Considering that the underlying circuit signal will be affected by environmental crosstalk and generate high-frequency noise during the acquisition and transmission process, the data acquisition module 201 calls the existing digital low-pass filtering algorithm to perform smoothing processing on the original digital pressure signal of each independent sensor node to eliminate abnormal signal jumps and output an effective pressure reading.

[0042] S102, the data acquisition module 201 maps the effective pressure reading to a two-dimensional spatial coordinate system to construct a global pressure matrix. The data acquisition module 201 establishes a fixed two-dimensional spatial coordinate system containing horizontal and vertical axes in its internal computing unit. Each independent sensor node in the array is assigned a unique and fixed physical space absolute coordinate. The above physical space absolute coordinate corresponds to the actual geometric distance of the independent sensor node from the set coordinate origin in the physical mattress plane. The microcontroller 200 establishes a binding relationship between the discrete digital pressure scalar and the absolute physical space position of the mattress surface through spatial mapping operations, and restores the actual pressure geometric area and normal force depth distribution of the human body on the mattress surface at the calculation logic level.

[0043] The data acquisition module 201 integrates all valid pressure readings extracted at the current sampling moment according to the physical spatial arrangement order of each independent sensor node in the thin-film pressure sensor array 100 to generate a global pressure matrix characterizing the stress state. Its mathematical expression is as follows: In the formula, This is the global pressure matrix at the current sampling time; The time variable at the current sampling moment; This is a constant representing the maximum number of rows in the vertical dimension of the physical sensor array; This is a constant representing the maximum number of columns in the horizontal dimension of the physical sensor array; to The corresponding elements in the matrix represent the current sampling time. The effective pressure reading scalar output by each independent sensor node located at the intersection of the corresponding row and column after filtering and noise reduction processing; At the end of each sampling cycle, the data acquisition module 201 sends the completed global pressure matrix to the vector analysis module 202 as a state input variable for subsequent kinematic derivation calculations.

[0044] The microcontroller 200 also has a seven-zone mapping table pre-stored inside. The seven-zone mapping table includes the first pressure acquisition zone to the seventh pressure acquisition zone. Each pressure acquisition zone consists of multiple independent sensor nodes that fall within the vertical projection range of the corresponding support airbag 300. The data acquisition module 201 divides the global pressure matrix into seven zone pressure sub-matrices according to the physical spatial absolute coordinates of each independent sensor node, and establishes the control mapping relationship between each zone pressure sub-matrix and the corresponding support airbag 300.

[0045] See attached document Figure 3 In specific implementations, step S2 provided by the present invention may include the following steps: S201, the vector analysis module 202 receives the global pressure matrix and performs discrete surface integral operation to extract the coordinates of the centroid of human body pressure space at the current moment. This module traverses the effective pressure readings in the global pressure matrix and extracts the bound physical space absolute coordinates. The system performs weighted multiplication and summation operations on the pressure values ​​output by each independent sensor node and their corresponding horizontal and vertical absolute coordinates. The system divides the above-mentioned summed value by the algebraic sum of all effective pressure readings in the global pressure matrix to obtain the concentrated equivalent force point of the physical pressure centroid. Based on the existing discrete surface integral method, the system reduces the dimension of the two-dimensional surface array pressure distribution into a single dynamic spatial coordinate data while avoiding the operation of obtaining the real three-dimensional contour of the human body.

[0046] S202, after obtaining the spatial centroid coordinates within the current sampling period, the vector analysis module 202 calls the differential algorithm to calculate the first-order velocity vector of the centroid, which represents the displacement characteristics. The system's internal memory stores the spatial centroid coordinate data generated in previous historical sampling periods based on a first-in-first-out mechanism. The module extracts the centroid coordinate data obtained in the current sampling period and performs a difference operation on the spatial displacement with the centroid coordinate data recorded in adjacent historical periods. The system uses the obtained difference in the horizontal axis coordinates and the difference in the vertical axis coordinates to divide by the set sampling period constant to calculate the centroid displacement rate and displacement direction vector at the corresponding moment. This first-order velocity vector data represents the absolute instantaneous rate of the human body's current posture transfer and is sent to the subsequent state machine for linkage discrimination.

[0047] S203, the vector analysis module 202 derives the analytical second-order acceleration vector of the center of mass based on the first-order velocity vector extracted within multiple consecutive control cycles. The human body's turning motion exhibits a physical momentum accumulation effect in its initial stage, and the underlying support medium experiences mechanical deformation lag due to pressure feedback. The system extracts the first-order velocity vector of the center of mass calculated in the current sampling cycle and the first-order velocity vector of the center of mass from the previous cycle stored in internal memory, and performs high-order differential operation logic. The system calculates the rate of change of displacement rate within a specific time span to obtain acceleration characteristic parameters representing the initial trend of the human body's turning motion. The mathematical analytical model of the second-order acceleration vector of the center of mass is: In the formula, This refers to the forward acceleration vector parameter of the human body during the rolling over and rising posture extracted at the current sampling moment; The time variable at the current sampling moment; The first-order transient velocity vector parameter of the human body's center of mass is derived at the current sampling moment; The sampling period time interval constant set for the system hardware layer; The time variable of the adjacent previous sampling period is recorded in the system's internal registers; This refers to the first-order transient velocity vector history parameter of the human body's center of mass, which is stored in the adjacent previous sampling period. The aforementioned time interval constant is limited to a value range of 10 to 50 milliseconds based on the frequency of normal human movement and existing signal sampling theorem. After completing the calculation, the vector analysis module 202 updates and overwrites the newly generated first-order and second-order kinematic vector data into the memory and sends it synchronously to the next-level decision link.

[0048] In specific implementations, step S3 provided by this invention may include the following steps: S301, the state machine determination module 203 receives the underlying input parameters and calls the set dynamic velocity modulus threshold and dynamic acceleration modulus threshold from the internal register. In this embodiment, the dynamic velocity modulus threshold ranges from 0.15 m / s to 0.35 m / s, and the dynamic acceleration modulus threshold ranges from 0.5 m / s² to 1.2 m / s². The dynamic velocity modulus threshold corresponds to the motion boundary parameter that distinguishes between local limb movements and overall trunk rotation displacement in the physical space. The dynamic acceleration modulus threshold corresponds to the lower limit parameter of momentum change when the human body generates a turning and rising posture in the time space. Based on the human sleep body movement characteristic sample library and conventional data statistical methods, the technicians perform factory calibration settings for the above threshold parameters. The state machine determination module 203 converts the vector parameters calculated and output by the previous determination step into scalar modulus data and performs a numerical comparison operation with the threshold values ​​fixed in the above hardware register.

[0049] S302, the state machine determination module 203 extracts the first-order velocity vector magnitude and the second-order acceleration vector magnitude of the center of mass at the current moment and defines the trigger boundaries of the feedforward preparatory mode and the transient dynamic pressure mode based on a set of inequalities. The system compares the real-time magnitude data with the threshold data to establish Boolean logic judgment branches to cover specific kinematic probability intervals. The mode switching mathematical logic judgment model executed by the state machine determination module 203 is as follows: ; ; In the formula, This serves as the starting identifier for Boolean logic judgments. The absolute magnitude parameter of the first-order velocity vector of the centroid calculated at the current sampling moment; The time variable at the current sampling moment; The dynamic speed modulus determination threshold constant preset for the system's internal registers; This is the Boolean logical AND operator; The absolute magnitude parameter of the second-order acceleration vector of the centroid calculated at the current sampling time; The dynamic acceleration magnitude determination threshold constant is preset for the system's internal registers; The Boolean logic condition is true for the execution identifier; Variables are used to store the state of the system's current operating mode; The system state enumeration constant represents the feedforward preparatory mode; The system state enumeration constants represent the transient dynamic pressure mode; When the real-time data collected at the lower level does not meet any of the above-mentioned triggering conditions, the system state machine maintains the current inherent operating mode and does not dispatch switching instructions.

[0050] S303, when the state machine determination module 203 detects a decrease in the relevant velocity magnitude, it executes the steady-state compensation mode entry logic determination. The system has a pre-set steady-state time determination window constant based on the hardware clock pulse count of the microcontroller 200 and a static determination parameter. In this embodiment, the steady-state time determination window constant ranges from 2 seconds to 5 seconds, and the static determination parameter ranges from 0.01 m / s to 0.05 m / s. The state machine determination module 203 compares the first-order velocity vector magnitude of the center of mass calculated in multiple consecutive sampling periods with the above-mentioned static determination parameter. When the system detects that the first-order velocity vector magnitude of the center of mass is continuously less than the static determination parameter within a time span exceeding the steady-state time determination window constant, it triggers and enters the steady-state compensation mode. The above judgment condition objectively corresponds to the formation of a new stable geometric contact support shape of the torso on the mattress surface. After completing the mode logic determination, the state machine determination module 203 generates the corresponding state machine control byte and sends it to the next-level execution link.

[0051] See attached document Figure 4 In specific implementations, step S4 provided by the present invention may include the following steps: S401, the fluid servo execution module 204 receives the feedforward preparation mode instruction and extracts the second-order acceleration vector obtained from the underlying calculation. The system microcontroller 200 has a reference geometric vector in its storage space that represents the center coordinate distribution of each support airbag 300. The fluid servo execution module 204 executes the spatial operation logic to solve for the spatial angle between the input acceleration vector and each reference geometric vector. The control algorithm extracts the support airbag 300 with the smallest absolute value of the spatial angle as the predicted pressure zone. The control module generates a full pulse width modulation signal and sends it to the bidirectional proportional solenoid valve 500 that connects the predicted pressure zone and the common static pressure chamber 400. The valve response signal maintains a fully open state to open the physical transport channel. It is predicted that the original compressed fluid in the pressure-bearing zone will overcome the resistance under the action of the internal and external pressure difference and passively flow into the common static pressure chamber 400 with a constant volume to transfer potential energy. If the instantaneous pressure of the pressure-bearing zone is not greater than that of the common static pressure chamber 400, the microcontroller 200 will simultaneously open the exhaust proportional valve 900 to assist the common static pressure chamber 400 in depressurizing to the external environment, so as to ensure that the local branch of the pipeline system will generate a physical pressure drop phenomenon and reshape the internal fluid distribution pattern, thereby forming a flexible receiving state before the human torso is about to press into the zone.

[0052] S402, when the system switches to transient dynamic pressure mode, the fluid servo execution module 204 scans the global pressure matrix to extract the airflow source zone where the pressure surges and the target destination zone where the pressure drops sharply. The microcontroller 200 calls the absolute coordinates of the physical centroids of the above two zones to construct a unit direction topological vector from the source point to the destination point. The fluid servo execution module 204 extracts the first-order velocity vector of the centroid analyzed in the current cycle and uses the projection operation rule to calculate the mathematical projection component formed by the velocity vector on the unit direction topological vector. The mathematical solution model used for the projection component is: ; In the formula, The velocity projection component scalar represents the rate at which physical displacement does work in a given fluid transport direction at the current sampling moment; The time variable at the current sampling moment; The first-order velocity vector parameter of the centroid calculated at the current sampling moment; This is the unit direction topological vector pointing from the extracted airflow source zone center coordinates to the target destination zone center coordinates in absolute physical space; The system uses a dot product operation mechanism to filter out orthogonal irrelevant displacement data in multidimensional motion and extract effective velocity scalar data that coincides with the transport direction of the underlying physical gas path. This single-dimensional velocity scalar is then sent to the control register as the underlying calculation reference data for the nonlinear modulation of the duty cycle of the 500 bidirectional proportional solenoid valve at the hardware end.

[0053] S403, the fluid servo execution module 204 outputs an asymmetric pneumatic impedance modulation signal to the bidirectional proportional solenoid valves 500 at both ends of the airflow source zone and the target destination zone based on the generated projection component parameters. The system locks the bidirectional proportional solenoid valve 500 associated with the target destination zone to keep it fully energized in real time and maintains an unobstructed gas flow path between the common static pressure chamber 400 and the target area. The fluid servo execution module 204 extracts the hardware drive parameters of the bidirectional proportional solenoid valve 500 of the airflow source zone and sets the duty cycle to a mapping function that changes nonlinearly with the input projection component. The specific calculation logic of the duty cycle mapping parameter is performed inside the microcontroller 200 based on the existing exponential smoothing algorithm combined with the hardware parameter characteristics. The system dynamically adjusts the valve opening of the corresponding valve in the source zone in real time based on the real-time fluctuation of the projection component data to change the pneumatic friction resistance of the local fluid being squeezed out. The transient kinetic energy applied by the human torso is physically dissipated in the process of continuously resisting the above-mentioned airflow obstruction and is absorbed by the pipeline system in the form of fluid work.

[0054] S404, the fluid servo execution module 204 continuously monitors the instantaneous average pressure ratio between the airflow source zone and the target destination zone during the airflow transmission period and executes physical path cut-off actions when appropriate. The system calculates the real-time dynamic ratio formed by the average pressure value of all sensor nodes in the target destination zone and the average pressure value of the corresponding node in the airflow source zone. The fluid servo execution module 204 retrieves the theoretical target pressure difference ratio corresponding to the current predicted attitude from the engineering parameter mapping table preset in the internal memory and performs high-frequency numerical comparison in the hardware execution loop. When the system comparator captures the physical instant when the real-time dynamic ratio reaches the theoretical target pressure difference ratio, it triggers a hardware interrupt signal to directly bypass the dependence condition on the speed judgment threshold. The fluid servo execution module 204 synchronously sends a zero duty cycle cut-off command to the two bidirectional proportional solenoid valves 500. After losing the electromagnetic holding force, the valve core inside the valve resets and blocks the fluid pipeline, thereby forcibly fixing the internal pressure ratio of each support airbag 300 in a physical support state that conforms to the theoretical distribution curve.

[0055] See attached document Figure 5 In specific implementations, step S5 provided by the present invention may include the following steps: S501, after receiving the steady-state compensation mode command, the fluid servo execution module 204 sends a zero duty cycle command to all bidirectional proportional solenoid valves 500 to physically block the fluid exchange channel of the underlying air path. The microcontroller 200 extracts the current global pressure matrix output by the thin-film pressure sensor array 100 and obtains the geometric boundary features of the pressure profile. Based on the above boundary features, the system uses the existing two-dimensional profile template matching algorithm to identify the specific steady-state sleep posture of the human body. Based on the posture recognition result, the microcontroller 200 retrieves the theoretical target pressure matrix corresponding to the posture from the internal memory. The fluid servo execution module 204 maps the current global pressure matrix to the surface bearing area covered by each support airbag 300 according to the spatial physical coordinates to calculate the actual pressure scalar distribution. The system performs a difference operation between the actual pressure scalar of each area and the standard value of the corresponding partition in the theoretical target pressure matrix to obtain the spatial steady-state residual data characterizing the degree of static pressure deviation from the physical reference. The specific calculation operation of the above matrix discrete algebra difference is executed synchronously in the underlying arithmetic unit according to the existing microprocessor matrix operation method.

[0056] S502, the fluid servo execution module 204 executes hardware drives for different branches based on the positive and negative polarities of the spatial steady-state residual data: when air replenishment is needed, the main air pump 700 is activated and the corresponding bidirectional proportional solenoid valve 500 is opened; when depressurization is needed, the main air pump 700 is kept closed, and the exhaust proportional valve 900 and the corresponding bidirectional proportional solenoid valve 500 are opened to establish a pneumatic compensation physical link. The system extracts the minimal integral gain coefficient built into the microcontroller 200 to perform time-dimensional accumulation and integration calculation on the spatial steady-state residual and generates control commands to drive a very small amount of airflow to be smoothly injected into or discharged from the target support airbag 300. The mathematical solution model on which the above-mentioned extremely low slope calculus servo compensation execution depends is: ; In the formula, The duty cycle control parameter is the one that is output to the associated regulating valve of the target support airbag 300 at the current moment. The upper limit variable for the current absolute time in continuous integration calculations; The initial relative time lower limit constant is used to trigger the steady-state compensation mode and start the current round of integration calculation; This is the hardware distribution index number corresponding to the specific support airbag 300 in the underlying physical pipeline network system; The spatial steady-state residual numerical parameter recorded at a certain instant during the integral calculation of a specific support airbag 300; Let be the continuous-time independent variable within the interval of definite integral operation; For the time differential parameter of definite integral operation, The integral gain coefficient is a minimal value embedded within the microcontroller 200, and this parameter, combined with the air resistance characteristics of the underlying hardware piping, is factory-calibrated within a range of 0.01 to 0.05 to strictly limit the upper limit of the pneumatic adjustment rate of the hardware actuator. The system register has a preset differential pressure dead zone constant that is associated with the lower limit of the physical resolution of the underlying sensor. In this embodiment, the differential pressure dead zone constant ranges from 0.5 kPa to 1.5 kPa. When the fluid servo execution module 204 detects that the dynamic residual value enters the value range corresponding to the differential pressure dead zone constant, it triggers a hardware interrupt signal to cut off the power supply to the main air pump 700 and simultaneously closes all bidirectional proportional solenoid valves 500 and the exhaust proportional valve 900. The microcontroller 200 offsets the underlying physical static pressure difference accumulated by each pipeline node in the early transient operation based on the above-mentioned closed-loop flow integral servo mechanism.

[0057] Application Examples: To aid in understanding the technical solutions of this invention, the following application embodiments and test examples are provided.

[0058] In this application example, the system hardware sampling period constant is set to 20 milliseconds, the system preset dynamic velocity modulus threshold is 0.2 meters per second, the dynamic acceleration modulus threshold is 0.8 meters per square second, the steady-state time judgment window constant is 3 seconds, the static judgment parameter is 0.02 meters per second, and the differential pressure dead zone constant is 0.8 kPa.

[0059] In the initial stage of a human body rolling from a supine position to the right side on the mattress surface, the data acquisition module 201 acquires the global pressure matrix at a period of 20 milliseconds. The vector analysis module 202 calculates the absolute magnitude of the first-order velocity vector of the center of mass at the current moment as 0.12 meters per second. Simultaneously, the vector analysis module 202 calculates the absolute magnitude of the second-order acceleration vector of the center of mass as 0.85 meters per square second.

[0060] The state machine determination module 203 compares the above-mentioned modulus value with the internal register threshold. Since 0.12 m / s is less than 0.2 m / s and 0.85 m / s² is greater than 0.8 m / s², the state machine determination module 203 triggers a logic branch to switch the operating mode to the feedforward preparation mode. The fluid servo execution module 204 locks the right shoulder and back support area as the predicted pressure zone based on the acceleration vector direction. The system opens the bidirectional proportional solenoid valve 500 and the exhaust proportional valve 900 corresponding to the zone to perform pressure relief.

[0061] As the rolling motion continues, the absolute magnitude of the first-order velocity vector of the human body's center of mass rises to 0.25 meters per second at 60 milliseconds. The state machine judgment module 203 monitors that the value is greater than the set threshold of 0.2 meters per second, and the system switches to transient dynamic pressure mode. The microcontroller 200 locks the original supine area as the airflow source zone and calculates the projection component of the first-order velocity vector in the air transport direction. The fluid servo execution module 204 dynamically adjusts the duty cycle of the bidirectional proportional solenoid valve 500 corresponding to the source zone to 60% based on the projection component.

[0062] When the human body is fully turned to the side-lying position and maintains a specific posture, the absolute magnitude of the first-order velocity vector of the center of mass drops to 0.01 m / s. After the state machine judgment module 203 monitors the velocity magnitude below 0.02 m / s for 3 consecutive seconds, it switches to steady-state compensation mode. The system identifies the current side-lying posture and calls the theoretical target pressure matrix. It calculates that there is a positive steady-state residual of 2.5 kPa in the shoulder and back support area. The system opens the exhaust proportional valve 900 and substitutes the minimum integral gain coefficient of 0.03 to execute exhaust differential servo until the residual drops to the pressure differential dead zone of 0.8 kPa. At this time, the bidirectional proportional solenoid valve 500 and the exhaust proportional valve 900 are closed simultaneously to terminate the compensation action.

[0063] Test example: This test case selected 50 testers to conduct a comparative test for five consecutive nights in a set standard experimental chamber. The test subjects were divided into a control group and an experimental group. The control group used a conventional airbag mattress with static pressure setting, while the experimental group used a mattress equipped with the intelligent seven-zone sleep sensation control system of this invention.

[0064] The testing system is connected to a polysomnography device and a body pressure distribution testing pad. The testing system records the objective physiological data of the test subjects during sleep and the physical interaction parameters of the mattress. The statistical indicators include the average energy consumption per turn, the time it takes for the mattress to reconstruct a steady state after turning over, the dispersion of body pressure distribution in the side-lying position, and the frequency of micro-awakening output by the polysomnography device.

[0065] The testing system acquires independent data samples from each group of testers and calculates the arithmetic mean of each indicator. The testing system generates an objective comparison table between the control group and the experimental group in four core parameter dimensions. The table below shows the specific experimental statistical data results.

[0066] Comparison of core test indicators between control group and experimental group Average energy expenditure per rollover (joules) 18.6 12.4 Time taken (seconds) to reconstruct steady state after flipping over 15.3 4.2 Dispersion of body pressure distribution in lateral recumbent position (%) 32.5 14.8 Frequency of micro-awakening throughout the night (times / night) 11.2 4.5 From the above table and Figure 6 and Figure 7It can be concluded that: the intelligent seven-zone sleep sensing control system of this invention triggers the feedforward pressure relief mechanism when it detects the turning-over posture. The control system reduces the mechanical resistance caused by the local flow volume pressure. The average energy consumption of a single turning-over by the test personnel decreased from 18.6 joules to 12.4 joules. The switching control between transient dynamic pressure mode and steady-state compensation mode reduced the steady-state time of airway reconstruction from 15.3 seconds to 4.2 seconds. The system's calculus servo compensation action based on the theoretical pressure matrix reduced the pressure accumulation at the extreme point of side-lying force. The control system controlled the dispersion of body pressure distribution to 14.8%. The frequency of nighttime micro-awakening recorded by the polysomnography decreased from 11.2 times to 4.5 times. This system shows improved effects in both objective physical interaction indicators and sleep physiological indicators.

[0067] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A smart seven-zone sleep control system based on an ergonomic biomimetic mattress, characterized in that, include: A thin-film pressure sensor array is arranged on the surface of the mattress to collect real-time pressure readings of the mattress surface; Support airbags are arranged in the internal support layer of the mattress, and there are multiple pressure sensing zones on the mattress surface, each corresponding to a different pressure sensing zone. The common static pressure chamber serves as the central physical node for fluid interaction. Branch pipelines are connected at their starting ends to the supporting airbags and at their ends to the common static pressure chamber. A two-way proportional solenoid valve is installed on the corresponding branch pipeline; The main air pump is connected to the system's main air inlet via a one-way fluid valve and is connected to the common static pressure chamber. An exhaust proportional valve is installed on the exhaust branch that connects the common static pressure chamber to the external environment; The microcontroller is electrically connected to the thin-film pressure sensor array, the bidirectional proportional solenoid valve, the main air pump and the exhaust proportional valve, and internally includes a data acquisition module, a vector analysis module, a state machine determination module and a fluid servo execution module. The data acquisition module acquires the real-time pressure reading and maps it to construct a global pressure matrix; the vector analysis module receives the global pressure matrix and calculates the first-order velocity vector and the second-order acceleration vector of the center of mass; the state machine determination module extracts the operating state of the above vector determination system as feedforward preparation mode, transient dynamic pressure mode, or steady-state compensation mode; the fluid servo execution module receives the operating state command and controls the gas to transfer physical potential energy between the support airbags that are subjected to force changes, or selects to wake up the main air pump to perform gas replenishment integral servo action, or opens the exhaust proportional valve to perform pressure relief integral servo action, thereby eliminating static pressure error during system operation.

2. The intelligent seven-zone sleep control system based on an ergonomic bionic mattress according to claim 1, characterized in that, The data acquisition module specifically includes: The data acquisition module polls and scans the thin-film pressure sensor array according to a fixed sampling period to obtain the underlying circuit signals. It calls the existing digital low-pass filtering algorithm to perform smoothing processing on the raw digital pressure signals of each independent sensor node to eliminate abnormal signal jumps and output effective pressure readings. The effective pressure readings are then mapped to a two-dimensional spatial coordinate system to construct the global pressure matrix.

3. The intelligent seven-zone sleep control system based on an ergonomic bionic mattress according to claim 1, characterized in that, The vector parsing module specifically includes: The vector analysis module receives the global pressure matrix, performs spatial discrete integration to extract the spatial centroid coordinates of the human body pressure within the current sampling period, combines the spatial centroid coordinates of the historical periods, uses a difference algorithm to calculate the first-order velocity vector of the centroid, and extracts the first-order velocity vector of the centroid calculated in the current sampling period and the first-order velocity vector of the centroid of the previous period stored in the internal memory, performs high-order difference operation logic to parse and obtain the second-order acceleration vector of the centroid.

4. The intelligent seven-zone sleep control system based on an ergonomic bionic mattress according to claim 1, characterized in that, The state machine determination module specifically includes: The state machine determination module extracts the magnitude of the first-order velocity vector of the center of mass and compares it logically with the magnitude of the second-order acceleration vector of the center of mass. If the absolute magnitude of the first-order velocity vector of the center of mass is less than the dynamic velocity magnitude determination threshold constant and the absolute magnitude of the second-order acceleration vector of the center of mass is greater than or equal to the dynamic acceleration magnitude determination threshold constant, the module switches to the feedforward preparation mode. If the absolute magnitude of the first-order velocity vector of the center of mass is greater than or equal to the dynamic velocity magnitude determination threshold constant, the module switches to the transient dynamic pressure mode. If the magnitude of the first-order velocity vector of the center of mass is continuously less than the static determination parameter within a time span exceeding the steady-state time determination window constant, the module triggers and switches to the steady-state compensation mode.

5. The intelligent seven-zone sleep control system based on an ergonomic bionic mattress according to claim 1, characterized in that, When the received operating status command switches to the feedforward preparation mode, the fluid servo execution module extracts the calculated second-order acceleration vector of the centroid, calculates the spatial angle between the second-order acceleration vector of the centroid and the reference geometric vector pre-recorded by the system, extracts the support airbag with the smallest absolute value of the spatial angle as the predicted pressure-bearing zone, and generates a full-pulse-width modulation signal to the bidirectional proportional solenoid valve corresponding to the predicted pressure-bearing zone and the common static pressure chamber, so that the predicted pressure-bearing zone performs short-term pre-depressurization through the common static pressure chamber.

6. The intelligent seven-zone sleep control system based on an ergonomic bionic mattress according to claim 1, characterized in that, When the received operating status command switches to the transient dynamic pressure mode, the fluid servo execution module scans the global pressure matrix to extract the airflow source zone where the pressure surges and the target destination zone where the pressure drops sharply. It uses the absolute coordinates of the physical centroids of the two zones to construct a unit direction topological vector from the source point to the destination point. It extracts the first-order velocity vector of the centroid and uses the projection operation rule to calculate the mathematical projection component formed by the velocity vector on the unit direction topological vector. Based on the projection component, it calculates the duty cycle in real time and sends it to the target bidirectional proportional solenoid valve to control the transfer of physical potential energy between the support airbags where the force changes.

7. The intelligent seven-zone sleep control system based on an ergonomic bionic mattress according to claim 6, characterized in that, The fluid servo execution module specifically includes: During the airflow transmission, the fluid servo execution module continuously monitors the instantaneous average pressure ratio between the airflow source zone and the target destination zone. The system calculates the real-time dynamic ratio formed by the average pressure value of all sensor nodes in the target destination zone and the average pressure value of the corresponding node in the airflow source zone. When the real-time dynamic ratio is detected to reach the theoretical target pressure difference ratio, a hardware interrupt signal is triggered, and a zero duty cycle cutoff command is simultaneously sent to the bidirectional proportional solenoid valves at both ends to block the fluid pipeline.

8. The intelligent seven-zone sleep control system based on an ergonomic bionic mattress according to claim 1, characterized in that, When the received operating status command switches to the steady-state compensation mode, the fluid servo execution module sends a zero duty cycle command to all bidirectional proportional solenoid valves to physically block the underlying airflow exchange channel. It extracts the global pressure matrix to obtain the geometric boundary features of the pressure profile, uses the existing two-dimensional profile template matching algorithm to identify the specific steady-state sleep posture of the human body, retrieves the theoretical target pressure matrix corresponding to the posture preset and performs a difference operation with the global pressure matrix execution node to calculate the spatial steady-state residual data.

9. The intelligent seven-zone sleep control system based on an ergonomic bionic mattress according to claim 8, characterized in that, The fluid servo execution module also includes: The fluid servo execution module selects to wake up the main air pump to perform a replenishment integral servo action or open the exhaust proportional valve to perform a pressure relief integral servo action based on the positive and negative polarities of the spatial steady-state residual data. It extracts the minimum integral gain coefficient built into the microcontroller to perform time-dimensional accumulation and integration calculation on the spatial steady-state residual and generates control commands. When the dynamic residual value is detected to enter the numerical range corresponding to the differential pressure dead zone constant, a hardware interrupt signal is triggered to cut off the power supply to the main air pump and simultaneously close all bidirectional proportional solenoid valves, while also closing the exhaust proportional valve.

10. The intelligent seven-zone sleep control system based on an ergonomic bionic mattress according to claim 1, characterized in that, The branch pipelines include a first branch pipeline to a seventh branch pipeline that corresponds one-to-one with each of the support airbags. The support airbags, the branch pipelines, and the common static pressure chamber form a star-shaped air path topology. The support airbags include a first support airbag to a seventh support airbag arranged sequentially along the length of the mattress, corresponding to the head and neck support area, shoulder and back support area, waist support area, hip support area, thigh support area, calf support area, and foot support area, respectively. Each support airbag corresponds to a pressure acquisition zone on the mattress surface.

Images