System and method for improved operation of moveable robotic element

Abstract

To provide a system and method for improved operation of a movable robotic element.SOLUTION: Embodiments of this application describe improved techniques for operating moveable furniture items. The techniques can include configuring a moveable furniture item such that it will not pivot or tip over during normal operating conditions. The techniques can also include certain passive safety features, such as selecting components that experience a fail condition if a certain threshold condition is reached. In some embodiments, the furniture item can be programmed to operate in various modes, desirable in certain circumstances. The techniques described herein can improve both the functionality and the safety of moveable furniture items.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application claims priority to and the benefit of U.S. Provisional Patent Application No. 62 / 757,964, filed November 9, 2018, and entitled "Systems and Methods for Improved Operation of Moveable Robotic Elements," the contents of which are incorporated herein by reference in their entirety. (Technical field)

[0002] The present invention relates generally to apparatus, systems, and methods for safely and effectively operating mobile robotic elements, and more specifically to devices and techniques for moving and transforming furniture elements in a safe and secure manner. [Background technology]

[0003] Motor-operated modular home and office furniture is becoming more abundant in today's world. For example, office desks provide motorized lifts to raise and lower the desk, allowing both standing and seated workspaces. Other examples include movable walls in function rooms and conference halls that allow reconfiguration and resizing to meet specific demands. However, such implementations are designed for industrial environments and do not consider the various consumer / residential environments, or other settings where furniture is typically installed, such as hotel rooms or retail spaces, or more specialized environments, such as hospitals or elderly care facilities, or the need for user-friendly controls. Design aspects such as conveniently installed outlets and auxiliary lighting are overlooked, and the use of plastic or metal cable carriers, while they may provide a robust design, are not suitable for everyday home and office environments. Movable furniture also presents safety hazards, as it may collide with and adversely affect humans and / or objects.

[0004] Thus, a need exists for improved systems and methods for operating movable furniture and indoor architectural items to accommodate their increased use in non-industrial settings. Summary of the Invention [Means for solving the problem]

[0005] This disclosure describes an improved moveable architectural element system and operating techniques by incorporating features that solve many of the problems with existing moveable furniture items. The improved features are implemented throughout various elements of the system, including hardware elements, controller elements, and / or software elements.

[0006] In general, in one aspect, embodiments of the invention feature a furniture item including a vertical wall structure, a horizontal structure cantilevered from the vertical wall structure and adapted for vertical translation along the vertical wall structure, and a pivot point, wherein the furniture item is configured to pivot about the pivot point upon application of a sufficient vertical force to the horizontal structure, and wherein a center of gravity of the furniture item is positioned at a location such that during vertical translation of the horizontal structure under normal operating conditions, the vertical force applied to the horizontal structure is less than the sufficient vertical force.

[0007] In various embodiments, the vertical wall structure houses a translation structure (e.g., a motor configured to drive a pulley or cable) adapted to vertically translate the horizontal structure along the vertical wall structure. In some cases, the normal operating conditions of the motor include a motor speed below a predetermined maximum motor speed and a motor acceleration or deceleration below a predetermined maximum motor acceleration or deceleration. In other cases, the normal operating conditions include a weight on the horizontal structure below a predetermined maximum weight. In some cases, the motor is adapted to drive backward when a vertical force applied to the horizontal structure exceeds a sufficient vertical force such that the horizontal structure translates vertically without the furniture item pivoting about the pivot point. The horizontal structure can be a bed. In some cases, the furniture item can also include a counterweight disposed adjacent to the vertical wall structure. The furniture item can also include a couch, a bedside table, and / or a desk disposed adjacent to the vertical structure and below the horizontal structure. In some cases, the pivot point is located at a point on the couch and the bedside table furthest from the vertical structure. A corresponding method of operation for this aspect is also described.

[0008] In general, in another aspect, embodiments of the invention feature an item of furniture that includes a translation element adapted to be translated by a drive component and at least one support structure attached to the translation element and adapted to at least one of: (i) automatically extend upon translation of the translation element in a first direction; and (ii) automatically retract upon translation of the translation element in a second direction.

[0009] In various embodiments, the translation element can include a horizontal structure adapted to translate vertically. In some cases, the horizontal structure includes a bed. The drive component can be a motor. In some cases, the furniture item also includes a sensor adapted to sense an amount of torque in the primary motor. The primary motor can be adapted to stop translating the translation element when the torque sensed by the sensor exceeds a predetermined threshold. In some cases, the support structure is a leg of the translation element. The at least one support structure can be two support structures.

[0010] In some implementations, the furniture item may also feature a secondary motor connected to the at least one support structure, the secondary motor adapted to extend and retract the at least one support structure. In such implementations, the secondary motor may be configured to begin extending the at least one support structure when the translation element reaches a particular position and to finish extending the at least one support structure before the translation element reaches a lowest position. In some cases, the secondary motor is configured to begin retracting the at least one support structure when the translation element reaches a particular position and to finish retracting the at least one support structure when or before the translation element reaches a highest position. The furniture item may include a passive detent adapted to lock the at least one support structure in a retracted position without consuming power. The furniture item may include a passive mechanism (e.g., a push rod, a cable, and / or a rack and pinion) connected to the at least one support structure, the passive mechanism adapted to extend and retract the at least one support structure. In some cases, upon loss of power to the drive component, the at least one support structure is adapted to automatically extend to an extended position such that it can be manually pulled by a user. Corresponding methods of operation for this aspect are also described.

[0011] In general, in another aspect, embodiments of the invention feature an item of furniture that includes a translation element, a cable and pulley system attached to the translation element, and a motor adapted to drive the cable and pulley system and translate the translation element, the motor and the cable and pulley system configured such that a fault condition occurs when a weight on the translation element exceeds a threshold value.

[0012] In various embodiments, the translating element includes a bed. The translating element can be adapted to translate vertically between a floor and a ceiling. In some cases, the threshold weight is the average weight of a child. In some cases, the fault condition includes a cable slipping on a pulley. In other cases, the fault condition includes a motor stalling. The furniture item can also include a counterweight attached to the cable and pulley system. Corresponding methods of operation for this aspect are also described.

[0013] In general, in another aspect, embodiments of the invention feature an item of furniture that includes a translation element; and a controller operatively connected to the translation element and adapted to control movement of the translation element, the controller (i) via a physical interface and a wireless interface, and (ii) adapted to be operated in a plurality of modes.

[0014] In various embodiments, the furniture item includes a furniture item adapted to translate vertically or horizontally. The furniture item can include a bed and / or a partition. The multiple modes can include a local mode in which the controller cannot be operated by a wireless interface. The multiple modes can include a visual mode in which the controller can only be operated by a physical interface. The multiple modes can include a sleep mode in which the controller cannot be operated by either a physical interface or a wireless interface for a pre-determined period of time or until a user changes the controller to a different mode. In some cases, when the controller is in a sleep mode, certain functionality of the furniture item remains enabled (e.g., AC power remains enabled such that a light on the furniture item is operable). In some cases, the controller is further adapted to communicate with an RFID device external to the furniture item. The RFID device can be worn by a human and / or an animal. Corresponding methods of operation for this aspect are also described.

[0015] In general, in another aspect, embodiments of the invention feature a furniture item that includes a primary element having a first height, a first width, and a first center of gravity, and a secondary element having a second height less than the first height and a second width greater than the first width, the primary element attached to the secondary element such that the center of gravity of the furniture item is lower than the first center of gravity.

[0016] In various embodiments, the primary element includes a translating element (e.g., a divider and / or a bed). In some cases, the secondary element includes a track that guides the movement of the translating element. The center of gravity may be at a height such that the furniture item does not tip over under the forces generated by the movement of the translating element. The present invention provides, for example, the following: (Item 1) 1. An item of furniture, comprising: A vertical wall structure; a horizontal structure cantilevered from said vertical wall structure and adapted for vertical translation along said vertical wall structure; Pivot point and Equipped with The furniture item is configured to pivot about the pivot point when a sufficient vertical force is applied to the horizontal structure, and the center of gravity of the furniture item is positioned at a location such that during vertical translation of the horizontal structure under normal operating conditions, the vertical force applied to the horizontal structure is less than the sufficient vertical force. (Item 2) 2. The item of furniture described in item 1, wherein the vertical wall structure houses a translating structure adapted to vertically translate the horizontal structure along the vertical wall structure. (Item 3) 3. The item of furniture according to item 2, wherein the translating structure comprises a motor configured to drive a pulley or cable. (Item 4) 4. The item of furniture of claim 3, wherein the normal operating conditions comprise a motor speed below a predetermined maximum motor speed and a motor acceleration or deceleration below a predetermined maximum motor acceleration or deceleration. (Item 5) 4. The item of furniture described in item 3, wherein the normal operating condition comprises a weight on the horizontal structure below a predetermined maximum weight. (Item 6) 4. The item of furniture of claim 3, wherein the motor is adapted to drive backwards when the vertical force applied to the horizontal structure exceeds the sufficient vertical force, whereby the horizontal structure translates vertically without the item of furniture pivoting about the pivot point. (Item 7) 2. The item of furniture according to item 1, wherein the horizontal structure comprises a bed. (Item 8) 2. The item of furniture of claim 1, further comprising a counterweight disposed adjacent to the vertical wall structure. (Item 9) 2. The item of furniture described in item 1, further comprising at least one of a chaise lounge, a bedside table, and a desk disposed adjacent to the vertical structure and below the horizontal structure. (Item 10) 10. The item of furniture of claim 9, wherein the pivot point is located at a point on at least one of the settee and the bedside table that is furthest from the vertical structure. (Item 11) 1. A method of operating an item of furniture, the method comprising: and acquiring a furniture item, the furniture item comprising: A vertical wall structure; a horizontal structure cantilevered from the vertical wall structure; Pivot point and Equipped with the furniture item is configured to pivot about the pivot point upon application of a sufficient vertical force to the horizontal structure; and translating said horizontal structure vertically along said vertical wall structure such that a vertical force is applied to said horizontal structure; Including, A method wherein the center of gravity of the furniture item is positioned at a location such that the normal force is less than the sufficient normal force. (Item 12) Item 12. The method of item 11, wherein the vertical wall structure houses a translation structure adapted to vertically translate the horizontal structure along the vertical wall structure. (Item 13) Item 13. The method of item 12, wherein the translation structure comprises a motor configured to drive a pulley or cable. (Item 14) Item 14. The method of item 13, wherein the normal operating conditions comprise a motor speed below a predetermined maximum motor speed and a motor acceleration or deceleration below a predetermined maximum motor acceleration or deceleration. (Item 15) Item 14. The method of item 13, wherein the normal operating condition comprises a weight on the horizontal structure that is below a predetermined maximum weight. (Item 16) Item 14. The method of item 13, wherein the motor is adapted to drive backwards when the vertical force applied to the horizontal structure exceeds the sufficient vertical force, whereby the horizontal structure translates vertically without the item of furniture pivoting about the pivot point. (Item 17) Item 12. The method according to item 11, wherein the horizontal structure comprises a bed. (Item 18) Item 12. The method of item 11, further comprising a counterweight disposed adjacent the vertical wall structure. (Item 19) 12. The method of claim 11, further comprising at least one of a couch, a bedside table, and a desk disposed adjacent to the vertical structure and below the horizontal structure. (Item 20) 20. The method of claim 19, wherein the pivot point is located at a point on at least one of the couch and the bedside table that is furthest from the vertical structure. (Item 21) 1. An item of furniture, comprising: a translation element adapted to be translated by the drive component; at least one support structure attached to the translation element; Equipped with the at least one support structure is adapted to at least one of: (i) automatically extend upon translation of the translation element in a first direction; and (ii) automatically retract upon translation of the translation element in a second direction. (Item 22) 22. The item of furniture according to item 21, wherein the translating element comprises a horizontal structure adapted for vertical translation. (Item 23) 23. The item of furniture according to item 22, wherein the horizontal structure comprises a bed. (Item 24) 22. The item of furniture according to item 21, wherein the drive component comprises a primary motor. (Item 25) 25. The item of furniture of item 24, further comprising a sensor adapted to sense an amount of torque in the primary motor. (Item 26) 26. The item of furniture of claim 25, wherein the primary motor is adapted to stop translating the translation element when the torque sensed by the sensor exceeds a predetermined threshold. (Item 27) 22. The item of furniture according to item 21, wherein the at least one support structure comprises a leg of the translation element. (Item 28) 22. The item of furniture according to item 21, wherein the at least one support structure comprises two support structures. (Item 29) 22. The item of furniture of claim 21, further comprising a secondary motor connected to the at least one support structure, the secondary motor adapted to extend and retract the at least one support structure. (Item 30) 30. The item of furniture of claim 29, wherein the secondary motor is configured to begin extending the at least one support structure when the translation element reaches a particular position and to finish extending the at least one support structure before the translation element reaches a lowest position. (Item 31) 30. The item of furniture of claim 29, wherein the secondary motor is configured to start retracting the at least one support structure when the translation element reaches a particular position and to finish retracting the at least one support structure when or before the translation element reaches a top position. (Item 32) 22. The item of furniture of item 21, further comprising a passive detent adapted to lock the at least one support structure in a retracted position without consuming power. (Item 33) 22. The item of furniture of item 21, further comprising a passive mechanism connected to the at least one support structure, the passive mechanism adapted to extend and retract the at least one support structure. (Item 34) 34. The item of furniture described in item 33, wherein the passive mechanism comprises a mechanism selected from the group consisting of a push rod, a cable, and a rack and pinion. (Item 35) 22. The item of furniture of claim 21, wherein upon loss of power to the drive component, the at least one support structure is adapted to automatically extend to an extended position such that it can be manually pulled by a user. (Item 36) 1. A method of operating an item of furniture, the method comprising: and acquiring a furniture item, the furniture item comprising: a translation element adapted to be translated by the drive component; at least one support structure attached to the translation element; and (i) automatically extending upon translation of the translation element in a first direction; and (ii) automatically retracting upon translation of the translation element in a second direction. A method comprising: (Item 37) Item 37. The method of item 36, wherein the translation element comprises a horizontal structure adapted to translate vertically. (Item 38) Item 38. The method of item 37, wherein the horizontal structure comprises a bed. (Item 39) Item 37. The method of item 36, wherein the drive component comprises a primary motor. (Item 40) 40. The method of claim 39, further comprising the step of sensing an amount of torque in the primary motor using a sensor. (Item 41) 41. The method of claim 40, further comprising the step of stopping translating the translation element when the torque sensed by the sensor exceeds a predetermined threshold. (Item 42) Item 37. The method of item 36, wherein the at least one support structure comprises a leg of the translation element. (Item 43) Item 37. The method of item 36, wherein the at least one support structure comprises two support structures. (Item 44) Item 37. The method of item 36, further comprising a secondary motor connected to the at least one support structure, the secondary motor adapted to extend and retract the at least one support structure. (Item 45) Item 45. The method of item 44, further comprising using the secondary motor to begin extending the at least one support structure when the translation element reaches a particular position and to finish extending the at least one support structure before the translation element reaches a lowest position. (Item 46) Item 45. The method of item 44, further comprising using the secondary motor to begin retracting the at least one support structure when the translation element reaches a particular position and to finish retracting the at least one support structure when or before the translation element reaches a top position. (Item 47) Item 37. The method of item 36, further comprising the step of locking the at least one support structure in a retracted position using a passive detent without consuming power. (Item 48) Item 37. The method of item 36, further comprising a passive mechanism connected to the at least one support structure, the passive mechanism adapted to extend and retract the at least one support structure. (Item 49) Item 49. The method of item 48, wherein the passive mechanism comprises a mechanism selected from the group consisting of a push rod, a cable, and a rack and pinion. (Item 50) 37. The method of claim 36, wherein upon loss of power to the drive component, the at least one support structure is adapted to automatically extend to an extended position such that it can be manually pulled by a user. (Item 51) 1. An item of furniture, comprising: A translation element; a cable and pulley system attached to the translation element; a motor adapted to drive the cable and pulley system and translate the translation element; Equipped with The motor and the cable and pulley system are configured such that a fault condition occurs when a weight on the translation element exceeds a threshold. (Item 52) Item 52. The item of furniture of item 51, wherein the translating element comprises a bed. (Item 53) 52. The item of furniture according to item 51, wherein the translation element is adapted for vertical translation between a floor and a ceiling. (Item 54) 52. The item of furniture of item 51, wherein the threshold weight comprises an average weight of a child. (Item 55) 52. The item of furniture of claim 51, wherein the fault condition includes the cable slipping on the pulley. (Item 56) 52. The item of furniture of claim 51, wherein the fault condition comprises the motor stalling. (Item 57) 52. The item of furniture of item 51, further comprising a counterweight attached to the cable and pulley system. (Item 58) 1. A method of operating an item of furniture, the method comprising: and acquiring a furniture item, the furniture item comprising: A translation element; a cable and pulley system attached to the translation element; and using a motor to drive the cable and pulley system to translate the translation element; Including, The method, wherein the motor and the cable and pulley system are configured such that a fault condition occurs when a weight on the translation element exceeds a threshold value. (Item 59) Item 59. The method of item 58, wherein the translation element comprises a bed. (Item 60) Item 59. The method of item 58, wherein the driving includes vertically translating the translation element between a floor and a ceiling. (Item 61) Item 59. The method of item 58, wherein the threshold weight comprises an average weight of a child. (Item 62) Item 59. The method of item 58, wherein the fault condition includes the cable slipping on the pulley. (Item 63) 59. The method of claim 58, wherein the fault condition includes the motor stalling. (Item 64) 59. The method of claim 58, wherein the furniture item further comprises a counterweight attached to the cable and pulley system. (Item 65) 1. An item of furniture, comprising: A translation element; a controller operatively connected to the translation element and adapted to control the translation element's movement; Equipped with The controller is adapted to be operated (i) via a physical interface and a wireless interface, and (ii) in a plurality of modes. (Item 66) Item 66. The item of furniture according to item 65, wherein the translation element is adapted to translate vertically or horizontally. (Item 67) Item 66. The item of furniture of item 65, wherein the translation element comprises at least one of a partition and a bed. (Item 68) Item 66. The item of furniture described in item 65, wherein the plurality of modes includes a local mode in which the controller cannot be operated by the wireless interface. (Item 69) Item 66. The item of furniture described in item 65, wherein the plurality of modes comprises a visual mode in which the controller can be operated only by the physical interface. (Item 70) Item 66. The item of furniture of item 65, wherein the plurality of modes comprises a sleep mode, in which the controller cannot be operated by either the physical interface or the wireless interface for a predetermined period of time or until a user changes the controller to a different mode. (Item 71) Item 71. The furniture item of item 70, wherein certain functionality of the furniture item remains enabled when the controller is in the sleep mode. (Item 72) Item 72. The furniture item of item 71, wherein the certain functionality comprises AC power being enabled such that a light on the furniture item is operable. (Item 73) Item 66. The furniture item of item 65, wherein the controller is further adapted to communicate with an RFID device external to the furniture item. (Item 74) Item 74. The item of furniture of item 73, wherein the RFID device is worn by at least one of a human or an animal. (Item 75) 1. A method of operating an item of furniture, the method comprising: Obtaining a furniture item having a translation element; (i) controlling the movement of the translation element via a physical interface and a wireless interface; and (ii) using a controller adapted to be operated in a plurality of modes. A method comprising: (Item 76) Item 76. The method of item 75, wherein controlling the movement includes translating the translation element vertically or horizontally. (Item 77) Item 76. The method of item 75, wherein the translation element comprises at least one of a partition and a bed. (Item 78) Item 76. The method of item 75, wherein the plurality of modes comprises a local mode in which the controller cannot be operated by the wireless interface. (Item 79) 76. The method of claim 75, wherein the plurality of modes comprises a visual mode in which the controller can be operated only by the physical interface. (Item 80) Item 76. The method of item 75, wherein the plurality of modes comprises a sleep mode, in which the controller cannot be operated via either the physical interface or the wireless interface for a predetermined period of time or until a user changes the controller to a different mode. (Item 81) Item 81. The method of item 80, wherein certain functionality of the furniture items remains enabled when the controller is in the sleep mode. (Item 82) Item 82. The method of item 81, wherein the certain functionality comprises AC power being enabled such that a light on the furniture item is operational. (Item 83) 76. The method of claim 75, further comprising communicating with an RFID device external to the furniture item. (Item 84) Item 84. The method of item 83, wherein the RFID device is worn by at least one of a human or an animal. (Item 85) 1. An item of furniture, comprising: a primary element having a first height, a first width, and a first center of gravity; a secondary element having a second height less than the first height and a second width greater than the first width; Equipped with The primary element is attached to the secondary element such that the center of gravity of the furniture item is lower than the first center of gravity. (Item 86) 86. The item of furniture according to item 85, wherein the primary element comprises a translation element. (Item 87) 87. The item of furniture of item 86, wherein the translation element comprises at least one of a partition and a bed. (Item 88) 87. The item of furniture according to item 86, wherein the secondary element is provided with a track to guide the movement of the translation element. (Item 89) 87. The item of furniture according to item 86, wherein the centre of gravity is at a height such that the item of furniture does not tip over under forces generated by movement of the translational element. (Item 90) 1. A method of operating an item of furniture, the method comprising operating an item of furniture, the item of furniture comprising: a primary element, the primary element having a first height, a first width, and a center of gravity of the primary element; a secondary element having a second height less than the first height and a second width greater than the first width; Equipped with A method wherein the primary element is attached to the secondary element such that the overall centre of gravity of the furniture item is lower than the centre of gravity of the primary element. (Item 91) Item 91. The item of furniture according to item 90, wherein the primary element comprises a translation element. (Item 92) Item 92. The item of furniture of item 91, wherein the translation element comprises at least one of a partition and a bed. (Item 93) Item 92. The item of furniture described in item 91, wherein the secondary element is provided with a track that guides the movement of the translation element. (Item 94) Item 92. The item of furniture according to item 91, wherein the global centre of gravity is at a height such that the item of furniture does not tip over under forces generated by movement of the translational elements. [Brief description of the drawings]

[0017] In the drawings, like reference characters generally refer to the same parts throughout the different views. Also, the drawings are not necessarily to scale, with emphasis instead generally being placed upon illustrating the principles of the invention. In the following description, various embodiments of the invention are described with reference to the following drawings, in which:

[0018] [Figure 1] FIG. 1 is a schematic side view of a moveable item of furniture depicting an example pivot point and center of mass, according to various embodiments.

[0019] [Diagram 2] FIG. 2 is a schematic diagram of an exemplary extension for a leg of an item of furniture, according to various embodiments.

[0020] [Diagram 3] FIG. 3 is a schematic perspective view of a furniture item having a particular configuration, according to various embodiments.

[0021] [Figure 4] FIG. 4 is a schematic perspective view of an exemplary furniture item configuration with the bed in a lowered position, according to various embodiments.

[0022] [Diagram 5] FIG. 5 is a schematic perspective view of the example furniture item of FIG. 4 with the bed in a raised position, according to various embodiments.

[0023] [Figure 6] FIG. 6 is a photograph of an exemplary actuator switch, according to various embodiments.

[0024] [Figure 7] FIG. 7 is another photograph of an example actuator switch, according to various embodiments.

[0025] [Figure 8] FIG. 8 is a schematic diagram of a time-of-flight sensor, according to various embodiments.

[0026] [Figure 9] FIG. 9 is a schematic depiction of a furniture item configured to operate in standard mode, according to various embodiments.

[0027] [Figure 10] FIG. 10 is a schematic illustration of a furniture item configured to operate in a local mode, according to various embodiments.

[0028] [Figure 11] FIG. 11 is a schematic illustration of a furniture item configured to operate in baby mode, according to various embodiments.

[0029] [Figure 12] FIG. 12 is a schematic illustration of a furniture item configured to operate in hibernation mode, according to various embodiments.

[0030] [Figure 13] FIG. 13 is a flowchart depicting an exemplary service management technique according to various embodiments.

[0031] [Figure 14] FIG. 14 is a flowchart depicting an exemplary uniform translation technique, according to various embodiments.

[0032] [Figure 15] Figure 15 is a photograph of UL962, which provides certain safety standards for home furnishings.

[0033] [Figure 16] 16A-B are illustrations of the torque effect of mounting a moveable furniture item on a longer guide track, according to various embodiments.

[0034] [Figure 17] 17A-B are additional illustrations of the torque effect of mounting moveable furniture items on longer guide tracks, according to various embodiments.

[0035] [Figure 18] FIG. 18 is an exemplary computing device that may be used in various embodiments.

[0036] [Figure 19] FIG. 19 is a chart listing example values ​​for various parameters associated with moveable furniture items, according to various embodiments.

[0037] [Figure 20A] 20A-B are schematic perspective views of furniture items including a bed and a desk, according to various embodiments. [Figure 20B] 20A-B are schematic perspective views of furniture items including a bed and a desk, according to various embodiments. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0038] This disclosure describes an improved moveable architectural element system and techniques for operating the system by incorporating features that solve many of the problems with existing moveable furniture items. The improved features are implemented throughout various elements of the system, including hardware elements, controller elements, and / or software elements. While this description will often refer to moveable furniture elements, and in particular to a drop-down bed furniture item, it should be understood that the concepts described herein may be applied to any moveable element, e.g., furniture items that are not beds, as well as non-furniture items such as garage doors, factory equipment, pallet delivery, vehicle systems, among many other examples.

[0039] Various inventive features are described in more detail under separate headings below. However, the headings are provided merely for the convenience of the reader and do not limit the disclosure in any way. Furthermore, features described under one heading can be combined with any features described under any other heading in various combinations and permutations. (Freestanding cantilever drop-down bed)

[0040] Various embodiments of the present disclosure relate to improved mobile furniture items to maximize the usability of a bedroom, in particular a robotic furniture unit that lifts a bed vertically up to the ceiling. In some cases, when the bed is in its stowed position, it reveals an integrated sofa or table below, allowing the converted bedroom to instantly function as a living room, dining room, or home office. While this description will primarily relate to beds, it should be understood that similar concepts can be applied to other vertically translatable items, such as end tables, bookcases, kitchen tables, and non-furniture items.

[0041] Current retractable bed solutions, such as Murphy beds, may require expensive structural modifications to a building, or at least multiple sturdy attachment points to existing structural beams in the walls and / or ceiling. Conversely, in some cases, the robotic furniture unit of the invention described herein cantilevers the bed from the wall / ceiling, while still balancing so that it can be freestanding. This requires only drywall anchors for added safety, allowing it to be easily retrofitted into any room.

[0042] In some embodiments, a bedside table is included in the furniture unit. Such a bedside table can remain on the floor when the bed is elevated and function as an arm for a sofa, or a small side table / seat when the bed is stowed. The bedside tables can be an integral structural part of the furniture unit (e.g., a chaise lounge). Because they are fixedly connected to the furniture frame, in some configurations, the end of the bedside table furthest from the wall is the pivot point around which the furniture unit will tilt (see FIG. 1). By centralizing the heaviest parts of the system (including counterweights) as far away from the pivot point and adjacent to the wall as possible, and by keeping the cantilevered bed structure as light as possible, the center of gravity of the furniture unit is safely between the pivot point and the wall, allowing the furniture unit to be statically freestanding.

[0043] In such cases, the center of gravity is well behind the pivot point so that the furniture structure will not tilt due to any normal dynamic forces. The motor maximum speed and acceleration may be limited so that it cannot generate enough momentum to tilt the furniture. In some cases, the motor that moves the bed can be driven backwards so that if a force pulls the bed downwards (e.g., a person reaches for the bed and pulls), the motor will drive backwards and the bed will slide down its track rather than tilting the entire structure. (Cantilever Drop-Down Bed - Automatic Leg Extension / Retraction)

[0044] Currently, retractable beds on the market require multiple steps such as making the bed, attaching straps, manually moving the bed, and manually reorienting the support legs. In various embodiments, the improved furniture items described herein reduce the cognitive load on the user by allowing complete transformation with a single button or voice command. In such embodiments, the legs of the bed automatically extend when the cantilevered bed is lowered and automatically retract when the bed is raised. This is accomplished via active motor control or by a passive mechanism.

[0045] With active control, in some cases a dedicated motor directly drives the extension of the bed's legs. The control of the leg motors can be tied to the position of the bed. When lowering the bed, the legs start to extend when the bed reaches a certain height and finish extending when or before the bed reaches its lowest position. When raising the bed, the legs start to retract at a certain height and finish retracting when or before the bed reaches its highest position. In some cases, passive detents can precisely lock the legs in their retracted position and hold them there with no power consumption required.

[0046] In some embodiments, the amount of current delivered to the leg motors can be monitored, allowing the system to detect obstructions or obstacles. Unexpected forces on the legs will generate additional current, which could cause the system to stop both the leg and bed movement (e.g., if a certain current threshold is exceeded). The current threshold can be adjustable / tunable to achieve performance and / or safety objectives.

[0047] In the case of a passive mechanism, the mechanism does not have a separate motor for the legs. Instead, as an example, vertical movement of the bed causes the legs to extend or retract via a passive mechanism such as a push rod (see FIG. 2), a cable, or a rack and pinion, as some non-limiting examples. In such cases, current sensing on the motor that lowers the bed (as opposed to the legs) can be used to detect obstructions or obstacles. (Cantilevered Drop-Down Bed - Additional Support Structure)

[0048] In various embodiments, the furniture system raises and lowers a bed that is cantilevered from a rigid frame against a wall. A cantilevered bed in its fully lowered position is generally strong enough to support a person on the bed without additional support, although in some embodiments additional support structures can be used to provide a firmer feel and more security.

[0049] Two exemplary types of additional support structures are bed-mounted supports and bed-external supports. Bed-mounted supports can be in the form of standard legs. The legs can be in the corners of the bed or in a central location so as to be less visible to a person standing at the side of the bed. The legs can be retractable on a swivel or retractable telescopically. The legs can also take the form of panels that run the length of the sides and / or ends of the bed. These panels can have the added benefit of folding around the bed in the raised position to contain and hide loose bedding.

[0050] The support external to the bed can be either static or retractable. If static, the support can be integrated into a piece of furniture that is installed in a consistent location under the bed, such as a coffee table. For example, the bed can simply be lowered onto the support. A retractable support can emerge from an integrated bedside table or chaise longue, as some examples, and engage the bed when it is in its lowered position. (Cantilever drop-down bed - automatic table lowering / raising in horizontal orientation)

[0051] A typical retractable table folds vertically or slides horizontally into a slot when retracted, which means that the user must clear all objects from the table prior to placing the table in its retracted position, which in the case of a workspace desk can represent a significant cognitive load and physical effort.

[0052] In various embodiments, the inventive furniture items described herein gently and automatically lower the table (or in some cases, the desk) to the floor as the bed lowers, maintaining a horizontal orientation, so that the table does not have to be cleared before converting the room. When the bed is raised, the table is automatically raised to a pre-set height and the user's workspace is restored.

[0053] In various embodiments, the table can be counterweighted with an appropriate amount of extra load (e.g., in the range of 10-90 lbs, in the range of 20-80 lbs, in the range of 30-70 lbs, in the range of 40-60 lbs, etc.) based on the desired application. In some embodiments, movement of the bed up and down can induce a corresponding movement of the table. For example, the table can include a spring-loaded latch (or other suitable structure) that engages to add stability when the table is in the upper position. When the bed moves down, the spring can be unlatched to allow the table to move down using the table's own dedicated motor. In some embodiments, the table can include at least one (e.g., two) motorized legs that can be deployed to add increased stability to the table. In some cases, the legs are mounted to the table, and in other cases, the legs are hinged from a structure on the floor.

[0054] In general, any known technique (e.g., belt and pulley system, motorized pulley, etc.) can be used to raise and lower the bed. In some embodiments, the bed can be raised and / or lowered using two guided carriages running on two tracks, one on each side of the bed. Each carriage can be connected to a steel cable that wraps around a set of pulleys and connects to a counterweight at the opposite end. In some cases, both cables are connected to the same counterweight, but in independent locations. In a typical scenario of such an instance, both cables are the same length, thus keeping the bed level and straight. However, if one of the cables breaks (e.g., accidentally), the carriage on that side will fall freely and start to fall on that side of the bed, while the cable on the other side will keep the counterweight in the same place, keeping the other side of the bed engaged. This approach can prevent the entire bed from falling, greatly reducing or avoiding damage.

[0055] In some cases, a cantilevered table moves vertically in a horizontal orientation on a track similar to a bed mechanism, or via a four-bar linkage system, or via another type of translation system. In some cases, there is a passive restoring force (e.g., a counterweight or spring system) such that the preferred location of the table is in an upright position under typical loads.

[0056] As one exemplary operation of the system, as the bed moves down, it first engages and releases a safety latch on the table carriage, which is used to secure the table in an up position. The latch then pivots, firmly attaching the table carriage to the bed carriage. The bed then pushes the table down against a passive restoring force. When the bed reaches its lowest position, the table is on the floor and there is a desired clearance (e.g., about 16 inches) above the table to the bottom of the bed. As the bed is raised, it pulls the desk up with it until the desk carriage reaches a stop at the correct height. The latch flips back to its starting position, holding the desk in place, releasing the connection with the bed, and the bed continues to rise to the ceiling.

[0057] With reference to Figure 3, for taller items (e.g., larger monitors), the furniture system can be positioned to have vertical clearance to the ceiling in certain locations (e.g., behind a desk, see Figure 3). As another example, a bed can be cantilevered on two support arms that extend out from the wall, such that the arms leave a gap of a desired distance (e.g., about 10 inches) between the wall and the headboard of the bed. Taller items can be installed in these areas with more headroom.

[0058] The desk itself can be designed with physical visual cues that indicate to the user the headroom clearance of the desk. For example, the back panel of the desk can represent the headroom above the main part of the desk. The back of the desk with the vertical clearance to the ceiling can be depicted by a small recess in the thickness of the desk surface. Figures 20A-B are example illustrations of a furniture item that includes both a bed and a desk. (Cantilever Drop-Down Bed - Motorized Pulley for Friction-Based Counterweight Movement)

[0059] Motorized actuators generally require a separate drive train, such as a belt, chain, lead screw, or rack and pinion. In various aspects, inventive features described herein include a low-cost, quiet and efficient method for lifting a furniture item (e.g., a bed) that does not add a separate drive train.

[0060] As an example, the bed can be attached to a counterweight by a wire cable. The counterweight balances the weight of the bed, so that the motor torque required to move the bed is relatively low compared to the total weight of the bed. Using cables on either bed arm attached to a single counterweight at a common point ensures that the bed will not tilt. Rather than adding a separate dedicated drive mechanism, torque can be added directly to one of the counterweight pulleys. Driving only one pulley may be sufficient to move the entire system. The tension of the cable around 180 degrees of one of the pulleys provides enough friction to avoid slippage between the cable and the pulley. This results in a quiet and efficient operation of the motorized pulley. (Cantilever Drop-Down Bed - Passive Safety Feature)

[0061] Elevating furniture above a person's head presents certain safety hazards. In various aspects, inventive features described herein include multiple passive back-up strategies to prevent furniture items from suddenly falling in the event of catastrophic control or mechanical failure.

[0062] In various embodiments, the arm that holds the furniture item (the bed) is attached to a central counterweight by two wire cables. The counterweight balances the weight of the bed so that the motor torque required to move the bed is relatively low compared to the total weight of the bed. In the event of a catastrophic failure, stopping or slowing the movement of the cable, and therefore the bed, can be achieved using various passive mechanisms.

[0063] As an example, centrifugal brakes can be used. As an example, there are spring-loaded stops built into the counterweight pulley. A pulley that suddenly rotates at high speed will quickly force the stops radially outward. When they are expanded beyond a certain diameter, they engage a rigid housing, immediately stopping the pulley rotation.

[0064] As another example, an air cylinder can be used. For example, a counterweight can be housed in an airtight channel. The counterweight is attached to a plunger that completely fills the cross section of the channel except for some relatively small openings that allow air to pass through. If the counterweight moves slowly, the air moves smoothly through the small openings and the plunger does not impede the movement of the bed. If the counterweight moves suddenly, the air cannot be forced through the openings fast enough to allow a free fall. The air cushion slows the bed down, allowing the user time to react.

[0065] As another example, a tilt-blocking approach can be used. For example, the counterweight is a wide rectangular box. In normal operation, the counterweight is horizontal and fits into its vertical channel with tight side clearance. If one cable breaks, or some other external force causes one side to descend faster than another, the wide rectangular counterweight will tilt and get stuck in its channel, stopping the bed from descending. (Cantilevered Drop-Down Bed - Cantilevered Fixed Shroud with Responsive Lighting Elements)

[0066] Raising a bed overhead can seem messy to some people and perhaps unsettling from a safety perception standpoint. In various aspects, inventive features described herein include static portions of the furniture unit that address these possible concerns and also provide a platform for optionally adding intelligent, context-responsive lighting.

[0067] In various embodiments, the system can include a fixed bed shroud cantilevered from the wall above the rising bed (compare Figures 4 and 5). When the bed is raised into the shroud, it appears to be an integral part of the shroud. The user's perceived safety is increased due to the bed visually entering the "docking" station. All of the bedding is hidden and the bed itself appears to disappear.

[0068] In some embodiments, the bed shroud provides a convenient platform for mounting down-facing area and task lighting fixtures. The ceiling-facing surface can have indirect lighting elements. LED lighting can be varied by the user to enhance the mood. For example, it can be integrated with other media elements to complement video displays or sync with music. The light can be used to help the user wake up and fall asleep. The light can be used to alert the user to doorbell ringing, phone calls, text messages, and / or social media notifications. (Positioning and Location Identification System)

[0069] In most electromechanical systems, motion and position control is involved for the proper functioning of the system. There are two common variants of control: open loop control and closed loop control.

[0070] Open loop control involves not using feedback to determine the position of the system or any of its moving elements. Instead, the position is not used by the control system or is inferred via other variables. Other variables can include the number of steps commanded as in the case of a stepper motor, and the amount of time a voltage is applied to a DC motor. The biggest problem with open loop control is that the position estimate may not be accurate enough for proper operation of the system, and errors in the estimate tend to increase with time of operation / movement, which is referred to as drift. Thus, while open loop control is the simpler and cheaper of the two options, it is typically only appropriate in electromechanical systems when positioning is not critical, when it is acceptable to encounter mechanical stoppages, or when it is otherwise the operating mode by design, when a human is required to close the loop and operate the system, or in similar situations where drift and errors in the position estimate can be tolerated and addressed, and similar situations.

[0071] Closed-loop control involves using feedback to determine the position of the system or any of its moving elements. This is usually done through one or more sensors integrated into the system. Sensing can be as simple as a single switch or sensor that allows the system to know if it is "back home" or if it is in a single position (thus being able to work away from that information as a reference point and erase the accumulated errors in its estimation). Another common motor and sensor combination is the encoder. An encoder is a device that is attached to a motor and can measure the amount of rotation of the shaft and send a signal to a controller.

[0072] Another group of sensors useful for positioning are called depth sensors. Depth sensors can determine the distance from the sensor to the nearest object along a particular line or cone. The most common depth sensors use sound (e.g., ultrasonic) or light (e.g., infrared). The sensor sends out a pulse of light or sound and then senses the reflected / bounced light or sound. Based on characteristics such as the delay for the signal to travel back ("time of flight"), the strength / amplitude of the signal, and / or the frequency of the signal, the sensor can determine the distance to the nearest object in the path of the signal.

[0073] There are two commonly used types of positioning: relative and absolute. Relative positioning is when a system or an element of a system knows its position relative to another point or other things inside the same system. Absolute positioning is when a system or an element of a system knows its position relative to another point or other things outside the system (its environment).

[0074] In the context of robotic furniture, knowledge of each transformable element of its position in relation to other transformable elements in the same system (relative), and knowledge of its position in relation to walls, furniture, and other objects in its environment (absolute) is important for safe and reliable operation of the system. A combination of sensors on the elements, together with appropriate control software, can achieve this knowledge.

[0075] One inventive feature described herein includes a precision positioning and motion control system integrated into a robotic furniture system. Non-limiting examples of the construction and operation of such a system are described below.

[0076] For actuator-based systems, closed-loop positioning can be achieved with a single switch located at the center of the actuator (see FIGS. 6 and 7). A stepper motor can drive the system along the actuator. The positioning of the system can be estimated via the number of steps commanded by the stepper motor. When the system crosses the center of the actuator, the switch is pressed, which sends a signal to the controller and the precise position of the system can be established at that moment. Although this appears to be a simple coarse absolute positioning technique and the system still appears to be subject to errors and drift as it progresses away from the center, in reality the positioning remains precise due to special controls that stop the motor before it can lose or skip a step (other error sources remain small enough to be negligible). In various embodiments, the switch can be replaced or augmented with other sensors and methods to allow for more continuous or fine-grained absolute positioning.

[0077] This positioning can enable the system to achieve various advantages. For example, travel limits can be set so that the system cannot travel beyond those limits. In this way, the system can avoid traveling into walls, other furniture, and the ends of actuators. As another example, precise positioning allows the system to use mapping to detect and stop at obstacles by objects, people, or animals, as described in International Patent Application No. PCT / US2018 / 038742, which is incorporated herein by reference in its entirety. As another example, the relative positioning of a furniture item (e.g., a bed system described elsewhere herein) allows the system to move autonomously, precisely and predictably, by knowing when the item is fully stored (sometimes also referred to herein as "fully in"), fully deployed (sometimes also referred to herein as "fully out"), or in a central location, and therefore when the item should be moved in before moving to a preset position, and ensuring that the item does not exceed the travel limits of the system, as described above.

[0078] In various embodiments of the actuator-based system described herein, a furniture item (e.g., a bed) moves in and out via a friction drive (e.g., two motors with wheels pressed into the sides of the bed). The motors can be programmed to rotate over the length of the bed. In some cases, when the bed moves in or out at the edge, it causes the motors to stall and stop, and the system can infer that the bed has reached the edge. This is essentially an open-loop control, and works well when many conditions are met; such conditions include, but are not limited to: limited slip and drift between the friction drive wheels and the furniture item; no electrical failure; no obstructions to the furniture item's movement (e.g., oversized pillows, comforters, people, or other objects); no stopping of the furniture item via an interface controller (wired) or wireless commands; and no pushing of the furniture item in and out while the bed is not moving. Otherwise, the position estimation may become corrupted and lead to improper operation of the system, including, but not limited to, the system trying to move a furniture item outside when it is already outside, the system trying to move a furniture item in when it is inside, the system being unable to move a furniture item in when autonomous movement is commanded, and the system being unable to keep a furniture item within its travel limits.

[0079] To avoid and solve some of the problems described above, in various embodiments, the furniture item can be configured and operated using a control algorithm. An exemplary operation of the control algorithm follows: Upon initial movement of the furniture item after powering on, the system assumes that the furniture item has stopped at a fully retracted position, as per user set instructions. In all subsequent movements, the system records the number of steps the item has moved before being stopped. With a certain amount of tolerance and flexibility, the system can estimate the position of the furniture item in all movements, keeping the error to a minimum. The use of this control algorithm can significantly improve the movement of the furniture item, as long as the furniture item does not slip and is not pushed in and out while not moving.

[0080] To make the operation even more robust and eliminate additional methods that may adversely affect the operation of the furniture item, sensors can be added to close the loop. For example, the sensor can be of a type that reliably provides position data continuously rather than at one or a few points. One example of such a sensor is a time-of-flight sensor. A time-of-flight sensor emits a beam of light (either linear or cone-shaped). The light bounces off objects in its path. The sensor measures the time it takes for the light to travel round trip and can therefore infer the distance to the object. One such time-of-flight sensor is the VL53L1X sensor by STMicroelectronics, but many sensors of various ranges, resolutions, footprints, and prices can be used (see FIG. 8).

[0081] In various embodiments, the time-of-flight sensor is integrated into an electronic board mounted in the panel, and when the furniture item is fully in, closed, the time-of-flight sensor points towards a specific location on the furniture item (e.g., the back panel of a bed). The sensor can measure the distance to the furniture item in millimeters. As an example, when the furniture item is fully in, it is 0 mm or close to 0 mm. When the furniture item is fully out, it will read its length depending on the size of the item (and its container, if any). The sensor can also measure the distance to the furniture item anywhere in between. That way, the system does not guess the location of the furniture item, but instead can read the sensor and get a precise location. Drift and the user pushing or pulling the furniture item do not affect the operation of the system.

[0082] Having such precise and reliable motion can enable improved operation of mobile robotic furniture items. For example, rather than using a hard stop that it ramps into when it reaches an end, the furniture item can decelerate and stop just before it reaches the stop, which puts less mechanical strain on the furniture and chassis and avoids crash noise. As another example, if a motor shaft is rotating but the furniture item's position does not change, this may indicate a mechanical or electrical problem and, along with pre-emptive and preventative measures, can aid in diagnosing and repairing the system. In some cases, this can prevent service calls: for example, if a motor wire is reversed or a stepper driver is misconfigured, the furniture item may travel opposite to the commanded direction. In the open-loop case, the system would not be able to determine that either thing is wrong. In the closed-loop case, the system can reverse the direction of travel in software and quickly and autonomously resolve the problem.

[0083] Such localization of furniture and its elements may extend beyond each system within. With Internet of Things ("IoT") systems connected either wired or wirelessly, they can share their locations with each other to avoid collisions as well as synchronize to affect the configuration and use of the room. For example, a robotic cubicle / closet system and a robotic drop-down bed system in the same room can share their locations with each other so that they can move appropriately relative to each other. For example, when a user activates a bedroom mode / scene, the cubicle / closet can move up against the wall and out from under the bed. Once the cubicle / closet reaches its destination, the bed can safely continue down. As another example, when a user activates a walk-in closet scene, the bed can move up into the ceiling. When the bed stops moving, the cubicle / closet can continue out and under the bed to create a walk-in closet. (Programmed Safety Mode)

[0084] Different situations and moments may call for different ways of interacting with a mobile robotic system. For example, being home alone, having infants and toddlers around, having small pets around, and hosting a party with dozens of people all present different situations that may call for different interactions with the system. At times, a user may want tighter control over how movements are activated, or even to completely freeze the state of the system so that no one can move the furniture. In other instances, a user may be comfortable with less control over the system. The ability to have different modes at different times, and the ability to easily switch between them, may present a great advantage to users.

[0085] In various embodiments, the system described herein can have a standard mode (see FIG. 9) that features three ways a user can interact with it. The first method is to control the position of the mobile system by using a physical interface attached to the furniture. The second method is to use a mobile app (e.g., iOS or Android) that sends commands to the microcontroller to move the system over Wifi. The third method is to use a third party device, e.g., Amazon's Alexa, as an interface to send voice commands. TM or Google Home TM The solution is to use

[0086] In various embodiments, the movement of the system can occur in two ways: dependent movement and autonomous movement. Dependent movement can be accomplished using the physical interface by pressing and holding an arrow to initiate the movement of the system. The furniture will move as long as the user holds the arrow and will stop when the finger is released. Conversely, autonomous movement uses predefined positions to which the system can go after receiving a command from the physical interface, an app, or a third party device. These positions can be pre-configured by the user with their favorite configurations and can be remembered by the system to make the transition from one to the other easier since it does not require the user to be physically present while the system is moving.

[0087] In some situations, it may be advantageous to restrict or modify some of the commands, movements, or available interfaces. In general, any restriction or modification can be made. Three example restrictions / modifications are described below, although other modes are possible and contemplated. Any of the modes can be enabled or disabled using the app, or alternatively, by entering a specific button combination on the physical interface.

[0088] The first exemplary mode is local mode (see FIG. 10). Local mode disables any wireless connectivity and allows only commands entered through the interface. In this mode, the user can use the physical interface in its full capacity, for example to control lights, move the system using arrows (dependent movement), or use pre-setups (autonomous movement), but any commands sent over the air (app or voice control) will be capped or ignored. This mode may require physical presence to activate movement, so it may be advantageous for applications where the user does not want to be part of the IoT environment, or wants to centralize the control system in a single location. One example is Airbnb, which enables local mode and avoids having the user take over ownership of the system through the app. TM Another example is a user who is skeptical about their local wireless network and does not want to have their system controlled via the Internet because they fear it will be hacked.

[0089] Another exemplary mode is visual mode (in some cases referred to as "baby mode", see FIG. 11). Visual mode disables the ability to activate any autonomous movement. Thus, the only way to move the system is to use "dependent movement" by pressing the arrows on the interface. Visual mode can be considered a local mode with capped presets. Visual mode puts system movement under the user's full control since the system will only respond to the user's physical commands, or lights, as long as the user's finger is pressing one of the arrows. This mode allows the user to see into the space when the user intends to move the system and ensure that no people, animals, or objects are trapped. Visual mode can be enabled to avoid autonomous and unobserved movement and to keep full control of the system's movement. One advantage of using only dependent movement on the physical interface is that in the event of an undesired event, the system stops as soon as the user stops pressing the interface, minimizing the risk of unintended system interaction.

[0090] In some cases, the interface may be mounted at a height such that only an adult user would be able to reach the interface and move the system (e.g., 55 inches from the ground). Thus, in this mode, a child would not be able to activate movement of the system, even if the child had access to other methods of remote activation, such as via an app or voice control.

[0091] Another exemplary mode is a sleep mode (in some instances referred to as a "hibernation mode," see FIG. 12). Sleep mode disables the ability to interact with the system for a period of time. Sleep mode renders the system inactive such that it will not respond to any commands in the form of any commands or sources of activation. Sleep mode reduces the main motor current to Irun value and locks the motor so that it cannot be manually pushed or pulled, making it difficult to move the system. In some cases, the icons on the interface (arrows and presets) will be grayed out and / or unavailable at this stage.

[0092] In some cases, sleep mode may differ from unplugging the system and completely cutting the electricity, because under sleep mode, AC power may still be activated and therefore outlets on the system may still function and / or light controls may still be activated. Sleep mode may be advantageous, for example, for a user who has guests over but does not want the guests to be able to control the system. (Non-contact safety element)

[0093] Another inventive feature described herein includes sensor elements that provide advantageous safety, performance, and cost parameters over conventional elements. Many existing sensors used in mobile furniture solutions have deficiencies with respect to the applications described herein. In some implementations, the desired sensor can understand the entire environment within which the furniture item is moving, or in some cases, the desired sensor can scan a wide 2D surface directly in front of the moving furniture to understand if an unknown object is present at any altitude and avoid collisions. Conventional sensors provide detection of objects within a 2D line (e.g., garage door break beam sensor or 3D cone, e.g., backup parking sensor). For such conventional sensors to operate in the environments / systems described herein, there would need to be a large array of multiple sensors, which would be bulky and cost prohibitive. Various aspects of the inventive features described herein include solutions to this problem, which are described below.

[0094] A first exemplary solution involves using a 3D area mapping approach. 3D area mapping uses a 3D time-of-flight (3DToF) sensor to establish a virtual map of a residential or commercial space. 3DToF sensors work by taking pictures of the environment and assigning depth to each pixel of the frame. This technology can be used in novel applications with dedicated algorithms that analyze the depth data to sort objects into two categories: known objects and unknown objects. Detecting unknown objects in a reliable manner across large areas of space offers the advantage of increasing the safety of robotic furniture that may be prompted to move without human presence.

[0095] The dedicated algorithm takes into account the size, shape, progress, and / or speed of the associated robotic furniture. Such parameters can be manually entered by an installer or user, or they can be learned during an initial phase where the system is moved in the absence of external objects, if any. After the parameters are acquired, the algorithm can compare the data provided by the 3DToF sensor and understand if the depth data is as expected. If any anomalies are present in the data, the system can be prompted to stop prior to colliding with an object in the field of view of the 3DToF sensor.

[0096] A second exemplary solution involves using a 2D curtain approach. Many elevators currently use an array of broken beam sensors along the edge of the elevator door to detect objects while closing. This provides the desired safety margin by integrating a large sensor array and detecting the space in front of dynamic furniture, but it also creates an undesirable industrial aesthetic. The 2D curtain approach described herein provides the same 2D surface or "curtain" coverage with a compact design. In some cases, this approach involves using a small circular device that includes an array of optical or acoustic distance sensors, each with a conical coverage. The number of sensors depends on the detection angle of each individual sensor, but in total, the device can cover a 90, 180, or 360 degree field of view depending on its mounting location. As some examples, if the device is mounted to the top corner of a moving element or static structure (e.g., a wall), it may cover 90 degrees, if the device is mounted to the top center of a moving element or static structure, it may cover 180 degrees, and if the device is mounted to the center of a moving element or static structure, it may cover 360 degrees.

[0097] In various embodiments, RFID tags can be used to identify specific objects in a room. In general, RFID tags can be used to identify any object, some examples use pets or infants / children. This can be accomplished by having an RFID tag on the pet's collar, or a bracelet or clothing with an embedded RFID tag. A moving furniture item can use a series of RFID readers around its perimeter to establish a virtual safety area around itself. If one of the tags is present, the furniture item can return to a safe state and not allow movement in the direction of the detected tag. (Service Management and Preventive / Proactive Maintenance)

[0098] Most electromechanical systems require maintenance and repair from time to time, and manufacturers and system service providers have entire methods and procedures for how to diagnose problems with the systems, how to solve / repair those problems, how to source, stock and ship the parts needed to do so, how to receive and process repair service calls, and how to preempt or provide maintenance and avoid outages.

[0099] Until very recently, service events were often lengthy, complicated, and expensive. Often, a user would have had to determine that a system needed repair, research who to contact and how, set a time for a technician to come to diagnose the system (or dispatch the system to a service center), wait for a replacement part to arrive if the technician did not have the part needed to perform the repair, and then perform the repair. In the era of IoT, service events can be better managed to be faster, simpler, and cheaper. The IoT system can diagnose itself, or at least narrow down where the problem is, and send a report to the service provider. A human or program can analyze the report and determine the nature and severity of the problem, parts that may be needed for repair, and whether the system can continue to operate. If appropriate, the service provider can source and / or dispatch parts to a nearby warehouse or service center, contact the system consumer, inform them of the problem, and attempt to schedule a technician's visit or request that the system be dispatched to the service center. A technician, already informed of the problem, can proceed directly with the repair. This improves a company's bottom line, reputation, and customer satisfaction, while manufacturing and supply chain branches can use the data to inform the development of more resilient and reliable products in the future.

[0100] In some embodiments, the moveable furniture items described herein are complex, having multiple elements including multiple motors and wheels, electronics, and sensors. Each element may have multiple failure modes, each ranging in severity and nature. Problems may be mechanical or electrical in nature, or they may even result from previously undiscovered bugs that require an over-the-air firmware update.

[0101] Through firmware and sensors, the movable furniture systems described herein can have great ability to self-diagnose and report problems. The following are examples: The system can detect if a homing switch is disconnected, improperly wired, or otherwise malfunctioning, which can be important if the switch is needed for absolute positioning. The system can detect if there is a mechanical obstruction that prevents the system or one of its elements from moving. The system can also detect various problems with the motors, such as overheating, short circuits, and open circuits. The system can also detect electrical problems, such as under-voltage.

[0102] When the system detects such an event, a message is generated and, if the system is connected to the Internet, the message can be sent to a service provider's server. The message can be stored in a database and an email can be sent to support an engineer. The engineer can analyze the message, along with system usage statistics and patterns, and initiate the process of a service event. The engineer can describe the problem to a supply chain agent, who can then go about procuring and dispatching any necessary components. The engineer can also contact building management or the system user / tenant. Upon successful communication, a technician can be scheduled to arrive and repair the system.

[0103] In various embodiments, the diagnosis and repair process is dynamic and methods can be refined or added. For example, messages and system usage statistics and patterns can be analyzed by the program to make recommendations without the need for a support engineer. If the program cannot successfully make a recommendation, it can pass it on to a support engineer. The program can also learn (e.g., via machine learning) recommendations to make in the future based on the engineer's recommendations. Similarly, the program can automatically source / dispatch parts, emails can be sent to users / tenants to try to schedule a technician, or service software can be provided to building management to streamline the process and provide proactive maintenance.

[0104] In some embodiments, if a problem is not reported by the system, but the system does fail and a call is received for repair service, a customer support agent can check the database and analyze usage statistics and patterns along with the user's problem description to narrow down possible problems and solutions, speeding up the time and reducing the cost of repair. Failure modes and rates can determine the number of parts that warehouses and service centers should keep in stock based on the number of systems in a geographic area. They can also inform future product developments to make them more resilient and less likely to require repairs or require less frequent maintenance. A flow chart illustrating an exemplary service management method described herein is shown in FIG. 13. (Uniform translation motion and safety features)

[0105] In some situations, the challenge of translating a system horizontally is to make the electronics and motors flexible so that they can accommodate different floors and many different types of imperfections on the floor. The levelness, flatness, hills, and valleys of the floor all affect the amount of torque required to move the system along the floor at different speeds, accelerations, and positions.

[0106] It has been discovered that if the peak torque and current of the stepper motor are limited below required values ​​(e.g., for safety reasons), the torque requirements for moving the system at a constant speed across all points of allowable progression may not be met. Thus, in some embodiments, the system described herein relies on a particular operating mode of the stepper motor driver that allows the stepper motor to have a variable speed and slow down when the torque drive requirements cannot be met. This allows the motor to avoid stalling and skipping steps, and to use the momentum of the system to get it through high load areas (e.g., floor slopes). Mapping loads across floors, inferring obstacles, and stopping safely is described in International Patent Application No. PCT / US2018 / 038742, which is incorporated herein by reference in its entirety.

[0107] In applications that translate vertically, or with a uniform load that is independent of position, such as a drop-down bed, a variable speed mode of operation may not be required or desired. Instead, the stepper motor, current, and torque can all be specified to the ideal values ​​for the application. This allows for a smooth constant speed of operation that may improve the user experience. This also allows for other noteworthy features and safety implementations.

[0108] In International Patent Application No. PCT / US2018 / 038742 (herein incorporated by reference in its entirety), the operation and capabilities of an exemplary stepper motor were described in detail. Three operating modes were described: constant current constant speed (sometimes also referred to herein as classical mode), variable current constant speed (sometimes also referred to herein as coolStep), and constant current variable speed (sometimes also referred to herein as dcStep). The reasons for selecting dcStep were explained. However, dcStep is not necessarily an ideal operating mode for uniform load translation operations, such as drop-down beds.

[0109] Since the drop-down bed (or for the purposes of the following description, any vertically translating furniture item or application) translates vertically and all translation mechanisms are self-contained, the load on the motor while the bed is moving is constant. Thus, the starting current can be selected and the bed can move at a constant speed along all travel points. The stepper motor torque can be capped (e.g., pre-programmed) depending on the maximum load the motor can move. This can increase the safety of the system since if a person or a sufficiently heavy object is on the bed, the bed will not be able to move.

[0110] In some embodiments, CoolStep is also an advantageous mode of operation. In coolStep, the bed moves at a desired constant speed, and a minimum and maximum starting current is defined. The stepper motor will use the minimum amount of current required to move the bed. In uniform load applications, it would be expected that the controller would self-select the current and the selection should be directly dependent on the weight of the mattress. This presents an opportunity to increase safety. Just as speed represents a load on the motor and can be a variable monitored for safety purposes, so too can current represent a load on the motor and be a variable monitored for safety purposes. During the initial translation up and down, the controller can monitor and record the current. It would be expected that the current is constant or nearly constant in each direction, but the current translating up can be different than the current translating down. If the driver starts to output more current during the subsequent upward translation, the system can infer that something or someone is on the bed and stop the movement. During the subsequent downward movement, if the driver starts to output more current, the system may infer that something or someone is under the bed and obstructing it, and may stop the movement. Existing mapping algorithms for mapping speeds may be adapted to map currents. Due to uniformity, the threshold for this type of movement may be very small, and it would be expected that an obstruction may be inferred more quickly, with less resistance. If the mattress changes, a special command from a wired or wireless source may erase the baseline or map and reset itself to the new weight of the mattress. If an uneven load begins to appear in the operation of the system, it may then be a sign of mechanical degradation that may be addressed through maintenance and repair. This concept may be extended to variables representing different types of motors and loads, as described in International Patent Application No. PCT / US2018 / 038742, which is incorporated herein by reference in its entirety. A flow chart illustrating an exemplary uniform translation method described herein is shown in FIG. 14. (Fall prevention)

[0111] In some embodiments, the movable items described herein may have a relatively high center of gravity. For tall objects with shallow bases and high centers of gravity, preventing tipping is an important safety feature. Good design can minimize the likelihood of tipping events, but designers and engineers are often constrained by dimensions and product requirements. In addition, movable furniture presents the challenge of added inertia when it is accelerating or decelerating, which can create forces that could potentially tip the furniture over. Various aspects of the inventive features described herein include techniques for preventing tipping. Examples include transferring tipping forces from unstable furniture to permanent structural members (floors or walls) and utilizing existing components in the design of the system, such as guide tracks or connectors.

[0112] UL962, a safety standard for home furniture, has an entire section (38) devoted to describing product requirements for stability (see Figure 15). For example, the stability test for portable furniture (38.3) states that the furniture should be placed on an inclined surface at an angle of 10 degrees to the horizontal. The wheels shall be rotated to their least stable position and restrained from moving along the surface. The test shall be performed with all surfaces and shelves loaded with their functional loads as described in Section 36 (Structural Test Requirements for Furniture). Furthermore, according to the accessory stability test (38.6), all drawers and slide-outs shall be extended and loaded with their respective functional loads, and the doors shall be opened at an angle of 90 degrees and subjected to a force of 50 pounds applied in a downward direction for one minute. Finally, the force stability test (38.10) specifies that the furniture shall be unloaded and subjected to gradually increasing horizontal forces until a force of 40 pounds is obtained or the assembly is tilted to an angle of 10 degrees without tipping over.

[0113] To pass these tests, the traditional approach is to anchor the closet to the wall using angled mounting brackets. This approach is not an option for moving elements. Instead, in some embodiments, the systems described herein use a different approach. The approach involves utilizing the long horizontal arms that the guide tracks provide to change the location of the tipping point and make it more difficult (e.g., requiring more torque) to tip. Using this approach, the only way for the system to tip (assuming no failures in other parts of the system) is for the guide track to be forced apart from its attachment to the wall or floor. This approach allows for the transfer of tipping torque through the connector to the guide track while still preserving the Z-axis freedom required for uneven floors.

[0114] When torque is transferred to the guide track, the length of the guide track allows the torque to be distributed over a longer range since the tipping point is farther from the anchorage point. The effect is similar to a skier on skis, it is very difficult to tip forward (see Figures 16A-16B). Extending the analogy further, if the front of the ski is strongly fastened, e.g., attached, to the floor, it is also very difficult to tip backwards (see Figures 17A-17B). Completing the analogy, as long as the skis (guide track) are sufficiently rigid and the ski boots are well attached to the skis (the attachment between the chassis and the guide track can transmit the moment), it will be very difficult for the skier (furniture) to tip over. Additionally, a sturdy and strong attachment between the structural members (floor and walls) and the guide track helps to achieve this effect.

[0115] In general, the chassis and guide tracks can be attached using any known technique. As one non-limiting example, there can be at least one carriage that runs inside the guide track and is bolted to the main frame under the furniture. As mentioned above, in a tip-over scenario, it may be desirable to transfer moments from the furniture to the track, which can be accomplished by a rigid attachment. Thus, in some embodiments, a steel plate can be located under one, some, or all of the carriages, such that if the wheels slip out of the track, the plate will capture the track and transfer the torque, such that the connection will only be broken if the aluminum track or steel plate is deformed. (Operating device)

[0116] 18 illustrates an example of a generic computing device 1250 that may be used with the techniques described in this disclosure. The computing device 550 includes a processor 1252, a memory 1264, an input / output device such as a display 1254, a communication interface 1266, and a transceiver 1268, among other components. The device 1250 may include a storage device, such as a microdrive or other device, to provide additional storage. Each of the components 1250, 1252, 1264, 1254, 1266, and 1268 are interconnected using various buses, and some of the components may be mounted on a common motherboard or in other manners, as appropriate.

[0117] The processor 1252 can execute instructions in the computing device 1250, including instructions stored in the memory 1264. The processor may be implemented as a chipset of chips including separate and multiple analog and digital processors. The processor may provide, for example, control of the user interface, applications run by the device 1250, and coordination of other components of the device 1250, such as wireless communication by the device 1250.

[0118] The processor 1252 may communicate with a user through a control interface 1258 and a display interface 1256 coupled to a display 1254. The display 1254 may be, for example, a TFT LCD (thin film transistor liquid crystal display) or an OLED (organic light emitting diode) display, or other suitable display technology. The display interface 1256 may comprise appropriate circuitry for driving the display 1254 and presenting graphical and other information to the user. The control interface 1258 may receive commands from a user and translate them for submission to the processor 1252. Additionally, an external interface 1262 may be provided in communication with the processor 1252 to enable near area communication of the device 1250 with other devices. The external interface 1262 may provide, for example, a wired connection in some implementations, or wireless communication in other implementations, and multiple interfaces may also be used.

[0119] The memory 1264 stores information within the computing device 1250. The memory 1264 can be implemented as one or more of one or more computer-readable media, one or more volatile memory units, or one or more non-volatile memory units. An expansion memory 1274 can also be provided and connected to the device 1250 through an expansion interface 1272, which can include, for example, a SIMM (single in-line memory module) card interface. Such expansion memory 1274 can provide extra storage space for the device 1250 or can also store applications or other information for the device 1250. Specifically, the expansion memory 1274 can include instructions that perform or complement the processes described above and can also include secure information. Thus, for example, the expansion memory 1274 can be provided as a security module for the device 1250 and can be programmed with instructions that enable secure use of the device 1250. In addition, secure applications, such as placing identification information on the SIMM card in an unhackable manner, can be provided via the SIMM card along with additional information.

[0120] The memory may include, for example, flash memory and / or NVRAM memory, as discussed below. In one implementation, a computer program product is tangibly embodied in an information carrier. The computer program product includes instructions that, when executed, perform one or more methods, such as those described above. The information carrier is a computer or machine-readable medium, such as memory 1264, expansion memory 1274, memory on processor 1252, or a propagated signal, which may be received, for example, via transceiver 1268 or external interface 1262.

[0121] Device 1250 may communicate wirelessly through communication interface 1266, which may include digital signal processing circuitry, if necessary. Communication interface 1266 may be a cellular modem in some cases. Communication interface 1266 may provide communications under various modes or protocols, such as GSM voice calls, SMS, EMS, or MMS messaging, CDMA, TDMA, PDC, WCDMA, CDMA2000, or GPRS, among others. Such communications may occur, for example, through radio frequency transceiver 1268. In addition, short-range communications may occur, such as using Bluetooth, WiFi, or other such transceivers (not shown). In addition, a GPS (Global Positioning System) receiver module 1270 may provide device 1250 with additional navigation- and location-related wireless data that may be used, as appropriate, by applications running on device 1250.

[0122] Device 1250 may also communicate audibly using audio codec 1260, which may receive verbal information from a user and convert it into usable digital information. Audio codec 1260 may also generate audible sounds for the user, such as through a speaker in a handset of device 1250. Such sounds may include sounds from a telephone voice call, may include recorded sounds (e.g., voice messages, music files, etc.), and may include sounds generated by applications running on device 1250.

[0123] The computing device 1250 may be implemented in a number of different forms, as shown in Figure 5. For example, it may be implemented as a mobile phone 1280. It may also be implemented as part of a smartphone 1282, a smart watch, a personal digital assistant, or other similar mobile device. (Operating environment)

[0124] Implementations of the subject matter and operations described herein can be implemented in digital electronic circuitry, or in computer software, firmware, or hardware, including the structures disclosed herein and their structural equivalents, or in a combination of one or more of them. Implementations of the subject matter described herein can be implemented as one or more computer programs, i.e., one or more modules of computer program instructions encoded on a computer storage medium for execution by or to control the operation of a data processing apparatus. Alternatively, or in addition, the program instructions can be encoded on an artificially generated propagated signal, e.g., a machine-generated electrical, optical, or electromagnetic signal that is generated to encode information for transmission to a suitable receiver apparatus for execution by a data processing apparatus. The computer storage medium can be, or be included in, a computer-readable storage device, a computer-readable storage substrate, a random or serial access memory array or device, or a combination of one or more of them. Furthermore, although a computer storage medium is not a propagating signal, a computer storage medium can be a source or destination of computer program instructions encoded on an artificially generated propagating signal. The computer storage medium can be, or can be contained in, one or more separate physical components or media (eg, multiple CDs, disks, or other storage devices).

[0125] The operations described herein may be implemented as operations performed by a data processing apparatus on data stored on one or more computer-readable storage devices or received from other sources.

[0126] The term "data processing apparatus" encompasses any kind of apparatus, device, and machine for processing data, including, by way of example, a programmable processor, a computer, a system on a chip, or a plurality or combination of the above. The apparatus may include special purpose logic circuitry, such as a field programmable gate array (FPGA) or an application specific integrated circuit (ASIC). In addition to hardware, the apparatus may also include code that creates an execution environment for the computer program, such as code that constitutes a processor firmware, a protocol stack, a database management system, an operating system, a cross-platform runtime environment, a virtual machine, or a combination of one or more of these. The apparatus and execution environment may implement a variety of different computing model infrastructures, such as web services, distributed computing, and grid computing infrastructures.

[0127] A computer program (also known as a program, software, software application, script, or code) can be written in any form of programming language, including compiled or interpreted languages, declarative or procedural languages, and can be deployed in any form, including as a stand-alone program or as a module, component, subroutine, object, or other unit suitable for use in a computing environment. A computer program may, but need not, correspond to a file in a file system. A program can be stored within part of a file that holds other programs or data (e.g., one or more scripts stored in a markup language resource), within a single file dedicated to the program, or within multiple cooperating files (e.g., files that store one or more modules, subprograms, or portions of code). A computer program can be deployed to run on one computer, or on multiple computers located at one site or distributed across multiple sites and interconnected by a communication network.

[0128] The processes and logic flows described herein may be implemented by one or more programmable processors executing one or more computer programs to perform actions by operating on input data and generating output. The processes and logic flows may also be implemented by, and apparatus may be implemented as, special purpose logic circuitry, such as an FPGA (field programmable gate array) or an ASIC (application specific integrated circuit).

[0129] Processors suitable for executing computer programs include, by way of example, both general-purpose and special-purpose microprocessors, and any one or more processors of any kind of digital computer. Generally, a processor will receive instructions and data from a read-only memory or a random access memory or both. The essential elements of a computer are a processor for performing actions according to instructions, and one or more memory devices for storing instructions and data. Generally, a computer will also include one or more mass storage devices for storing data, such as magnetic, magneto-optical, or optical disks, or be operatively coupled to receive data from them, transfer data to them, or both. However, a computer need not have such devices. Furthermore, a computer can be incorporated into another device, such as a mobile phone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a global positioning system (GPS) receiver, or a portable storage device (e.g., a universal serial bus (USB) flash drive), to name just a few. Suitable devices for storing computer program instructions and data include, by way of example, all forms of non-volatile memory, media, and memory devices, including semiconductor memory devices, e.g., EPROM, EEPROM, and flash memory devices, magnetic disks, e.g., internal hard disks or removable disks, magneto-optical disks, and CD-ROM and DVD-ROM disks. The processor and memory can be supplemented by, or incorporated in, special purpose logic circuitry.

[0130] To provide interaction with a user, implementations of the subject matter described herein can be implemented on a computer having a display device, e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor, for displaying information to the user, and a keyboard and pointing device, e.g., a mouse or trackball, by which the user may provide input to the computer. Other types of devices can also be used to provide interaction with the user, e.g., feedback provided to the user can be any form of sensory feedback, e.g., visual feedback, auditory feedback, or tactile feedback, and input from the user can be received in any form, including acoustic, speech, or tactile input. In addition, the computer can interact with the user by sending resources to and receiving resources from a device used by the user, e.g., by sending a web page to a web browser on the user's client device in response to a request received from the web browser.

[0131] Implementations of the subject matter described herein can be implemented in a computing system that includes a back-end component, e.g., as a data server, or includes a middleware component, e.g., an application server, or includes a front-end component, e.g., a client computer having a graphical user interface or web browser through which a user may interact with an implementation of the subject matter described herein, or any combination of one or more such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication, e.g., a communications network. Examples of communications networks include local area networks ("LANs") and wide area networks ("WANs"), internetworks (e.g., the Internet), and peer-to-peer networks (e.g., ad-hoc peer-to-peer networks).

[0132] A computing system may include clients and servers. Clients and servers are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. In some implementations, a server transmits data (e.g., HTML pages) to a client device (e.g., for purposes of displaying data to a user interacting with the client device and receiving user input from the user). Data generated at the client device (e.g., results of user interaction) can be received from the client device at the server.

[0133] One or more computer systems can be configured to perform particular operations or actions by having software, firmware, hardware, or a combination thereof installed on the system that, when in operation, causes the system to perform the actions. One or more computer programs can be configured to perform particular operations or actions by containing instructions that, when executed by a data processing device, cause the device to perform the actions.

[0134] Although the specification contains many specific implementation details, these should not be construed as limitations on the scope of any invention or what may be claimed, but rather as descriptions of features specific to particular implementations of a particular invention. Certain features described herein in the context of separate implementations can also be implemented in combination in a single implementation. Conversely, various features described in the context of a single implementation can also be implemented separately in multiple implementations or in any suitable subcombination. Furthermore, although features may be described above as acting in a certain combination and may even be initially claimed as such, one or more features from a claimed combination may, in some cases, be deleted from the combination, and the claimed combination may be directed to a subcombination or a variation of the subcombination.

[0135] Similarly, although operations may be depicted in the figures in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown, or in sequential order, or that all of the illustrated operations be performed, to achieve desirable results. In some situations, multitasking and parallel processing may be advantageous. Furthermore, it should be understood that the separation of various system components in the implementations described above should not be understood as requiring such separation in all implementations, and that the program components and systems described may generally be integrated together in a single software product or packaged into multiple software products.

[0136] Thus, particular implementations of the subject matter have been described. Other implementations are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some implementations, multitasking and parallel processing may be advantageous.

[0137] Each numerical value presented herein is considered to represent the minimum or maximum value within a range for the corresponding parameter. Thus, when added to a claim, the numerical value provides explicit support for claiming a range that may be above or below the numerical value according to the teachings of this specification. All values ​​between the minimum and maximum values ​​within each numerical range presented herein (including within the charts shown in the figures) are considered and expressly supported herein, subject to the number of significant digits expressed within each particular range. Absent express inclusion within the claims, each numerical value presented herein is not to be considered limiting in any respect.

[0138] Unless expressly explained elsewhere herein, as used herein, when the term "substantially" or "about" precedes a quantitative value, the present disclosure also includes the specific quantitative value itself and, in various cases, a ±1%, ±2%, ±5%, and / or ±10% variation from the nominal value unless otherwise indicated or inferred.

[0139] Illustrative embodiments have been described herein, and those skilled in the art will appreciate various other features and advantages of the present invention in addition to those specifically described above. It is therefore to be understood that the foregoing is merely illustrative of the principles of the present invention, and that various modifications and additions, and all combinations and permutations of the various elements and components recited herein, may be made by those skilled in the art without departing from the spirit and scope of the present invention. Therefore, the appended claims should not be limited to the specific features shown and described, but should be construed to cover any obvious modifications and their equivalents.

Claims

1. A furniture item, comprising: A translation element; a cable and pulley system attached to the translation element; a motor adapted to drive the cable and pulley system to translate the translation element; Equipped with The motor and the cable and pulley system are configured such that a fault condition occurs when a weight on the translation element exceeds a threshold.

2. The furniture item of claim 1, wherein the translation element comprises a bed.

3. A furniture item as described in claim 1, wherein the translation element is adapted to translate vertically between a floor and a ceiling.

4. A furniture item as described in claim 1, wherein the threshold weight comprises an average weight of a child.

5. The furniture item of claim 1, wherein the fault condition includes the cable slipping on the pulley.

6. The furniture item of claim 1, wherein the fault condition includes the motor stalling.

7. The furniture item of claim 1, further comprising a counterweight attached to the cable and pulley system.

8. A method of operating a furniture item, the method comprising: Obtaining a furniture item, the furniture item comprising a translation element and a cable and pulley system attached to the translation element; using a motor to translate the translation element by driving the cable and pulley system; Including, The method, wherein the motor and the cable and pulley system are configured such that a fault condition occurs when a weight on the translation element exceeds a threshold value.

9. The method of claim 8, wherein the translation element comprises a bed.

10. The method of claim 8, wherein the driving includes vertically translating the translation element between a floor and a ceiling.

11. The method of claim 8, wherein the threshold weight comprises an average weight of a child.

12. The method of claim 8, wherein the fault condition includes the cable slipping on the pulley.

13. The method of claim 8, wherein the fault condition includes the motor stalling.

14. The method of claim 8, wherein the furniture item further comprises a counterweight attached to the cable and pulley system.

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