阅读说明：本技术 机动化家具控制系统以及方法 (Motorized furniture control system and method ) 是由 R·B·沃马克 R·C·贝尔法斯 J·M·贝克 于 2020-04-01 设计创作，主要内容包括：一种用于一件家具的控制系统,包括：控制面板,被配置为接收来自用户的输入；控制模块,被配置为控制耦合到该件家具的可移动部件的致动器；以及电池系统。所述控制模块被配置为响应于来自所述用户的所述输入指示使所述可移动部件返回到相应的归位位置的意图而执行归位序列。所述归位序列包括：根据指定顺序选择第一致动器；确定所选择的致动器的归位方位；以及开始朝向所述归位方位驱动所选择的致动器。所述归位序列包括根据所述指定顺序重复地选择下一个致动器以及重复所述确定和所述开始。所述归位序列包括确定是否存在干线供应的电力,并且如果不,暂停所述重复地选择直到少于阈值数目的致动器处于运转中。(A control system for a piece of furniture, comprising: a control panel configured to receive an input from a user; a control module configured to control an actuator coupled to a movable component of the piece of furniture; and a battery system. The control module is configured to execute a homing sequence in response to the input from the user indicating an intent to return the movable component to a respective homing position. The homing sequence comprises: selecting a first actuator according to a specified order; determining a homing orientation of the selected actuator; and initiating driving of the selected actuator toward the home orientation. The homing sequence includes repeatedly selecting a next actuator according to the specified order and repeating the determining and the beginning. The homing sequence includes determining whether there is mains supplied power and, if not, suspending the repeated selection until less than a threshold number of actuators are in operation.)

1. a control system for a piece of furniture, the control system comprising:

a control panel configured to receive an input from a user;

a control module configured to communicate with the control panel and control a plurality of actuators coupled to a movable component of the piece of furniture, an

A battery system configured to store energy from mains supplied power and to provide the energy to the control module in the absence of the mains supplied power,

wherein the control module is configured to execute a homing sequence in response to the input from the user indicating an intent to return the movable component to a respective homing position, the homing sequence comprising:

selecting a first actuator of the plurality of actuators according to a specified order;

determining a home position of the selected actuator from the home position of the respective one of the movable components;

initiating driving of the selected actuator toward the home position;

repeatedly selecting a next actuator of the plurality of actuators according to the specified order, and repeating the determining and the beginning for the next actuator;

determining whether there is power from the mains supply; and

in response to determining that there is no power to the mains supply, suspending the repeated selection while a threshold number of the plurality of actuators are in operation, and resuming the repeated selection once less than the threshold number of the plurality of actuators are in operation.

2. The control system of claim 1, wherein the home position of the movable component corresponds to a configuration of the piece of furniture that is most susceptible to exit by the user.

3. The control system of claim 1, wherein the threshold number is 2.

4. The control system of claim 1, wherein the control module is configured to adjust the specified order according to a capacity of the battery system.

5. The control system of claim 4, wherein:

the movable member includes a leg support member and a head support member;

the control module is configured to place the leg support members in the specified order before the head support member in response to the capacity of the battery system being below a first capacity; and

the control module is configured to place the head support member before the leg support member in the specified order in response to the capacity of the battery system being above the first capacity.

6. The control system of claim 1, wherein the control module is configured to, in response to the input from the user indicating an intent to move the movable component to a first configuration of positions different from the home position:

determining whether there is power from the mains supply; and

ignoring the intent to move the movable component to the first configuration in response to the absence of simultaneous occurrence of the power of the mains supply and the capacity of the battery system being below a first capacity.

7. The control system of claim 6, wherein the control module is configured to indicate the intent to move the movable component to the first configuration in response to the input from the user:

determining whether there is power from the mains supply; and

limiting the number of actuators moving simultaneously to a certain number in response to the absence of a coincidence of the power of the mains supply and the capacity of the battery system being greater than the first capacity.

8. The control system of claim 1, wherein the control module is configured to:

reading position data from the plurality of actuators;

setting an indeterminate position flag in response to the position data representing an unexpected configuration of the movable component; and

performing the homing sequence in response to setting the uncertain position flag.

9. The control system of claim 8, wherein the control module is configured to set the indeterminate position flag in response to determining that a factory positioning sequence has not been performed for the piece of furniture.

10. The control system of claim 8, wherein the control module is configured to set the indeterminate position flag in response to determining, after power-up of the control module, that at least one of the plurality of actuators is in operation when the control module loses power.

11. The control system of claim 1, further comprising:

a multi-conductor connector between the control panel and the control module,

wherein the control panel is configured to:

measuring the voltage on a predetermined conductor of the multi-conductor connector and

interpreting a user input based on the voltage.

12. The control system of claim 11, wherein the control panel is configured to:

receiving a first user input and a second user input;

in response to the voltage being greater than a threshold, interpreting the first user input as an intent to move one of the plurality of actuators in a first direction and interpreting the second user input as an intent to move the one of the plurality of actuators in a second direction opposite the first direction; and

in response to the voltage being less than the threshold, interpreting the first user input as an intent to move the one of the plurality of actuators in the second direction and interpreting the second user input as an intent to move the one of the plurality of actuators in the first direction.

13. The control system of claim 11, wherein:

the control panel includes a microcontroller having a plurality of pins, and

the microcontroller is configured to measure the voltage using a predetermined pin of the plurality of pins and then output audio data from the microcontroller using the predetermined pin.

14. A method of operating a control system for a piece of furniture, the method comprising:

receiving an input from a user;

in response to an input from the user indicating an intent to return a movable component of the piece of furniture to a respective home position, performing a home sequence comprising:

selecting a first actuator of the plurality of actuators according to a specified order;

determining a home position of the selected actuator from the home position of the respective one of the movable components;

initiating driving of the selected actuator toward the home position;

repeatedly selecting a next actuator of the plurality of actuators according to the specified order, and repeating the determining and the beginning for the next actuator;

determining whether there is mains supplied power; and

in response to determining that there is no power to the mains supply, suspending the repeated selection while a threshold number of the plurality of actuators are in operation, and resuming the repeated selection once less than the threshold number of the plurality of actuators are in operation.

15. The method of claim 14, further comprising adjusting the designated order according to a capacity of a battery system of the control system.

16. The method of claim 15, wherein:

the movable member includes a leg support member and a head support member;

the method further includes placing the leg support members in the specified order before the head support member in response to the capacity of the battery system being below a first capacity; and

the method also includes placing the head support member before the leg support member in the specified order in response to the capacity of the battery system being above the first capacity.

17. The method of claim 14, further comprising: in response to the input from the user indicating an intent to move the movable component to a first configuration of positions different from the home position:

determining whether there is power from the mains supply; and

ignoring the intent to move the movable component to the first configuration in response to a coincidence of an absence of the mains supplied power and a capacity of a battery system of the control system being below a first capacity.

18. The method of claim 17, further comprising, in response to the input from the user indicating the intent to move the movable component to the first configuration:

determining whether there is power from the mains supply; and

limiting the number of actuators moving simultaneously to a certain number in response to the absence of a coincidence of the power of the mains supply and the capacity of the battery system being greater than the first capacity.

19. The method of claim 14, further comprising:

reading position data from the plurality of actuators;

setting an indeterminate position flag in response to the position data representing an unexpected configuration of the movable component; and

performing the homing sequence in response to setting the uncertain position flag.

20. The method of claim 19, further comprising setting the indeterminate position flag in response to determining that at least one of the plurality of actuators is in operation when power to the mains supply is lost.

Technical Field

The present disclosure relates to motorized furniture (motorized furniture), and more particularly to control systems and methods for electrical control of motors within furniture.

Background

Replacing manual controls in the furniture with motors may permit more accurate and repeatable settings of various components of the furniture. For example, the memory arrangement may allow different occupants of the furniture to easily and repeatably position the furniture for their respective maximum comfort. Furthermore, the motorized control may enhance the availability of some or all features to those with reduced mobility.

However, the introduction of electric motors creates engineering problems such as large current draw (current draw) when multiple motors are running simultaneously. Furthermore, difficulties may arise when wall power is not available due to a power interruption or circuit breaker tripping. Furthermore, the user interface of the furniture requires attention so that the use of the furniture is intuitive, safe and ergonomic. The systems and methods described in this disclosure address and solve these engineering difficulties.

Disclosure of Invention

A control system for a piece of furniture comprising: a control panel configured to receive an input from a user; a control module configured to communicate with the control panel and control a plurality of actuators coupled to a movable component of the piece of furniture; and a battery system configured to store energy from mains supplied power (mains electricity) and to provide the energy to the control module in the absence of the mains supplied power. The control module is configured to execute a home sequence in response to the input from the user indicating an intent to return the movable component to a respective home position. The homing sequence comprises: a first actuator of the plurality of actuators is selected according to a specified order. The homing sequence comprises: determining a home location (home location) of the selected actuator from the home position of the corresponding one of the movable members. The homing sequence comprises: beginning to drive the selected actuator toward the home orientation. The homing sequence comprises: repeatedly selecting a next actuator of the plurality of actuators according to the specified order, and repeating the determining and the starting for the next actuator. The homing sequence comprises: it is determined whether there is power supplied by the mains. The homing sequence comprises: in response to determining that there is no power to the mains supply, suspending the repeated selection while a threshold number of the plurality of actuators are in operation, and resuming the repeated selection once less than the threshold number of the plurality of actuators are in operation.

In other features, the home position of the movable member corresponds to a configuration of the piece of furniture that is most susceptible to exit by the user. In other features, the threshold number is 2. In other features, the control module is configured to adjust the specified order according to a capacity of the battery system. In other features, the movable member includes a leg support member and a head support member. The control module is configured to place the leg support members in the specified order before the head support member in response to the capacity of the battery system being below a first capacity. The control module is configured to place the head support member before the leg support member in the specified order in response to the capacity of the battery system being above the first capacity.

In other features, the control module is configured to, in response to the input from the user indicating an intent to move the movable component to a first configuration of positions different from the home position: determining whether there is power from the mains supply; and in response to the absence of a coincidence of the power being supplied by the mains and the capacity of the battery system being below a first capacity, ignoring the intent to move the movable component to the first configuration. In other features, the control module is configured to, in response to the input from the user indicating the intent to move the movable component to the first configuration: determining whether there is power from the mains supply; and limiting the number of actuators moving simultaneously to a certain number in response to the absence of a coincidence of the power of the mains supply and the capacity of the battery system being greater than the first capacity.

In other features, the control module is configured to: reading position data from the plurality of actuators; and setting an indeterminate position flag in response to the position data representing an unexpected configuration of the movable member. The control module is configured to execute the homing sequence in response to the uncertain position flag being set. In other features, the control module is configured to set the indeterminate position flag in response to determining that a factory positioning sequence has not been performed for the piece of furniture. In other features, the control module is configured to set the indeterminate position flag in response to determining, after power up of the control module, that at least one of the plurality of actuators is in operation when the control module loses power.

In other features, the control system includes a multi-conductor connector between the control panel and the control module. The control panel is configured to: measuring a voltage on a predetermined conductor of the multi-conductor connector and interpreting a user input according to the voltage. In other features, the control panel is configured to receive a first user input and a second user input. The control panel is configured to interpret the first user input as an intent to move one of the plurality of actuators in a first direction and interpret the second user input as an intent to move the one of the plurality of actuators in a second direction opposite the first direction in response to the voltage being greater than a threshold. The control panel is configured to interpret the first user input as an intent to move the one of the plurality of actuators in the second direction and interpret the second user input as an intent to move the one of the plurality of actuators in the first direction in response to the voltage being less than the threshold. In other features, the control panel includes a microcontroller having a plurality of pins and the microcontroller is configured to measure the voltage using a predetermined pin of the plurality of pins and subsequently output audio data from the microcontroller using the predetermined pin.

A method of operating a control system for a piece of furniture comprising: input from a user is received. The method comprises the following steps: the homing sequence is performed in response to an input from the user indicating an intent to return the movable component of the piece of furniture to the respective homing position. The homing sequence comprises: a first actuator of the plurality of actuators is selected according to a specified order. The homing sequence comprises: determining a home position of the selected actuator from the home position of the corresponding one of the movable components. The homing sequence comprises: beginning to drive the selected actuator toward the home orientation. The homing sequence comprises: repeatedly selecting a next actuator of the plurality of actuators according to the specified order, and repeating the determining and the starting for the next actuator. The homing sequence comprises: it is determined whether there is mains supplied power. The homing sequence comprises: in response to determining that there is no power to the mains supply, suspending the repeated selection while a threshold number of the plurality of actuators are in operation, and resuming the repeated selection once less than the threshold number of the plurality of actuators are in operation.

In other features, the method includes adjusting the designated order based on a capacity of a battery system of the control system. In other features, the movable member includes a leg support member and a head support member. The method includes placing the leg support members in the specified order before the head support member in response to the capacity of the battery system being below a first capacity. The method includes placing the head support member before the leg support member in the specified order in response to the capacity of the battery system being above the first capacity.

In other features, the method comprises: in response to the input from the user indicating an intent to move the movable component to a first configuration of positions different from the home position: determining whether there is power from the mains supply; and in response to the coincidence of the absence of power from the mains supply and the capacity of the battery system of the control system being below a first capacity, ignoring the intent to move the movable component to the first configuration. In other features, the method comprises: in response to the input from the user indicating the intent to move the movable component to the first configuration: determining whether there is power from the mains supply; and limiting the number of actuators moving simultaneously to a certain number in response to the absence of a coincidence of the power of the mains supply and the capacity of the battery system being greater than the first capacity.

In other features, the method comprises: position data is read from the plurality of actuators. The method comprises the following steps: setting an uncertain position flag in response to the position data representing an unexpected configuration of the movable part. The method comprises the following steps: performing the homing sequence in response to setting the uncertain position flag. In other features, the method comprises: setting the indeterminate position flag in response to determining that at least one of the plurality of actuators is in operation when power to the mains supply is lost.

Further areas of applicability of the present disclosure will become apparent from the detailed description, claims, and drawings. The detailed description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure.

Drawings

The present disclosure will become more fully understood from the detailed description and the accompanying drawings.

FIG. 1 is a functional block diagram of one exemplary embodiment of a furniture control module according to the principles of the present disclosure.

FIG. 2 is a functional block diagram of another example embodiment of a furniture control module according to the principles of the present disclosure.

FIG. 3 is a flow chart illustrating an example initialization operation of a furniture control module.

FIG. 4 is a flow diagram of an example initialization operation of a user interface control panel.

FIG. 5 is a flow chart illustrating an example movement operation of an actuator within a piece of furniture.

FIG. 6 is a flow chart of example operations for tracking an end of movement of a furniture actuator.

Fig. 7 is a flow diagram illustrating example operations for returning furniture to a home configuration.

FIG. 8 is a flow chart illustrating example operations for moving furniture to a predetermined memory position.

Fig. 9 is a graphical representation of a wireless communication sequence between a new control module and a new wireless remote control.

FIG. 10 is a graphical representation of a wireless communication sequence between a bound control module and a bound wireless remote control.

FIG. 11 is a graphical representation of an alternative wireless communication sequence between a bound control module and a bound wireless remote control.

Fig. 12 is a graphical representation of a wireless communication sequence between a bound control module and a new wireless remote control.

FIG. 13 is a graphical representation of a wireless communication sequence between a new control module and a bound wireless remote control.

Fig. 14 is a graphical representation of a wireless communication sequence in response to a user pressing a connect button on a wireless remote control.

Fig. 15 is a graphical representation of a state machine for Bluetooth low energy (Bluetooth low energy) remote connection.

Fig. 16 is a flowchart describing an operation performed in response to pressing of the connection button.

Fig. 17 is a flowchart of an example wireless advertising operation.

FIG. 18 is a flow chart of example operations for a remote control connected to a control module.

FIG. 19 is a flow chart of example operation of a remote control disconnected from a control module.

FIG. 20 is a graphical state machine for control module Bluetooth low energy connection.

FIG. 21 is a flow diagram of example operations of a control module during a power-on window for a new connection.

FIG. 22 is a flow chart of an example scan operation by the control module.

FIG. 23 is a flow chart of an example connection operation by the control module.

FIG. 24 is a flow chart of example operations of the control module when connected to a remote control.

In the drawings, reference numbers may be repeated to identify similar and/or identical elements.

Detailed Description

Block diagram

Fig. 1 shows a control module 100, also referred to as a furniture control module or Master Control Module (MCM). The control module 100 receives user input, such as via the control panel 104, and controls one or more actuators 108-1, … … 108-N (collectively actuators 108).

The control module 100 includes a power system 112 that receives wall power (also referred to as grid power, utility power, or mains-supplied power). For example, a power supply 116 (which may be external, as shown in fig. 1) may receive wall power and condition or convert the power. For example, the power supply 116 may convert wall power to a lower voltage alternating current, or may convert wall power to a direct current power supply. For example only, the wall power may be 230 volt 50 hertz alternating current power or 120 volt 60 hertz alternating current power.

Power system 112 may also be configured to receive power from battery pack 118. Battery pack 118 may be a rechargeable battery pack, in which case power system 112 may be capable of recharging battery pack 118 based on power from power source 116. In other embodiments, battery pack 118 may include a non-rechargeable battery, such as a 9V alkaline battery. In various embodiments, both rechargeable and non-rechargeable battery packs may be provided and connected to the power system 112.

The control panel 104 includes a furniture control 120, which furniture control 120 may be one or more touch-activated or pressure-activated input devices. For example, the furniture controls 120 may include buttons, rocker switches (rocker switches), touch sensitive buttons, touch screens, and the like. As shown in fig. 1, the control panel 104 includes a controller 124, the controller 124 reading input from the furniture control 120 and transmitting the input to the control module 100 via a bus transceiver 128 of the control module 100.

For example, the controller 124 may send a bus message to the bus transceiver 128 in response to an instantaneous press of a button of the furniture control 120. In response to the pressing and holding of one of the buttons of the furniture control 120, the controller 124 may send a button press message followed by a button release message to the bus transceiver 128. In the meantime, the controller 124 may continue to send "button hold pressed" messages to the bus transceiver 128.

For user convenience, the control panel 104 may include one or more Universal Serial Bus (USB) chargers 132. Although shown within the outline of the control panel 104, one or more of the USB chargers 132 may be located separately from the control panel 104. For example, the USB charger 132 may be distributed between the left and right sides of a piece of furniture for user convenience. To power the USB charger 132, a suitable voltage source, such as a 5V power supply 136, provides power to the control panel 104. For example, the 5V power supply 136 may power the bus transceiver 128 that provides power to the control panel 104.

The system controller 140 of the control module 100 receives information about user input via the bus transceiver 128. The system controller 140 may also control whether the USB charger 132 is active. In response to a command to deactivate the USB charger 132, the controller 124 may shut off power to some or all of the USB charger 132.

In furniture where there are multiple sets of actuators, such as a sofa with multiple reclined seating positions, the system controller 140 may coordinate with a corresponding control module. In FIG. 1, the second control module 144 is shown for illustration. The service interface 148 connected to the bus transceiver 128 may permit an assembler at a manufacturing facility or a technician at a repair facility to obtain diagnostic information, perform calibrations, and resolve problems. In various embodiments, the bus transceiver 128 may use a variation of a Local Interconnect Network (LIN) bus.

The control module 100 controls the actuator 108 using a relay control system 152. When controlling the actuator 108-1, the relay control system 152 may sense the amount of current supplied to the actuator 108-1. Additionally, the relay control system 152 may receive positioning feedback from the actuator 108-1. For example, the position feedback may include a count from an encoder, which may be detected using a hall effect sensor. As described in more detail below, this position feedback may not be completely reliable if the actuator has recently stopped moving or is actually still moving when power is removed from the control module 100.

The system controller 140 may receive input from other sources, such as one or more analog sensors 156. The analog sensor 156 may include an occupancy sensor (occupancy sensor). The analog interface 160 receives information from the analog sensor 156 and translates the information, such as by conversion to a digital signal, for provision to the system controller 140.

In addition to controlling the actuator 108, the control module 100 may also generate additional outputs. For example, the output interface 164 of the control module 100 may control one or more heaters 168, one or more massage motors 172, and one or more user output devices 176. For example, user output devices 176 may include one or more of haptic feedback actuators, audio output devices, lighting devices, and the like. In various embodiments, the output interface 164 may output a Pulse Width Modulation (PWM) signal.

In fig. 2, a wireless remote control variant of the controller architecture includes a control module 200. The control module 200 includes a bluetooth transceiver 204 that wirelessly communicates with a remote control 208. The remote control 208 includes a bluetooth transceiver 212, a furniture control 216, a hall effect sensor 220, and a battery pack 224. The furniture controls 216 may be the same as or a rearranged version of the furniture controls 120 of fig. 1.

When not in use, the remote control 208 may be stored in a remote control holder 228. Although not shown, the remote control holder 228 may charge the battery pack 224 of the remote control 208 when the remote control 208 is positioned in the remote control holder 228. The remote control holder 228 may include a magnet 232, and the magnet 232 may be detected by the hall effect sensor 220 of the remote control 208 to indicate to the remote control 208 that the remote control is positioned in the remote control holder 228.

The remote control holder 228 may include furniture controls 236, which furniture controls 236 may be a superset or subset of the furniture controls 216. In various embodiments, furniture controls 236 may include an input indicating that a user desires to return the furniture to a home position and/or one or more memory positions. Additionally, furniture controls 236 may also include controls for pairing remote control 208 with control module 200.

In various embodiments, the remote control holder 228 may also include one or more USB chargers 240. As described above with respect to fig. 1, the USB charger 240 may not all be co-located in the remote control holder 228. The USB charger 240 may receive power from a 5V power supply 244. The 5V power supply 244 may be the same as the 5V power supply 136 of fig. 1. The 5V power supply 244 may be controllable by the system controller 140 to interrupt power to the USB charger 240 to deactivate the USB charger 240. For example, USB charger 240 may be disabled when operating on battery power rather than wall power.

The same reference numerals are used for system controller 140, although a separate system controller may be used for control module 100 as compared to control module 200. In the examples shown in fig. 1 and 2, the system controller 140 is shown with the same reference numbers to indicate that common software and hardware may be used for the system controller 140, although the software may operate differently depending on whether the system controller 140 is present in the control module 100 or the control module 200. Control module 200 may include a control monitor 248, which control monitor 248 scans furniture controls 236. For example, control monitor 248 may monitor the resistance through each of furniture controls 236 to detect whether a button is being pressed. The control monitor 248 then supplies this information to the system controller 140.

Flow chart

In fig. 3, initialization control begins at 300. This control may be performed by the control module 100 or the control module 200, for example. At 300, control turns off the actuator and turns off the USB charger. At 304, control clears the over-current flag for the actuator. At 308, control enables a watchdog timer (watchdog timer). The watchdog timer may prevent the control software from inadvertently falling into an infinite loop.

At 312, control establishes a mapping of the actuators to the furniture components. For example, this mapping may be a predetermined table indicating which actuator corresponds to which section of the couch: such as headrests, footrests, waist, back rests, and leg rests. Control continues at 316 and determines whether factory positioning has been performed on the furniture. If so, control transfers to 320; otherwise, control transfers to 324.

At 320, control determines whether any move flags are currently set. If so, control transfers to 324; otherwise, control transfers to 328. The movement flag is set when the actuator is moving, and is cleared when the movement is stopped. In some embodiments, such as the embodiment depicted in fig. 8, the flag may be cleared a predetermined period of time after the end of the move. At 324, factory positioning has not been performed or power is removed from the control module prematurely, so the control sets a flag (Actuator _ Pos _ subset) to indicate that the position of one or more actuators is Suspect. The initialization control then ends. The Actuator position Suspect (Actuator _ Pos _ Suscope) flag may also be referred to as an uncertain position flag.

At 328, the position of the actuator is assumed to be accurate and is therefore read from memory for use in actuator control. At 332, control evaluates whether the position data appears valid. This may for example check if the location data is within bounds and if there are any incompatible data fragments. For example, a leg rest and a footrest may not be able to be adjusted in certain incompatible configurations, and position data reflecting such incompatible configurations will be assumed to be invalid. If the position data is represented effectively, control ends; otherwise, control returns to 324.

In FIG. 4, an initialization operation for a control panel, such as control panel 104 of FIG. 1, begins at 400. In various embodiments, the control panel 104 may alternatively be positioned on the left or right side of a piece of furniture. This decision may be based on buyer preferences, such as avoiding placing the control panel 104 directly next to the end table.

The control panel 104 may be interchangeable between multiple sides of the furniture. However, the furniture controls 120 may have the opposite effect based on which side of the furniture the control panel 104 is located. For example, a rocker switch that extends and retracts the leg rest may alternatively retract and extend the leg rest when the control panel 104 is on the opposite side. In fig. 4, one method of determining which side the control panel 104 is mounted on relies on hardware differences.

For example, the cables connecting the control panel 104 to the control module 100 may have different lengths and different arrangements depending on whether the control panel 104 is located on the left or right side of a piece of furniture. The two cables in these two configurations may be configured electrically differently. For example, in one configuration, the cable may omit one of the wires. This omission may be detected by the control panel 104 according to the operation illustrated in fig. 4.

At 400, a controller (such as controller 124 of control panel 104) checks for a particular pin. At 404, if the pin is pulled high, control transfers to 408; otherwise, control transfers to 412. The pin may be pulled high by a wire connected back to the control module. For example, a pull-up resistor at the control module may pull the voltage to the pin to the positive supply voltage. However, if the pin is not pulled high (at 412), this indicates that the wire is omitted from the cable.

In the example of fig. 4, the omission of the electrical wires (412) from the cables corresponds to a configuration in which the control panel 104 is positioned on the right side of the furniture. Thus, the right hand orientation is used to interpret the user control. At 408, there is a wire and thus user controls are interpreted according to the control panel being mounted on the left side of the furniture. In both cases, control continues at 416, where the pin may be used after initialization for audio output. For example, the audio output may be used to provide feedback indicating when the current configuration of the furniture was successfully stored as a memory location. Control then ends.

FIG. 5 illustrates example operations used in controlling actuator movement. Actuator movement may be initiated according to a manual user control, according to a homing sequence, or according to a remembered sequence. In some embodiments, the homing sequence may not be explicitly initiated by the user, but rather by the system controller, such as to calibrate the position of the actuator or to return to a starting point after a power failure.

Control of movement of a particular actuator begins at 500, where control determines whether the current time exceeds 200ms after the stop time of the particular actuator. The value of 200ms is predetermined and may be based on parameters of the motor and mechanical characteristics of the components operated by the motor. This predetermined interval prevents the same actuator from starting to move too close to the time at which the previous movement ended. If the current time minus the last stop of the actuator is greater than 200ms, control transfers to 504; otherwise, control remains at 500.

At 504, control determines whether the global start timer exceeds a threshold. If so, control transfers to 508; otherwise, control remains at 504. The global start timer is reset each time the actuator starts to move. To avoid the power supply experiencing high startup currents from multiple motors at the same time, a threshold (50 ms in this example) is used to stagger the startup times of the motors. The value of 50ms may be empirically determined by the designer as the time that the current has dropped to a predetermined percentage (such as 50%) of the startup current.

At 508, control determines whether the furniture is operating with wall power. If so, control continues at 512; otherwise, control transfers to 516. At 516, control determines the number of actuators currently in operation. At 520, control compares the number to a threshold (such as 2). If the number is greater than or equal to the threshold, control transfers to 524; otherwise, control continues at 512.

This threshold may be set such that only a certain number of actuators are running at any time to prevent excessive current draw on the non-wall power source (in other words, the battery pack). Higher current draw may reduce the charge stored by the battery pack and may even reduce the overall life and long term charge storage capacity of the battery pack. At 524, control determines whether the user has released all buttons. If so, control returns to 504; otherwise, control remains at 524. Further actuator movement may be suspended for safety and usability reasons until all buttons have been released.

At 512, control resets the running global start timer to zero. At 528, control sets a move flag for the present actuator. The move flag may be stored in non-volatile memory so that it will be retained during a power loss or shutdown. At 532, control drives the actuator in the commanded direction. At 536, control updates the stop time of the actuator to the current time. This update of the stop time continues while the actuator is moving, so that the stop time always reflects the last time the actuator was moving.

Control continues at 540, where control determines whether the move command is still valid. If so, control transfers to 544; otherwise, control transfers to 548. For example, the move command may no longer be valid because the user has stopped pressing the corresponding button. In another example, the move command may not be valid because the predetermined memory location has been reached.

At 544, control determines whether the actuator current is greater than zero. If so, control transfers to 552; otherwise, control transfers to 556. At 556, the actuator current has reached zero, and thus it is assumed that the actuator has reached the end of its stroke. Therefore, control calibrates the actuator position based on this assumption. Control then continues at 548. At 548, control clears the over-current flag for the actuator and control ends. In other words, the over-current flag is cleared in response to the natural termination of movement of the actuator-in other words, in response to the actuator reaching the end of travel or a request for the end of actuator movement.

At 552, control determines whether the currently measured actuator current exceeds a limit. If so, control transfers to 560; otherwise, control continues at 532. At 560, control determines whether an over-current flag has been set for the actuator. If so, control transfers to 564; otherwise, control transfers to 568. At 564, control stops all actuators and may prevent the current actuator from moving again until a reset has been performed. Control continues at 572 where control remains until all buttons have been released. Once all buttons have been released, control ends. At 568, the over-current flag has not been set for the actuator, indicating that the over-current event may be transient. Control, however, stops all actuators and continues at 576. Control sets the over-current flag for the present actuator at 576 and continues at 524.

In fig. 6, the end of the movement of the tracking actuator begins at 600. A first actuator is selected and control continues at 604. At 604, control determines whether a move flag is currently set for the selected actuator. If so, control transfers to 608; otherwise, control transfers to 612. At 612, control determines whether additional actuators are present. If so, control transfers to 616; otherwise, control returns to 600 to begin processing all actuators again.

Control selects the next actuator at 616 and continues at 604. At 608, control determines whether the current time exceeds a predetermined interval after the last stop time of the selected actuator. If so, control transfers to 620; otherwise, control transfers to 612. The predetermined interval may be 2 seconds. At 620, control clears the move flag for the selected actuator. As described above, the move flag may be set in non-volatile memory to persist during power interruptions and shutdowns. Control continues at 624, where the current understanding of the position of the selected actuator is written to non-volatile memory. Control then continues at 612.

In FIG. 7, control begins at 700 after a homing operation is invoked. As mentioned above, the homing operation may be invoked by an explicit user input or to return to a known reference state of the furniture. For example, the reference state may be invoked after a power interruption or in response to the position of the actuator being suspect. At 700, control determines whether the furniture is operating on wall power. If so, control transfers to 704; otherwise, control transfers to 708.

In various embodiments, control may determine whether the furniture is operating with wall power based on the voltage of the power input. For example, a power source operating on wall power may supply a higher voltage than the voltage supplied by the battery pack. At 708, control sets a battery flag to indicate that the furniture is operating on battery power. Control continues at 712, where control determines whether the battery pack is relatively high power. If so, control transfers to 716; otherwise, control transfers to 720.

When the charge storage capacity of the battery pack is high, the battery pack may have relatively high power. For example, a higher charge storage capacity may correspond to a lithium ion rechargeable battery, while a relatively lower power battery may be a set of 9V alkaline batteries. The identity of the battery pack may be inferred based on the voltage output of the battery pack. For example, the voltage of a rechargeable battery may be designed to be higher than the voltage of an alkaline battery.

At 716, control establishes a sequence in which the actuators make homing movements. For example, the headrest and waist may be actuated before the backrest and leg rest are actuated. Control then continues at 704. Meanwhile, at 720, the order of the actuators is set differently. For example, the back and leg rest actuators may be moved before the headrest actuator and the lumbar actuator. Control also continues at 704.

At 704, control selects a first actuator in the ordered list of actuators. At 724, control determines a reference (its initial) mounting of the selected actuator. In various embodiments, these reference positions may be established simultaneously with the mapping of actuators to furniture components performed in fig. 3. In other words, the leg rest actuator may have a predetermined reference position corresponding to its association with the leg rest.

At 728, control commands the selected actuator to move toward the reference position. This may invoke the control of fig. 5 for the selected actuator, for example. At 732, control determines whether there are additional actuators in the list that still need to be moved toward the reference position. If so, control transfers to 736; otherwise, control has moved all actuators and control ends.

At 736, control determines whether the battery flag is set. If so, control transfers to 740; otherwise, control transfers to 744. At 740, control determines the number of actuators currently in operation. At 748, control determines whether the number is greater than or equal to a threshold, such as two. To prevent too many actuators from moving simultaneously while using battery power, control returns to 740 until the number of actuators falls below a threshold. Control then continues at 744. Control selects the next actuator at 744 and continues at 724.

In fig. 8, control begins when the memory location has been called. At 800, control determines whether the furniture is operating on wall power. If so, control transfers to 804; otherwise, control transfers to 808. At 804, control determines whether a flag indicating that the actuator position may be suspect is set. If so, control transfers to 812; otherwise, control transfers to 816. At 812, control invokes a homing sequence (see FIG. 7). In embodiments, an initial request for a memory position when the actuator position is suspect may result in the furniture returning to the reference position and require a second selection of the memory position before the control will move to the memory position. In such a case, control ends after 812.

Referring back to 808, control determines whether the battery pack is relatively high power. If so, control transfers to 820; otherwise, in the case of a lower power battery pack, the memory-based movement may be prohibited and control ends. Control sets the battery flag at 820 and continues at 804. At 816, control selects a first actuator. At 824, control determines a stored memory position of the selected actuator. At 828, control commands the actuator to move toward the stored memory position. At 832, control determines whether there are any additional actuators to move toward the stored memory location. If so, control transfers to 836; otherwise, control ends.

At 836, if the battery flag is set, control transfers to 840; otherwise, control transfers to 844. At 840, control determines the number of actuators currently in operation. Control continues at 848, where if the number is equal to or greater than a threshold, control returns to 840; otherwise, control transfers to 844. Control selects the next actuator at 844 and continues at 824.

Wireless connection

Fig. 9 is a graphical representation of a wireless communication sequence between a new control module and a new wireless remote control.

FIG. 10 is a graphical representation of a wireless communication sequence after power up between a bound control module and a bound wireless remote control and after power is restored to the bound wireless remote control.

FIG. 11 is a graphical representation of a wireless communication sequence between a bound control module and a bound wireless remote control after power is restored to the bound control module.

Fig. 12 is a graphical representation of a wireless communication sequence between a bound control module and a new wireless remote control.

FIG. 13 is a graphical representation of a wireless communication sequence between a new control module and a bound wireless remote control.

Fig. 14 is a graphical representation of a wireless communication sequence in response to a user pressing a connect button on a wireless remote control.

FIG. 15 depicts an example high-level process for establishing and maintaining a connection with a Master Control Module (MCM) that a wireless remote control will follow. On power up, the remote control will check the white list to see if previous connections are stored. If so, the remote control will start advertising to reconnect to the MCM. If no connections are stored in the white list, the remote control will not advertise until the connect button is pressed. The MCM and remote control are intended to maintain a Bluetooth Low Energy (BLE) connection throughout the time that both are powered up. Power loss, noise and other events can cause the link to be disconnected. Details on how the connection is restored are detailed in the following section.

Fig. 16 depicts example steps followed when the remote control is in any state (other than the advertisement state) and the connect button is pressed. The connect button allows the remote control to force into the advertising state regardless of the current state. If the connect button is pressed while in the advertising state, this will change the flag data in the advertising packet to send out a value of 0x05 and allow a new connection to occur to the remote control. When the remote control is in No Connection (No Connection) state, pressing the Connection button will be the only method for moving to the advertisement state.

In fig. 17, after entering the advertisement state, the remote controller will start sending out advertisement packets and will start the advertisement pause time (timeout). If the MCM sends a connection request during the advertisement window, the remote will connect to it in the following cases. If the connect button has been pressed, the remote control will connect to the first MCM that sent the connection request. The remote control will clear any saved connections, if any, from the white list and new connection information will be stored. The remote control and MCM will then bind. Once binding is complete, the remote control will execute a "New Connection Sequence" defined in the product behavior specification.

If the connect button is not pressed, the remote control will only connect to the connections stored in its whitelist and will reject any connection requests that are not in the whitelist. After the reconnection, no "new connection sequence" will be performed. If the advertisement window expires and there has not been a successful connection, the advertisement packet will stop being sent out. The status of the remote control will then be determined based on the white list as described in the flow chart.

In FIG. 18, when the remote control is connected to the MCM, the connection link is monitored. If the connection to the MCM is lost for any reason, the remote status will change to Advertising (advertisement). The connect button may be pressed during a Connected (Connected) state. In this case, the details in fig. 16 will be followed.

Referring to FIG. 19, when there is a connection stored in the white list, the remote control will be in a Disconnected (Disconnected) state, but fail to reconnect to the MCM during the advertisement window. While in this state, the remote control will monitor the keys and accelerometer to determine if the user has picked up or touched any of the keys. If any of these events occur, the remote control will move to the advertisement state to reconnect to the MCM. The connect button may be pressed during the disconnected state. In this case, the details in fig. 16 will be followed.

Referring to FIG. 20, the following section depicts an example high-level process for establishing and maintaining a connection with a remote control that the MCM will follow. On power up, the MCM will check the white list to see if previous connections are stored. If so, the MCM will begin the process of reconnecting to the stored connections. If no connections are stored in the white list, the MCM will take no action to connect to the remote control. The MCM and remote control are intended to maintain the BLE connection throughout the time both are powered up. Power loss, noise and other events can cause the link to be disconnected. Details on how the connection is restored are detailed in the following section.

Referring to FIG. 21, upon power up, the MCM will start a timer. If the Find Me (Find Me)/Never Lost (river Lost) button is pressed within the first 2 minutes and the MCM is in a No Connection (No Connection) state or a Connecting (Connecting) state, the MCM will enter the scanning state. This allows MCMs that do not have connections stored in the white list to start scanning for remote controllers to be connected to. It also allows the MCM with the established connection to start scanning for new connections.

Referring to figure 22, upon entering the scan state, the MCM will start a scan timer and start scanning for BLE advertisement packets. If a remote control advertisement packet is detected within the scanning window, the white list on the MCM will be updated with the new connection (if a previous connection exists) and moved to the connected state. If no remote control advertisement packets are detected during the scanning window, the MCM will stop scanning for BLE advertisement packets. If the connection is stored in the white list, the MCM will move to the connected state to attempt to connect to the previous connection. If the white list is empty, the MCM will move to a no connection state.

Referring to FIG. 23, while in the connecting state, the MCM will continue to send connection requests to connections in its whitelist. If a connection is established, the MCM will move to a connected state. The only other way for there to be an in-connection state is to use the find me/never lose key during the new connection power-up window detailed in fig. 21.

Referring to fig. 24, when the MCM is connected to the remote controller, the connection link will be monitored. If for any reason the connection to the remote control is lost, the MCM status will change to connection.

Conclusion

The foregoing description is merely exemplary in nature and is in no way intended to limit the disclosure, its application, or uses. The broad teachings of the disclosure can be implemented in a variety of forms. Therefore, while this disclosure includes particular examples, the true scope of the disclosure should not be so limited since other modifications will become apparent upon a study of the drawings, the specification, and the following claims. It should be understood that one or more steps within a method may be performed in a different order (or simultaneously) without altering the principles of the present disclosure. Furthermore, although each embodiment is described above as having certain features, any one or more of those features described in relation to any embodiment of the present disclosure may be implemented in and/or combined with the features of any other embodiment, even if the combination is not explicitly described. In other words, the described embodiments are not mutually exclusive and the arrangement of one or more embodiments with respect to each other is still within the scope of the present disclosure.

Various terms are used to describe spatial and functional relationships between elements (e.g., between modules), including "connected," engaged, "" interfaced, "and" coupled. Unless explicitly described as "direct," when a relationship between a first element and a second element is described in the above disclosure, the relationship encompasses a direct relationship where no other intermediate element is present between the first element and the second element, and an indirect relationship where one or more intermediate elements are present (spatially or functionally) between the first element and the second element. As used herein, at least one of the phrases A, B and C should be construed to mean logical (a OR B OR C), use non-exclusive logical OR, and should not be construed to mean "at least one of a, at least one of B, and at least one of C. "

In the drawings, the direction of arrows, as indicated by the arrows, are generally shown to illustrate the flow of information (such as data or instructions) of interest. For example, when element a and element B exchange a wide variety of information, but the information transferred from element a to element B is related to the instantiation, an arrow may point from element a to element B. This one-way arrow does not mean that no other information is transmitted from element B to element a. Further, for information sent from element a to element B, element B may send a request for information or an acknowledgement of receipt of the information to element a. The term subset does not necessarily require a proper subset. In other words, the first subset of the first set may be coextensive (equal) with the first set.

In this application, including the definitions below, the term "module" or the term "controller" may be replaced by the term "circuit". The term "module" may refer to, be part of, or include both processor hardware (shared, dedicated, or group) that executes code and memory hardware (shared, dedicated, or group) that stores code executed by the processor hardware.

The module may include one or more interface circuits. In some examples, the interface circuitry may implement a wired or wireless interface to a Local Area Network (LAN) or a Wireless Personal Area Network (WPAN). Examples of LANs are Institute of Electrical and Electronics Engineers (IEEE) standard 802.11-2016 (also known as the WIFI Wireless network standard) and IEEE standard 802.3-2015 (also known as the ETHERNET Wired network standard). Examples of WPANs are the BLUETOOTH wireless network standard from the BLUETOOTH special interest group and the IEEE standard 802.15.4.

A module may communicate with other modules using interface circuitry. Although modules may be described in this disclosure as logically communicating directly with other modules, in various embodiments, modules may actually communicate via a communication system. A communication system includes physical and/or virtual network equipment such as hubs, switches, routers, and gateways. In some embodiments, the communication system is connected to or traverses a Wide Area Network (WAN), such as the internet. For example, a communication system may include multiple LANs interconnected by the internet or by point-to-point leased lines using techniques including multiprotocol label switching (MPLS) and Virtual Private Networks (VPNs).

In various embodiments, the functionality of the modules may be distributed among a plurality of modules connected via a communications system. For example, multiple modules may implement the same functionality distributed by the load balancing system. In another example, the functionality of the modules may be split between a server (also referred to as remote or cloud) module and a client (or user) module.

The term code, as used above, may include software, firmware, and/or microcode, and may refer to programs, routines, functions, classes, data structures, and/or objects. Shared processor hardware includes a single microprocessor that executes some or all code from multiple modules. Group processor hardware includes microprocessors that execute some or all of the code from one or more modules in conjunction with additional microprocessors. References to multiple microprocessors encompass multiple microprocessors on separate dies, multiple microprocessors on a single die, multiple cores of a single microprocessor, multiple threads of a single microprocessor, or a combination of the foregoing.

Shared memory hardware includes a single memory device that stores some or all code from multiple modules. Group memory hardware includes memory devices that store some or all of the code from one or more modules in conjunction with other memory devices.

The term memory hardware is a subset of the term computer-readable medium. The term computer-readable medium, as used herein, does not include transitory electrical or electromagnetic signals propagating through a medium (such as on a carrier wave); thus, the term computer-readable medium is considered tangible and non-transitory. Non-limiting examples of non-transitory computer-readable media are non-volatile memory devices (such as flash memory devices, erasable programmable read-only memory devices, or mask read-only memory devices), volatile memory devices (such as static random access memory devices or dynamic random access memory devices), magnetic storage media (such as analog or digital tapes or hard drives), and optical storage media (such as CDs, DVDs, or blu-ray discs).

The apparatus and methods described herein may be implemented in part or in whole by a special purpose computer created by configuring a general purpose computer to perform one or more specific functions embodied in a computer program. The functional blocks and flow diagram components described above are used as software specifications, which can be translated into a computer program by routine work by a skilled technician or programmer.

The computer program includes processor-executable instructions stored on at least one non-transitory computer-readable medium. The computer program may also comprise or rely on stored data. The computer programs may include a basic input/output system (BIOS) that interacts with the hardware of the special purpose computer, a device driver that interacts with specific devices of the special purpose computer, one or more operating systems, user applications, background services, background applications, and the like.

The computer program may include: (i) descriptive text to be parsed, such as HTML (hypertext markup language), XML (extensible markup language), or json (javascript Object notification), (ii) assembly code, (iii) Object code generated by a compiler from source code, (iv) source code for execution by an interpreter, (v) source code for compilation and execution by a just-in-time compiler, and so forth. For example only, source code may be written using syntax from languages including C, C + +, C #, Objective-C, Swift, Haskell, Go, SQL, R, Lisp, Lisp, and,Fortran、Perl、Pascal、Curl、OCaml、HTML5 (5 th edition of HyperText markup language), Ada, ASP (Active Server Page), PHP (PHP: HyperText preprocessor), Scala, Eiffel, Smalltalk, Erlang, Ruby, HawIth, and HawIth,VisualLua, MATLAB, SIMULINK and