Ceily: Robot Bed Ceiling Lift
Automated lift system that raises a bed to the ceiling to free up living space. App control, collision detection, and remote monitoring.
firmware
Product page: stagehands.io/products/ceily
What is Ceily
Ceily is an automated lift system that raises a bed to the ceiling to free up living space. In studio apartments or small rooms, the bed’s footprint can be fully reclaimed during the day — turning the area into a home office, living room, or workout space.
How It Works
- Raise — Tap the up button in the app. The bed rises vertically to the ceiling. The support legs fold automatically.
- Lower — Tap the down button. The bed descends. Once it reaches the floor, the legs deploy to support the bed.
- Obstacle detection — If an obstacle is detected during movement, the system stops immediately.
- Collision detection — If the bed contacts a person or object, it emergency-stops and automatically reverses.
Key Features
- App control — Raise/lower via smartphone over BLE
- Collision detection — Real-time motor torque monitoring with emergency stop
- Obstacle detection — Three ToF sensors scanning front, left, and right
- Remote monitoring — Position, status, and alerts via AWS IoT
- OTA updates — Wireless firmware updates with dual-partition rollback
- Auto calibration — Automatic stroke measurement on first installation
Specifications
| Spec | Value |
|---|---|
| Vertical stroke | 1,690 mm |
| Dimensions | 1,724 × 2,122 mm |
| Travel speed | 100 mm/s |
| Leg angle | 0° (folded) to 90° (deployed) |
| Position accuracy | ±1 mm |
| Contact sensitivity | 1 Nm |
Technical Highlights
- Single MCU (ESP32-S3) — Motor control, sensors, and connectivity on one chip. 40% BOM reduction vs dual-MCU.
- 6-model regression collision detection — Separate regression model for each direction (up/down) × phase (accel/constant/decel) combination. False positive rate under 1%.
- WiFi/BLE coexistence — WiFi and BLE on a single antenna. Replaced ESP-Modbus with custom lightweight implementation, 92% memory reduction.
- OTA dual partition — Automatic rollback to previous version on update failure.
My Role
Sole developer of the entire Ceily firmware. Responsible for motor control (main lift + leg steppers), ToF obstacle detection, collision detection algorithm, BLE/WiFi communication, AWS IoT integration, OTA system, and state machine design and implementation.