Posture estimation method and thermal massage mattress utilizing the same

Abstract

To provide a thermal massage mattress capable of estimating the lying position of a person lying on a mattress by using a whole-body pressure measurement sensor and performing various treatments on the basis of the estimated posture of the person.SOLUTION: The estimation method comprises: a measurement step of measuring the pressure at respective locations through multiple pressure sensors arranged in a two-dimensional matrix; a body pressure characteristic extraction step of extracting a pressure value (force), a pressure-applied area (area), a maximum pressure location (peak pressure), and an area mean pressure (mean pressure) as proportional variables from the measured pressure information of the two-dimensional matrix; and a posture estimation step of estimating a lying position from the extracted variables through a posture estimation algorithm.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a posture estimation method and a thermo-massage mattress using the same.

[0002] Specifically, the present invention relates to a thermo-massage mattress that can estimate the lying posture of a human lying on the mattress using a whole-body pressure measurement sensor and perform various treatments based on the estimated human posture.

Background Art

[0003] Techniques have been developed to grasp the posture of a human lying on a mattress and induce a stable posture based on the grasped posture. As methods for grasping the posture, a method of discriminating the posture through the numerical values and distributions of body pressure measured by a human on a two-dimensional planar mattress, a method of photographing and analyzing the motion of a human, and a method of combining them have been developed.

[0004] However, the developed body pressure measurement method has a problem that it can be applied only when the user lies horizontally with the head and feet in specific directions respectively. Also, the motion photography method has a problem that the installation position of the mattress is restricted for photography and the futon cannot be covered.

Summary of the Invention

Problems to be Solved by the Invention

[0005] The present invention has been devised to solve the above-described problems, and aims to provide a posture estimation method that can estimate the lying posture of a user regardless of the installation position and direction of the mattress.

[0006] Also, the present invention aims to provide a posture estimation method that can accurately estimate the lying posture even when the user lies freely without recognizing the direction in which they should lie horizontally.

[0007] Furthermore, the present invention aims to provide a posture estimation method that can accurately estimate the user's lying-down posture.

[0008] Furthermore, the present invention aims to provide a thermal massage mattress that can provide massage in accordance with the user's lying-down posture.

[0009] Furthermore, the present invention aims to provide a thermal massage mattress that can understand the user's sleep pattern in response to their lying position and create the optimal sleep environment.

[0010] Furthermore, the present invention aims to provide a thermal massage mattress that can prevent pressure ulcers by measuring the user's lying-down posture.

[0011] The technical problems of the present invention are not limited to the purposes mentioned above, and other purposes and advantages of the present invention not mentioned can be understood from the following description and more clearly from embodiments of the present invention. Furthermore, it is readily apparent that the purposes and advantages of the present invention can be achieved by the means and combinations thereof set forth in the claims. [Means for solving the problem]

[0012] The posture estimation method of the present invention, which solves the above-mentioned problems, may be applied to a mattress on which a user can lie down and on which multiple pressure sensors arranged in a two-dimensional matrix are installed.

[0013] The posture estimation method includes a measurement step of measuring pressure at each position through a plurality of pressure sensors arranged in the form of a two-dimensional matrix, a step of extracting body pressure characteristics from the measured pressure information of the two-dimensional matrix, and a step of estimating a lying posture from the body pressure characteristics extracted by a posture estimation algorithm.

[0014] The pressure characteristic extraction step includes extracting pressure location and pressure intensity as variables from the measured pressure information.

[0015] The aforementioned variables may include at least one of the following: pressure value (force), pressure area, peak pressure, and mean pressure.

[0016] The aforementioned variables may be extracted as percentages.

[0017] By extracting data as a percentage, body pressure analysis can be performed without error for individuals with different body types and weights.

[0018] The posture estimation step estimates the lying-down posture from the extracted variables.

[0019] The aforementioned lying-down positions may be further classified into supine, prone, and side-lying positions.

[0020] The posture estimation algorithm may divide the two-dimensional matrix into multiple sections along the longitudinal (back) direction of the human body based on the body pressure characteristics.

[0021] The multiple segments may include a first segment corresponding to the head, a second segment corresponding to the shoulders, chest and back, a third segment corresponding to the abdomen and lumbar spine, a fourth segment corresponding to the buttocks and thighs, and a fifth segment corresponding to the calves and feet.

[0022] The section including the shoulder may be the second section.

[0023] The section including the buttocks may be the fourth section.

[0024] The section including the calf may be the fifth section.

[0025] The division of the aforementioned interval may be performed by a learned algorithm.

[0026] The partitioning of the interval may be performed according to a specified predetermined body ratio.

[0027] The partitioning of the interval may be performed by a learned algorithm, and if it cannot be partitioned by the learned algorithm, it may be performed according to a specified predetermined body ratio.

[0028] The posture estimation algorithm may estimate a lying-down posture by determining whether the body pressure characteristics in a predetermined interval meet a predetermined criterion.

[0029] The posture estimation algorithm may perform sequential analysis for each interval in a first scan direction from the head to the feet in the longitudinal direction, and may additionally perform analysis in a second scan direction extending left and right. That is, the first scan direction may be the longitudinal direction, and the second scan direction may be the lateral direction.

[0030] The criterion may include whether the pressure acting area is symmetric left and right in a predetermined interval. Preferably, the symmetry criterion may be an imaginary axis extending in the longitudinal direction passing through the head. The imaginary axis may be parallel to the first scan direction. [[ID= seventeen]]

[0031] The criterion may include whether the position of the maximum pressure exists in a predetermined interval. Such a criterion may be one where the position of the maximum pressure exists in the corresponding interval, or one where the position of the maximum pressure does not exist in the corresponding interval.

[0032] The criterion may include whether the width of the pressure acting area is greater than the length in a predetermined interval. Such a criterion may be one where the length is longer than the width of the pressure acting area existing in the corresponding interval, or one where the width is greater than the length of the pressure acting area existing in the corresponding interval.

[0033] The aforementioned criteria may include whether or not a pressure value is recognized as being equal to or greater than a standard value within a predetermined section. This may also include whether or not a pressure value was measured within the predetermined section, or whether or not a pressure value was measured as being equal to or less than a predetermined value.

[0034] The aforementioned criteria may include at least one of the above-mentioned criteria.

[0035] The posture estimation algorithm determines whether the body pressure characteristics conform to the estimation criteria in the estimation interval, and if so, it further verifies whether they conform to the verification criteria in the verification interval to identify the lying posture.

[0036] The aforementioned estimated interval may include at least one of the following: an interval including the shoulder, an interval including the lumbar spine, and an interval including the buttocks and thighs.

[0037] Preferably, the section including the shoulder may be an estimation section for estimating a side-lying position.

[0038] Preferably, the section including the lumbar spine may be an estimation section for estimating a supine position.

[0039] Preferably, the section including the buttocks and thighs may be an estimation section for estimating supine and prone positions.

[0040] The aforementioned verification section may include at least one of the following: a section including the buttocks, a section including the buttocks and thighs, and a section including the calf.

[0041] Preferably, the section including the buttocks may be a verification section for verifying side-lying, supine, and prone positions.

[0042] Preferably, the section including the buttocks and thighs may be a verification section for verifying the supine position.

[0043] Preferably, the section including the calf may be a verification section for verifying the supine position.

[0044] The posture estimation algorithm can identify the user's posture as lying on their side if the body pressure characteristics match the estimation criteria for lying on their side in the section including the shoulders and match the verification criteria for lying on their side in the section including the buttocks.

[0045] Preferably, the estimation criterion may include the fact that the pressure acting region in the relevant section is asymmetrical from left to right.

[0046] Preferably, the verification criterion may include the fact that the highest pressure position is located in the relevant section.

[0047] The posture estimation algorithm can identify the user's posture as a supine posture if the body pressure characteristics conform to the estimation criteria for a supine posture in the section including the lumbar spine and conform to the first verification criteria in the section including the calves.

[0048] Furthermore, the posture estimation algorithm can identify the user's posture as supine if the body pressure characteristics in the section including the buttocks conform to a second verification criterion for a supine posture.

[0049] Preferably, the estimation criterion may include whether or not the pressure value in the relevant section is recognized as being below a reference value.

[0050] Preferably, the first verification criterion may include at least one of the following: the pressure acting region is symmetrical in the relevant section, and the length of the pressure acting region is greater than or equal to its width.

[0051] Preferably, the second verification criterion may include the fact that the highest pressure position is located in the relevant section.

[0052] The posture estimation algorithm can identify the user's posture as a supine posture if the body pressure characteristics conform to the estimation criteria for a supine posture in the section including the buttocks and thighs, and also conform to the verification criteria for a supine posture in the section including the buttocks and thighs.

[0053] Preferably, the estimation criteria may include the fact that the pressure acting region is symmetrical in the relevant section and that the width of the pressure acting region is greater than its length.

[0054] Preferably, the verification criterion may include the fact that the highest pressure position is located in the relevant section.

[0055] The posture estimation algorithm can identify the user's posture as a prone position if the body pressure characteristics conform to the estimation criteria for a prone position in the section including the buttocks and thighs, and conform to the verification criteria for a prone position in the section including the buttocks.

[0056] Preferably, the estimation criteria may include the fact that, in the relevant section, the pressure acting region is symmetrical and the length of the pressure acting region is greater than the width.

[0057] Preferably, the verification criteria may include the fact that the highest pressure position is not present in the relevant section.

[0058] The present invention provides a massage mattress on which the posture estimation method described above is performed.

[0059] The mattress includes a plurality of pressure sensors arranged in a two-dimensional matrix, and a calculation control unit that extracts body pressure characteristics from pressure information measured by the pressure sensors to estimate the user's posture.

[0060] The mattress can extract physical information such as the user's body pressure distribution, height, and weight from the information sensed through the sensor, thereby allowing the user to be classified or identified.

[0061] The mattress may further include massage ceramics that are movable in a direction parallel to the two-dimensional matrix and in a direction intersecting the two-dimensional matrix.

[0062] The aforementioned massage ceramic may further include a heating function.

[0063] The calculation control unit may analyze changes in the user's sleep behavior from pressure information that changes over time.

[0064] The aforementioned calculation and control unit may extract biological signals (such as heart rate and respiratory rate) through changes in pressure measured from the user's pressure sensor. This allows the unit to learn sleep patterns.

[0065] This allows for the analysis of the four stages of sleep (wakefulness, REM sleep, light sleep, and deep sleep), and this can be provided in a report.

[0066] This allows us to provide information about sleep disorders such as snoring and sleep apnea in our reports.

[0067] The calculation and control unit can perform optimal sleep or temperature control to prevent low-temperature burns in response to the analyzed changes in sleep behavior.

[0068] The mattress may further include a temperature sensor that detects the user's body temperature.

[0069] The calculation and control unit can perform localized temperature control of a predetermined location on the mattress through the heating function of the ceramic. Furthermore, by moving the heated ceramic, temperature control over a predetermined area or the entire area is also possible.

[0070] The aforementioned calculation and control unit can identify the user from the pressure information measured by the pressure sensor.

[0071] The calculation and control unit can recommend a massage mode based on the identified user and the identified user's posture, and can automatically set the position of the massage ceramic.

[0072] As an example, the calculation and control unit can recommend or provide an optimal massage mode that matches the user's body pressure distribution. For example, the body pressure distribution may be a body pressure distribution related to the spine, the recommended massage mode may be a massage mode for the spine, and the massage mode may be determined in accordance with the body pressure distribution.

[0073] As another example, the calculation and control unit can use an artificial intelligence algorithm to learn preferred modes for users with similar body pressure distributions and provide the learned massage modes. Preferably, this may be a mode that focuses on massaging a specific area.

[0074] As another example, the calculation control unit can set and provide safety modes that are activated in the supine, prone, or side-lying position, corresponding to the respective position.

[0075] For example, the calculation control unit can set the start time of the ceramic massage and set the movement trajectory of the ceramic based on the extracted user body pressure distribution.

[0076] If the calculation and control unit confirms from pressure information that changes over time that a pressure exceeding a predetermined value is continuously acting on a predetermined area, it can move the massage ceramic to perform a change in body position to prevent pressure ulcers.

[0077] The pressure sensor can function as an interface for receiving user input signals. Preferably, the input signal may be received in a manner in which the pressure sensor senses the user's touch pressure. For example, if two consecutive touches are detected, the massage operation can be started or stopped. For example, if irregular consecutive touches are detected, the massage operation can be immediately stopped as it is recognized as an emergency situation. [Effects of the Invention]

[0078] According to the posture estimation method of the present invention, it is possible to accurately estimate the user's lying-down posture.

[0079] According to the posture estimation method of the present invention, the user's lying posture can be estimated regardless of the placement or orientation of the mattress.

[0080] According to the posture estimation method of the present invention, even if a user lies down freely without recognizing the direction in which they should lie down, their lying posture can be accurately estimated.

[0081] The thermal massage mattress of the present invention is capable of providing massage in accordance with the user's lying-down position.

[0082] The thermal massage mattress of the present invention can understand the user's sleep patterns and create the optimal sleep environment.

[0083] The thermal massage mattress of the present invention can prevent pressure ulcers by measuring and continuously monitoring the user's lying posture and changing the user's posture using ceramics.

[0084] In conjunction with the effects described above, the specific effects of the present invention will be described below, along with a detailed explanation of the specific matters for carrying out the invention. [Brief explanation of the drawing]

[0085] [Figure 1]This figure shows a user lying down on the mattress according to the present invention. [Figure 2] Figure 1 is a graph showing the body pressure distribution measured by pressure sensors arranged in a two-dimensional matrix when the user is lying down. [Figure 3] This graph shows the body pressure distribution divided into multiple intervals based on the body pressure distribution measured by a pressure sensor. [Figure 4] This graph shows the pressure distribution of a user lying in various positions, divided into multiple sections, with (a) representing lying on one's side, (b) representing lying on one's back, and (c) representing lying face down. [Figure 5] This is a sequence diagram of the posture estimation method according to the embodiment. [Figure 6] This is a perspective view showing one embodiment of a thermal ceramic applied to a mattress of the present invention and a guide rail that guides it. [Figure 7] Figure 6 is a plan view of the heated ceramic. [Figure 8] This is a plan view showing the arithmetic control unit aligning the heated ceramics shown in Figure 7 to correspond to the user's lying-down posture. [Figure 9] Figure 8 is a side view of the heated ceramic. [Figure 10] Figure 6 is a perspective view showing a magnified view of the heated ceramics with the guide rails omitted. [Figure 11] This is a side view of Figure 10. [Figure 12] Figure 11 is a side view showing the elevator in its raised position. [Modes for carrying out the invention]

[0086] Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0087] The present invention is not limited to the embodiments disclosed below and may be embodied in various different forms with various modifications. These embodiments are provided solely to complete the disclosure of the present invention and to fully inform those in the ordinary skill of the scope of the invention. Accordingly, the present invention should be understood to include all modifications, equivalents, or substitutes that fall within the technical spirit and scope of the invention, as well as the substitution or addition of the configurations of one embodiment to the configurations of another embodiment.

[0088] The accompanying drawings are intended solely to facilitate understanding of the embodiments disclosed herein and should not be understood as limiting the technical ideas disclosed herein, but rather as including all modifications, equivalents, or substitutions that fall within the concept and technical scope of the present invention. In the drawings, components may be depicted as larger or smaller than they actually are for ease of understanding, but this should not be interpreted as restricting the scope of protection of the present invention.

[0089] The terms used herein are used solely to describe specific examples or embodiments and are not intended to limit the invention. Furthermore, singular expressions include plural expressions unless otherwise specified in the context. In the specification, terms such as "includes" and "contains" are intended to indicate the existence of features, figures, steps, operations, components, parts, or combinations thereof described in the specification. That is, in the specification, terms such as "includes" and "contains" should not be understood to preemptively exclude the possibility of the existence or addition of one or more other features, figures, steps, operations, components, parts, or combinations thereof.

[0090] Terms including ordinal numbers, such as "first," "second," etc., can be used to describe a variety of components, and such components are not limited by these terms. These terms are used solely for the purpose of distinguishing one component from another. Therefore, unless otherwise stated, the first component may also be the second component.

[0091] When it is stated that one component is “connected” or “in contact” with another component, it should be understood that it may be directly connected to or in contact with the other component, but there may also be other components in between. On the other hand, when it is stated that one component is “directly connected” or “directly in contact” with another component, it should be understood that there are no other components in between.

[0092] When one component is described as being "above" or "below" another, it should be understood that this refers not only to the component directly above it, but also to other components that may be located in between.

[0093] Unless otherwise specified, all terms used herein, including technical or scientific terms, have the same meaning as those generally understood by a person of ordinary skill in the art to which this invention pertains. Terms as defined in commonly used dictionaries should be interpreted as having the meaning consistent with their meaning in the context of the relevant art, and not as ideal or overly formal unless expressly defined herein.

[0094] Throughout the specification, "A and / or B" means A, B, or A and B unless otherwise specified, and "C to D" means C or above and D or below unless otherwise specified.

[0095] [Pose estimation method] The following describes an embodiment of the present invention for estimating a user's lying-down posture, with reference to Figures 1 to 5.

[0096] The posture estimation method of the embodiment may be applied to a thermal massage mattress 10. The mattress 10 provides a rectangular flat base on which the user U can lie down for an extended period. The mattress 10 may be fixed, or in various forms such as a holding / unfolding system or a roll / unroll system, and the present invention does not limit the deployment method of the mattress 10.

[0097] The mattress 10 may have multiple pressure sensors 11 built into it in a two-dimensional matrix grid configuration. This allows each pressure sensor 11 to measure the body pressure acting on the corresponding area while the user is lying on the mattress 10, and to provide this information to the calculation and control unit 60 as an electrical signal.

[0098] The pressure sensor 11 may be a pressure sensor that is so flexible that the user U cannot determine its position even when lying down.

[0099] The calculation control unit 60 can analyze the body pressure distribution measured by the pressure sensor 11 to determine the user's longitudinal direction (height direction, back direction, first direction) and transverse direction (left-right direction, second direction). For example, the longitudinal direction should correspond to the direction in which the user's head and spine extend.

[0100] Referring to Figure 2, even if the user is lying slightly to the side, the calculation control unit 60 can analyze the user's body pressure distribution and accurately determine the longitudinal and transverse directions. It is self-evident that the above analysis and determination can be performed even if the user is lying with their head and feet facing opposite directions.

[0101] Referring to Figure 3, the calculation control unit 60 can analyze the body pressure distribution measured from the pressure sensor 11 and divide it into a plurality of sections connected in series along the first direction.

[0102] One embodiment illustrates dividing the section into five sections. These five sections may be a first section L1 including the head, a second section L2 including the shoulders, chest, and back, a third section L3 including the abdomen, waist, and lumbar spine, a fourth section L4 including the buttocks and thighs, and a fifth section L5 including the calves.

[0103] However, the location of each section should not be limited to this. For example, the fourth section may include only the buttocks, and the fifth section may include not only the calf but also the foot.

[0104] The partitioning of the aforementioned interval may be performed by a learned algorithm. However, if partitioning is not possible by the learned algorithm, it may be performed according to a specified predetermined body proportion.

[0105] For example, the designation of the body proportions may be based on the "Korean Human Body Standard Information" database implemented by the National Institute of Technology and Standards of the Ministry of Trade, Industry and Energy of Korea. Specifically, referring to the database from the "8th Human Body Measurement Survey Project," after recognizing the user's height, using a man in his 30s as a reference, the proportions may be set as follows, from top to bottom, i.e., from head to toe: 1st section 15%, 2nd section 16%, 3rd section 12.7%, 4th section 28.8%, and 5th section 27.5%.

[0106] The first section may be from the uppermost point where the body is recognized to the back of the neck, the second section from the back of the neck to below the breasts, the third section from below the breasts to the waist, the fourth section from the waist to the middle of the kneecap, and the fifth section may be from the middle of the kneecap to the lowest point where the body is recognized.

[0107] Referring to Figure 4, the characteristics of the pressure distribution in each section can be clearly distinguished depending on the user's lying position. For reference, (a) shows the side-lying position, (b) shows the supine position, and (c) shows the prone position.

[0108] In the first section L1, it can be confirmed that a single pressure-acting region exists in the center in the shorter direction under all circumstances. The calculation control unit 60 can grasp the characteristics of this pressure-acting region and quickly determine the position of the head, using it as a reference.

[0109] In the second interval L2, the difference between the side-lying position (a) and the other positions (b, c) is clearly distinguishable. That is, in the side-lying position (a), unlike the other positions, the pressure area corresponding to the shoulder is asymmetrical, and it is clear that the pressure values ​​are also asymmetrical.

[0110] In the third section L3, the supine position (b) is clearly distinguishable from the other positions (a, c). Specifically, unlike the other positions, the supine position (b) has a small pressure value corresponding to the lumbar spine, and the pressure area is also very small.

[0111] When examining the fourth section L4, the highest pressure point is located on the buttocks in the side-lying position (a) and the supine position (b), whereas this is not the case in the prone position (c).

[0112] Upon re-examining the fourth section L4, we find that the supine position (b) and prone position (c) have symmetrical pressure application regions and pressure values, whereas the side-lying position (a) does not.

[0113] Upon re-examining the fourth section L4, we find that in the supine position (b), the width of the pressure area in the lateral direction is even greater than its length in the longitudinal direction, whereas in the prone position (c), the length of the pressure area in the longitudinal direction is even greater than its width in the lateral direction.

[0114] When examining the fifth interval L5, the supine position (b) shows symmetry in pressure values ​​and pressure application area, and the longitudinal length of the pressure application area is even longer than its width in the lateral direction, whereas the other positions (a, c) do not have any of these characteristics.

[0115] Thus, in order to clearly extract the features that distinguish a particular posture from other postures and to improve the reliability of the posture estimation results, the posture estimation method of this embodiment involves the calculation control unit 60 extracting the pressure value (force), pressure application area (area), peak pressure position, and mean pressure as variables in proportion to the pressure information of the measured two-dimensional matrix.

[0116] Therefore, it is possible to accurately determine the user's lying-down posture in each section based on the characteristics of the extracted variables.

[0117] Extracting as a percentage can be understood as applying the counterpart value of the numerical value, rather than the absolute value of the numerical value. For example, the pressure values ​​at each point in a 2D matrix of pressure information measured from a person weighing 50 kg may generally be lower than the pressure values ​​at each point in a 2D matrix of pressure information measured from a person weighing 80 kg. When estimating posture based on absolute values ​​of numerical values ​​that differ from person to person in this way, there is room for errors in the estimation process.

[0118] On the other hand, by extracting variables as percentages, it is possible to derive standardized variables regardless of differences in people's weight and body type. For example, dividing the pressure information of a 2D matrix measured from a person weighing 50 kg by 50 represents a predetermined percentage, and dividing the pressure information of a 2D matrix measured from a person weighing 80 kg by 80 also represents a predetermined percentage. By extracting the variables of these two individuals as percentages in this way, posture can be estimated from standardized variables regardless of the user's body type or weight, thereby increasing the reliability of the posture estimation results.

[0119] The algorithm for estimating posture from such extracted variables, as shown in Figure 3, performs sequential analysis for each section in a first direction from head to toe (first scan direction), and may also perform supplementary analysis in a second direction corresponding to the short arm direction (second scan direction).

[0120] As will be explained later, this scanning direction is the one that allows the posture estimation algorithm to be implemented most quickly and accurately. With this, the side-lying position can be identified most quickly, and along with this, the supine and prone positions can be identified sequentially quickly.

[0121] This is because the estimation intervals for each posture are positioned close to the head, and if the estimation criteria are met within the estimation interval for each posture, other analyses can be skipped, and it becomes possible to immediately check whether the validation criteria are also met within the validation interval.

[0122] The calculation control unit 60 extracts the body pressure distribution data measured by the pressure sensor 11 as the variables described above, and estimates the posture using the algorithm shown in Figure 5.

[0123] First, it is determined whether body pressure is recognized in the first interval L1 (S01). If head pressure is recognized, it can be said that there are no problems with the extracted variables, and the process proceeds to the next step (S02). On the other hand, if body pressure is not recognized, it cannot be ruled out that there may be an error in the extracted variables, so the process is reset and the algorithm terminates.

[0124] Next, it is determined whether the pressure value and the pressure application area are symmetrical in the second interval L2 (S02). The second interval L2 is an interval that includes the shoulder, and may be an estimation interval for a side-lying position.

[0125] If the variables extracted in the second interval L2 are asymmetrical, this provides grounds for inferring that the sleeping position is on one's side. In other words, the criterion for inferring a sleeping position on one's side is that the pressure characteristics in the second interval L2 are asymmetrical.

[0126] If the body pressure characteristics in the estimated interval for the side-lying position conform to the estimation criteria, verification is performed (S03). The verification is performed by determining whether the highest pressure position is located in the fourth interval L4, which includes the buttocks. That is, the verification interval for the side-lying position is the fourth interval L4, and the verification criterion for the side-lying position is that the highest pressure position is located in the interval corresponding to the buttocks.

[0127] If the aforementioned verification criteria are met, the algorithm determines that user U's lying position is a side-lying position and terminates the algorithm.

[0128] On the other hand, if the aforementioned verification criteria are not met, data errors cannot be eliminated, and the algorithm is reset and terminated.

[0129] On the other hand, if the variables extracted in the second interval L2 are symmetrical, it may be determined that this is not a side-lying position, and the next step (S04) proceeds.

[0130] Step (S04) determines whether body pressure is detected in the third interval L3, or whether the body pressure is below a predetermined value. If no body pressure is detected or only slight pressure is detected in the lumbar spine, this provides grounds for estimating that the posture is supine. In other words, the third interval L3 may be an estimation interval for the supine posture, and the presence or absence of body pressure may be a criterion for estimating the supine posture.

[0131] If the body pressure characteristics in the estimated section for the supine position conform to the estimation criteria, verification is performed (S05). The verification step includes a procedure to confirm whether the body pressure distribution in the fifth section L5 is symmetrical and whether its length is greater than the width of the pressure area.

[0132] In other words, the fifth section L5 may be a verification section in a supine position, and the symmetrical and longitudinally extended pressure application area of ​​the body pressure distribution may be the verification criterion.

[0133] If the aforementioned pressure distribution conforms to the verification criteria, an additional verification (S06) is performed. The additional verification is performed by determining whether the highest pressure position is located in the fourth section L4, which includes the buttocks, within the section corresponding to the buttocks. That is, the additional verification section for the supine position is the fourth section L4, and the additional verification criterion for the supine position is that the highest pressure position is located in the section corresponding to the buttocks.

[0134] If the aforementioned additional verification criteria are met, the algorithm determines that user U's lying position is actually a supine position and terminates the algorithm.

[0135] On the other hand, if the verification criteria are not met (S05), the next step (S07) to examine the pressure distribution characteristics of the fourth interval L4 is performed. If the additional verification criteria are not met (S06), the data error cannot be eliminated, so the system is reset and the algorithm terminates.

[0136] If the pressure distribution in the fourth interval L4 is symmetrical and the length of the pressure area is greater than the width, it is estimated that the posture is prone (S07). In other words, the fourth interval L4 is the estimated interval for the prone posture, and the fact that it is symmetrical and the length of the pressure area is greater than the width serves as the estimation criterion for the prone posture.

[0137] If it is determined in step (S07) that the patient is in a prone position, the verification step (S08) is carried out. This involves confirming whether the highest pressure position is not located in the fourth section L4, specifically in the section containing the buttocks. In other words, the fourth section L4 becomes the verification section for the prone position, and the absence of a highest pressure position becomes the verification criterion.

[0138] If no maximum pressure position exists in the section including the buttocks in the aforementioned step (S08), the algorithm determines that the user U's lying position is a prone position and terminates the algorithm.

[0139] On the other hand, if the verification criteria are not met in step (S08), the data errors cannot be eliminated, so the algorithm is reset and terminated.

[0140] On the other hand, if the body is not estimated to be in a prone position in step (S07), that is, if the body pressure distribution is symmetrical but the width of the pressure area is greater than the length, then it is estimated to be in a supine position. In other words, the fourth interval L4 becomes the estimation interval for a supine position, and the symmetrical distribution with a width of the pressure area greater than the length becomes the estimation criterion for a supine position.

[0141] If the posture is estimated to be supine in step (S07), the verification step (S06) is performed. This is done by determining whether the highest pressure position in the fourth section L4, which includes the buttocks, is located in the section corresponding to the buttocks. If the highest pressure position in the fourth section L4 is located in the section corresponding to the buttocks, the algorithm determines that the user U's lying posture is supine and terminates the algorithm.

[0142] On the other hand, if this is not the case, data errors cannot be eliminated, so the system is reset and the algorithm terminates.

[0143] The posture estimation algorithm discussed above provides a very clear and reliable basis for estimation at each step. Furthermore, each step can be designed to quickly and accurately determine the posture of a person lying down.

[0144] [Thermal Massage Mattress] The following describes in detail the thermal massage mattress to which the posture estimation method described above is applied, with reference to Figures 6 to 12.

[0145] A predetermined installation space is provided below the surface of the mattress 10 shown in Figure 1, where the massage device 20 shown in Figure 6 is installed.

[0146] The massage device 20 includes a thermal massage ceramic 50 that applies heat and pressure to the user U while contacting the body parts of the user U that are in contact with the mattress 10 on which the user U is lying, a drive device 30 that moves the thermal massage ceramic 50, and a calculation control unit 60 that controls the drive device 30.

[0147] Referring to Figures 7 and 8, the calculation control unit 60 can align the X-axis direction of the massage device 20 to correspond to a first direction of the body pressure distribution measured and analyzed from the pressure sensor 11. One embodiment illustrates a method of aligning the X-axis direction with the first direction by moving at least one of the two ends of the massage device 20 in the X-axis direction in the Y-axis direction, which intersects with the X-axis.

[0148] The thermal massage ceramic 50 is capable of reciprocating movement in the X-axis direction. The X-axis can extend parallel to the mattress 10. The thermal massage ceramic 50 can move up and down in the Z-axis direction intersecting the mattress 10. The Z-axis can be perpendicular to the plane containing the mattress 10.

[0149] The drive unit 30 includes a lifting unit 40 that moves the thermal massage ceramic 50 in the Z-axis direction and the opposite direction, and a traveling unit 31 that moves the thermal massage ceramic 50 in the X-axis direction and the opposite direction.

[0150] The traveling section 31 includes a pair of guide rails 33 that extend in the X-axis direction and are spaced apart in the Y-axis direction which is perpendicular to both the Z-axis and X-axis directions, and a traveling body 35 that travels along the guide rails 33 in the X-axis direction and the opposite direction.

[0151] The guide rails 33 may be spaced apart in the Y-axis direction, for example, on either side of the human spine. The Y-axis direction may also be the left-right direction. The guide rails 33 do not need to extend straight in the X-axis direction. For example, the guide rails 33 may have a curve to a degree that substantially corresponds to the direction of extension of the human spine.

[0152] The traveling body 35 may include wheels 36 spaced apart in the X-axis direction and whose movement is guided by the guide rails 33. That is, four wheels 36 may be provided, spaced apart in the X-axis direction from both ends of the traveling body 35 in the Y-axis direction.

[0153] A thermal massage ceramic 50 is installed in the lifting section 40. The lifting section 40 is installed on the traveling body 35 so that the thermal massage ceramic 50 can move relative to the traveling body 35 in the Z-axis direction and the opposite direction.

[0154] The lifting section 40 includes a lifting body 41 that rotates with respect to a lifting center R1 extending in the Y-axis direction from the caudal end of the traveling body 35 in the X-axis direction. When the lifting body 41 rotates with respect to the lifting center R1, the other end of the lifting body 41 in the X-axis direction either rises substantially in the Z-axis direction, as shown in Figure 12, or descends in the opposite direction, as shown in Figure 11.

[0155] A pivot arm 51 is provided at the end of the lifting body 41 on the cranial side in the X-axis direction, pivoting with respect to a pivot center R2 extending in the Y-axis direction. The pivot arm 51 extends from the pivot center R2 in the X-axis direction and also in the opposite direction. The pivot arm 51 may extend from the pivot center R2 in a "V" shape.

[0156] A pair of ceramic pieces 50 are provided at both ends of the pivot arm 51 in the X-axis direction, and are rotatably mounted with respect to a rotation center R3 extending in the Y-axis direction. The virtual axis of the rotation center R3 may pass through each of the ceramic pieces 50.

[0157] The rotation center R3 of the first ceramic, which is installed at the tail end of the pivot arm 51 in the X-axis direction, is positioned between the pivot center R2 and the lifting center R1 in the X-axis direction. The pivot center R2 is positioned between the lifting center R1 and the rotation center R3 of the second ceramic, which is installed at the skull end of the pivot arm 51 in the X-axis direction.

[0158] The ceramic material may also be a heating element with a heating element built inside.

[0159] The travel motion of the travel body 35 and the lifting motion of the lifting unit 40 may be controlled by the calculation control unit 60. That is, the calculation control unit 60 may move the thermal massage ceramic 50 in the Z-axis direction and the opposite direction, and in the X-axis direction and the opposite direction, by controlling the drive device 30.

[0160] The embodiment illustrates a structure in which the lifting body 41 is rotated relative to the lifting center R1 of the other end in the X-axis direction to move the thermal massage ceramic 50 in the Z-axis direction and the opposite direction, thereby raising and lowering one end of the lifting body 41 in the X-axis direction. However, it is also possible to move the thermal massage ceramic 50 in the Z-axis direction and the opposite direction by rotating the lifting body 41 relative to the lifting center R1 of the one end in the X-axis direction, thereby raising and lowering the other end of the lifting body 41 in the X-axis direction. In addition, it is of course possible to slide the lifting body 41 relative to the traveling body 35 in the Z-axis direction and the opposite direction, thereby moving the thermal massage ceramic 50 in the Z-axis direction and the opposite direction.

[0161] The calculation control unit 60 can extract not only the extraction variables described above, but also physical information such as the user's body pressure distribution, height, and weight from the pressure information sensed through the pressure sensor 11. The calculation control unit 60 can also use this to classify or identify the user.

[0162] The calculation control unit 60 can analyze changes in the user's sleep behavior by examining the changes in pressure information measured from the pressure sensor 11 over time. These changes in sleep behavior may include the user turning over in their sleep or changing their lying position.

[0163] The calculation control unit 60 can also extract biological signals (such as heart rate and respiratory rate) through changes in pressure measured from the user's pressure sensor.

[0164] The arithmetic control unit 60 can learn the sleep patterns of user U through the data analysis described above.

[0165] The calculation control unit 60 can analyze the user U's four-step sleep state through the data analysis and sleep pattern learning described above.

[0166] Although sleep can be divided into several stages, it can be broadly divided into REM (rapid eye movement) sleep, in which the eyeballs move rapidly, and non-REM (non-rapid eye movement) sleep, in which the eyeballs do not move rapidly.

[0167] REM sleep, characterized by rapid eye movements, is a type of sleep where dreams occur, and is also characterized by irregular heartbeats and breathing. Neuroscientists claim that memories are stored during this REM sleep period.

[0168] Non-REM (NREM) sleep is further classified into four steps, ranging from light sleep (step 1) to deep sleep (step 4), depending on the depth of sleep. Sleep progresses from steps 1-2 to steps 3-4, transitioning into REM sleep. This process is repeated 3-5 times throughout the night.

[0169] There is still much debate about whether REM or NREM sleep is deeper, but in fetuses, all sleep is REM. Generally, in adults, more than half of sleep consists of light NREM sleep, with deep sleep accounting for less than 15% and REM sleep for about 25%.

[0170] The sleep patterns analyzed in this way can be provided to the user in the form of a report.

[0171] Furthermore, by analyzing the changes in body pressure described above, it is possible to analyze information related to sleep disorders such as snoring and sleep apnea, and this information can also be provided in a report.

[0172] The calculation control unit 60 can perform optimal sleep or temperature control to prevent low-temperature burns in response to the analyzed changes in sleep behavior.

[0173] The mattress 10 further includes a temperature sensor for sensing the user's body temperature. The temperature sensor may be provided in an integrated form with the flexible pressure sensor 11 described above, or in the form of a separate layer laminated on the flexible pressure sensor 11.

[0174] The calculation control unit 60 can perform localized temperature control of a predetermined position on the mattress 10 through the heating function of the ceramic 50.

[0175] Furthermore, the calculation control unit 60 can control the temperature of a predetermined area of ​​the mattress 10 by periodically moving the heated ceramic. It is obvious that, according to this principle, temperature control of the entire mattress 10 is also possible.

[0176] The calculation control unit 60 may recommend a massage mode based on the user and the user's posture identified through body pressure distribution analysis and physical information such as weight and height.

[0177] The calculation control unit 60 can recommend or provide the optimal massage mode that matches the body pressure distribution of the user.

[0178] Here, the aforementioned pressure distribution may be a pressure distribution related to the spine.

[0179] In this case, the recommended massage mode may be a massage mode for the spine.

[0180] Here, the massage mode may be determined based on the body pressure distribution.

[0181] The calculation control unit 60 learns the preferred mode of a user with a similar body pressure distribution using an artificial intelligence algorithm.

[0182] The calculation control unit 60 can provide the massage modes that have been learned in this manner.

[0183] The calculation control unit 60 can provide a mode that intensively massages the optimal specific area in response to the pressure distribution of the body due to the identified user and their sleeping posture.

[0184] The calculation control unit 60 can set and provide a safety mode that is activated in the supine position, prone position, or side-lying position, corresponding to the position in which the user is lying.

[0185] The calculation control unit 60 can automatically set the position of the massage ceramic 50 based on the user U and the posture of the user, which are identified through body pressure distribution analysis and physical information such as weight and height.

[0186] The calculation control unit 60 can set the start time for the ceramic massage 50 based on the extracted user body pressure distribution and move the ceramic 50 to the corresponding position.

[0187] The calculation control unit 60 can set the movement trajectory of the ceramic based on the extracted user's body pressure distribution.

[0188] The flexible pressure sensor 11 of the mattress 10 can function as an interface for receiving user input signals. The input signals can be received through the pressure sensor in a manner in which the pressure sensor senses the user's touch pressure. For example, if the pressure sensor 11 detects two consecutive touches from user U, the calculation control unit 60 can start or interrupt the massage operation of the ceramic 50. For example, if the pressure sensor 11 detects irregular consecutive touches from user U, the calculation control unit 60 can recognize this as an emergency situation and immediately interrupt the massage operation of the ceramic 50.

[0189] Furthermore, the calculation control unit 60 continuously monitors pressure information that changes over time. If the calculation control unit 60 confirms during monitoring that a pressure exceeding a predetermined value is continuously acting on a predetermined area, it can use the massage ceramic 50 to change the posture of the user U. This makes it possible to prevent pressure ulcers.

[0190] The embodiments described above should be understood to be illustrative and not restrictive in all respects, and the scope of the present invention is indicated more by the claims described below than by the detailed description above. The meaning and scope of the claims described below, as well as all modifiable forms derived from their equivalent concepts, should be interpreted as being included within the scope of the present invention.

[0191] As described above, the present invention has been explained with reference to the illustrated drawings, but it is obvious that the present invention is not limited by the embodiments and drawings disclosed herein, and that various modifications may be made by an ordinary person within the scope of the technical concept of the present invention. Furthermore, even if the effects of the configuration of the present invention are not explicitly described while describing embodiments of the present invention above, it is natural that the effects that can be predicted by the relevant configuration should also be recognized. [Explanation of Symbols]

[0192] 10 Massage Mattresses 11. Pressure sensor 20 Massage devices 30 Drive unit 31 Running section 33 Guide rails 35 Driving Body 36 wheels 40 Lifting section 41 Lifting mechanism R1 Lifting center 50 Heat Massage Ceramics 51 Pivot Arm R2 Pivot Center R3 Rotation center 60. Arithmetic Control Unit U User L1 First section (initial section) L2 Second segment (shoulder / chest segment) L3 Third section (abdomen / waist section) L4 Fourth section (buttocks / thighs section) L5 Fifth section (calf / foot section)

Claims

1. A measurement step that measures the pressure at each position through multiple pressure sensors arranged in a two-dimensional matrix, A body pressure characteristic extraction step in which pressure position and pressure intensity are extracted as variables from the pressure information of the measured two-dimensional matrix, The posture estimation algorithm includes a posture estimation step that estimates the lying posture from extracted variables, The posture estimation algorithm divides the two-dimensional matrix into multiple sections along the longitudinal (back) direction of the human body based on the body pressure characteristics, The aforementioned lying positions are classified into supine, prone, and side-lying positions. A posture estimation method wherein the analysis of at least one of the plurality of intervals includes, in the posture estimation algorithm, analyzing the body pressure characteristics of at least one interval in the short direction.

2. The posture estimation method according to claim 1, wherein the variable includes at least one of the following: pressure value (force), pressure acting area (area), peak pressure position, and area average pressure (mean pressure).

3. The posture estimation method according to claim 1, wherein the aforementioned variables are extracted as proportions.

4. The posture estimation method according to claim 1, wherein the plurality of segments include a first segment corresponding to the head, a second segment corresponding to the shoulders, chest and back, a third segment corresponding to the abdomen and lumbar spine, a fourth segment corresponding to the buttocks and thighs, and a fifth segment corresponding to the calves and feet.

5. The posture estimation method according to claim 1, wherein the posture estimation algorithm determines whether the body pressure characteristics in a predetermined section conform to predetermined judgment criteria and estimates the lying posture.

6. The posture estimation method according to claim 5, wherein the posture estimation algorithm sequentially analyzes each section in the direction from head to toe, and supplementarily performs analysis in the direction of the shorter arm.

7. The aforementioned criteria for judgment are: Whether the pressure application area is symmetrical in a given section, Whether the highest pressure position is located within a predetermined section, Whether the width of the pressure-acting region in a given section is greater than its length, and The posture estimation method according to claim 5, comprising at least one of the following: whether or not a pressure value is recognized as being equal to or greater than a reference value in a predetermined section.

8. The aforementioned posture estimation algorithm is: The posture estimation method according to claim 1, which determines the lying posture by confirming whether the body pressure characteristics conform to the estimation criteria in the estimation interval and conform to the verification criteria in the verification interval.

9. The aforementioned estimated interval includes at least one of the following: the interval including the shoulder, the interval including the lumbar spine, and the interval including the buttocks and thigh. The posture estimation method according to claim 8, wherein the verification section includes at least one of the following: a section including the buttocks, a section including the buttocks and thighs, and a section including the calf.

10. The aforementioned posture estimation algorithm is: The posture estimation method according to claim 1, wherein if the body pressure characteristics correspond to the estimation criteria for a side-lying posture in the section including the shoulders and to the verification criteria for a side-lying posture in the section including the buttocks, the user's posture is identified as a side-lying posture.

11. The aforementioned estimation criteria include the fact that the pressure acting region is asymmetrical in the relevant section. The attitude estimation method according to claim 9, wherein the verification criterion includes the fact that the highest pressure position is located in the relevant section.

12. The aforementioned posture estimation algorithm is: The posture estimation method according to claim 1, wherein if the body pressure characteristics conform to the estimation criteria for a supine posture in the section including the lumbar spine and conform to the first verification criteria in the section including the calves, the user's posture is identified as a supine posture.

13. The aforementioned estimation criteria include whether or not the pressure value is recognized as being below a reference value in the relevant section. The posture estimation method according to claim 12, wherein the first verification criterion includes at least one of the following: the pressure acting region is symmetrical in the relevant section, and the length of the pressure acting region is greater than the width.

14. The aforementioned posture estimation algorithm is: Furthermore, if the body pressure characteristics in the section including the buttocks conform to the second verification criterion for a supine position, the user's posture is identified as a supine position. The attitude estimation method according to claim 13, wherein the second verification criterion includes the fact that the highest pressure position is located in the relevant section.

15. The aforementioned posture estimation algorithm is: The posture estimation method according to claim 1, wherein if the body pressure characteristics conform to the estimation criteria for a supine posture in the section including the buttocks and thighs, and conform to the verification criteria for a supine posture in the section including the buttocks and thighs, the user's posture is identified as a supine posture.

16. The aforementioned estimation criteria include the fact that the pressure-acting region is symmetrical in the relevant section, and that the width of the pressure-acting region is greater than its length. The attitude estimation method according to claim 15, wherein the verification criterion includes the fact that the highest pressure position is located in the relevant section.

17. The aforementioned posture estimation algorithm is: The posture estimation method according to claim 1, wherein if the body pressure characteristics conform to the estimation criteria for a prone position in the section including the buttocks and thighs, and conform to the verification criteria for a prone position in the section including the buttocks, the user's posture is identified as a prone position.

18. The aforementioned estimation criteria include the fact that the pressure-acting region is symmetrical in the relevant section, and that the length of the pressure-acting region is greater than its width. The attitude estimation method according to claim 17, wherein the verification criterion includes the fact that the highest pressure position does not exist in the relevant section.

19. A massage mattress in which a posture estimation method according to any one of claims 1 to 18 is performed, The aforementioned mattress, Multiple pressure sensors arranged in a two-dimensional matrix, A calculation and control unit that extracts body pressure characteristics from pressure information measured from the pressure sensor and estimates the user's posture, A massage mattress comprising a massage ceramic that is movable in a direction parallel to the two-dimensional matrix and movable in a direction intersecting the two-dimensional matrix.

20. The massage ceramic includes a heating function, as described in claim 19.

21. The massage mattress according to claim 20, wherein the calculation control unit analyzes changes in the user's sleep behavior from pressure information that changes over time.

22. The massage mattress according to claim 21, wherein the calculation control unit performs temperature control for optimal sleep or to prevent low-temperature burns in response to the analyzed changes in sleep behavior.

23. The massage mattress according to claim 20, wherein the calculation control unit identifies the user from pressure information measured from the pressure sensor.

24. The massage mattress according to claim 23, wherein the calculation control unit recommends a massage mode based on a specified user and the specified user's posture, and automatically sets the position of the massage ceramic.

25. The massage mattress according to claim 19, wherein the calculation control unit, based on pressure information that changes over time, determines that a region is continuously subjected to a pressure exceeding a predetermined value, and moves the massage ceramic to change the body's position to prevent pressure ulcers.

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