Pillow

Abstract

The utility model provides a pillow, in particular to a pillow capable of judging the sleeping posture of a human body and adjusting the height according to the sleeping posture. The pillow comprises a lower pillow surface, an upper pillow surface and a lifting mechanism arranged between the upper pillow surface and the lower pillow surface. Comprising a distance sensor array, the distance sensor array is arranged on the side, away from the human body, of the pillow, and the detection direction of the distance sensor array faces the feet of the human body from the head of the human body; the distance sensor array comprises at least two distance sensors, and the distance sensors can measure the distance from a target area to the distance sensors; comprising a sleeping posture judgment module, and the sleeping posture judgment module can receive a plurality of distance values transmitted by a distance sensor array, can recognize the position of the head and / or the shoulder according to the plurality of distance values, and can judge the sleeping posture according to the position of the head and / or the shoulder; comprising a lifting mechanism control module which can control a lifting mechanism to move according to sleeping posture information so as to change the height of the pillow and / or the angle of the upper pillow face.

Description

Technical Field

[0001] The invention relates to a pillow, in particular to a pillow capable of adjusting the height according to sleeping posture. Background Art

[0002] Pillows are essential bedding for people to sleep. The distance between the head and the bed is different when people sleep in different positions, and the spine is curved, so pillows that can adjust the height according to different sleeping positions and mattresses that adjust the shape of the bed surface can improve the comfort of people when sleeping. Patent application 2018102474674 discloses a bedding that can measure the sleeping position of the human body and adjust the shape / height of the bedding according to the sleeping position, and can judge four sleeping positions of people. This technical solution adopts a three-dimensional human body measurement system, and the system cost is relatively high. Patent CN214803927U discloses a pillow that automatically adjusts the height, using a photoelectric sensor arranged at the side of the bed, and the photoelectric sensor is set in the height difference area generated by the side lying of the human body and the supine lying of the human body. This solution cannot determine whether a person is lying on the bed, and when obstacles, such as stacked quilts, enter the height difference area, misjudgment will occur. Summary of the invention

[0003] The invention provides a pillow capable of judging a human body's sleeping posture and a method for detecting the presence of a human body, movement during sleep and judging a sleeping posture.

[0004] The pillow of the present invention comprises a lower pillow surface and at least one upper pillow surface, and at least one lifting mechanism arranged between the upper and lower pillow surfaces. The pillow also comprises at least one power device, which can drive the lifting mechanism to lift and lower to drive the upper pillow surface to lift and / or tilt. The upper pillow surface can be rigid, flexible, or a composite of several materials.

[0005] The pillow of the present invention comprises at least one distance sensor array, which is arranged on the side of the pillow away from the human body, that is, the top of the head, and the detection range includes the top of the head, the shoulder, and the upper part of the human body. The measuring direction of the distance sensor is toward a certain area of ​​the human body, and can measure the distance from the human body area to the human body, and the human body area is the target area measured by the distance sensor. The detection direction of the distance sensor array is from the head of the person toward the feet of the person along the Y-axis direction; the distance sensor array comprises at least two distance sensors, and the distance sensors can measure the distance from the target area to the distance sensor; the distance sensor is arranged in the height range from the upper surface of the upper pillow surface to the height or width of the head when lying down; it comprises at least one sleeping posture judgment module, the sleeping posture judgment module can receive multiple distance values ​​transmitted by the distance sensor array, and the sleeping posture judgment module can identify the position of the head and / or shoulder according to the multiple distance values; the sleeping posture judgment module can judge the sleeping posture according to the position of the head and / or shoulder; it comprises at least one lifting mechanism control module, and the lifting mechanism control module can control the lifting mechanism to rise or fall according to the sleeping posture information transmitted by the sleeping posture judgment module and / or the control command of the control module to change the height of the pillow and / or the angle of the upper pillow surface.

[0006] The distance sensor array of the pillow of the present invention includes at least one first distance sensor and at least one second distance sensor. The first distance sensor is arranged in the height range from the upper surface of the pillow to the height and / or width of the head when lying down; the second distance sensor is arranged in the height range from the height or width of the head when lying down to the height of the shoulder when lying on the side. The sleeping posture judgment module receives multiple distance values ​​transmitted by the first distance sensor and the second distance sensor, and judges whether the head is in the detection area and / or the position of the head according to the distance value range detected by the first distance sensor, and judges whether the shoulder is in the detection area and / or the position of the shoulder according to the distance value range detected by the second distance sensor. The sleeping posture judgment module can judge the sleeping posture according to the position of the head and / or the position of the shoulder and / or the relative position of the head and the shoulder.

[0007] The distance sensor array of the pillow of the present invention can be arranged above the pillow and / or the bed surface and / or the shoulder. The detection direction of the distance sensor array is along the Z axis toward the human body / bed surface / upper pillow surface, that is, above the head. The detection range includes the head, the upper pillow surface and the upper part of the trunk, and also includes the bed surface and the quilt covering the human body. The distance sensor array includes at least one distance sensor, and at least one distance sensor is arranged above the shoulder to detect the distance from the shoulder to the distance sensor, and the distance can be converted into the height from the shoulder to the bed surface. The sleeping posture judgment module receives the transmitted distance value and judges whether the shoulder is within the detection area and / or the height from the shoulder to the bed surface according to the distance value range. The sleeping posture judgment module can judge the sleeping posture according to the height of the shoulder. When a person lies on his back / prone on the bed and when a person lies on his side, the height of the shoulder is different. The distance from the bed surface to the distance sensor when the person is not lying on the bed is measured in advance, and then the height range of the shoulder when the person lies on his back / prone on the bed and when the person lies on his side is measured and recorded and stored. When in use, the distance from the target area to the sensor is measured and converted into the height from the target area to the bed surface, and then the height range within which the height falls is used to determine whether the person is lying on his back / prone or side, or is not lying on the bed.

[0008] The distance sensor array of the pillow of the present invention is arranged above the pillow and / or the bed surface and / or the shoulder, and the detection direction of the distance sensor array is along the Z axis toward the human body / bed surface / upper pillow surface. The distance sensor array includes at least two distance sensors; at least one distance sensor is arranged above the shoulder to detect the distance from the shoulder to the distance sensor; at least one distance sensor is arranged above the upper pillow surface to detect the distance from the upper pillow surface / head to the distance sensor; the sleeping posture judgment module receives multiple distance values ​​transmitted by the distance sensor array, and judges whether the head is in the detection area and / or the position of the head according to the range of distance values ​​from the upper pillow surface / head to the distance sensor; and judges the position / posture of the shoulder according to the height of the shoulder. The sleeping posture judgment module judges the sleeping posture according to the position of the head and / or the position / posture of the shoulder and / or the positional relationship between the head and the shoulder.

[0009] The distance sensor array of the pillow of the present invention is arranged above / obliquely above the human body, and there is an angle between the detection direction of the distance sensor array and the bed surface that is greater than 0 degrees and less than 90 degrees, preferably 30 to 60 degrees; the distance sensor array includes at least one distance sensor. The sleeping posture judgment module receives the distance values ​​transmitted by the distance sensor array, and converts the distance values ​​measured by each distance sensor into the distance from the target area to the horizontal reference plane and / or the vertical reference plane; according to the distance from each target area to the horizontal reference plane and / or the vertical reference plane, it is determined whether the human body part corresponding to each target area is the head or shoulder or the pillow surface or the bed surface. The sleeping posture judgment module judges the sleeping posture according to the position of the head and / or the position / posture of the shoulder and / or the positional relationship between the head and the shoulder.

[0010] The distance sensor array of the pillow of the present invention is arranged above / obliquely above the human body; the distance sensor array includes at least three distance sensors, and the distance sensors are arranged on the distance sensor array in a spherical surface or a three-dimensional curved surface. The sleeping posture judgment module receives the distance values ​​transmitted by the distance sensor array; converts each distance value into the distance from the target area to the YZ reference plane and / or the ZX reference plane and / or the XY reference plane; determines the human body part corresponding to each target area according to the distance from each target area to each reference plane; and judges the sleeping posture according to the position of the head and / or the position of the shoulder and / or the position relationship between the head and the shoulder.

[0011] The distance sensor of the pillow of the present invention can be installed on a swing base, and the swing base can drive the distance sensor to swing around the X-axis and / or the Z-axis, scan the human body / pillow surface / bed surface / quilt covering the human body, measure the distance from the target area to the distance sensor, and record the angle between the center line of the distance sensor measurement direction and the X-axis, Y-axis, and Z-axis when the distance is measured. The distance information and angle information measured by the distance sensor can be transmitted to the sleeping posture judgment module. The sleeping posture judgment module calculates the distance value from the target area to the YZ reference plane and / or the ZX reference plane and / or the XY reference plane based on the distance and the angle; judges the human body part corresponding to the target area and the position of the human body part in the X-direction / Y-direction / Z-direction based on the distance value from the target area to the reference plane; and judges the sleeping posture based on the position of the head and / or the position / posture of the shoulders and / or the positional relationship between the head and shoulders.

[0012] The pillow of the present invention comprises at least one phased array radar and / or phased array ultrasonic radar, which are arranged above / obliquely above the pillow; the phased array radar and / or phased array ultrasonic radar can scan the human body / pillow surface / bed surface / quilt covering the human body, measure the distance to the target area, and record the angle between the beam centerline and the X-axis, Y-axis, and Z-axis when the distance is measured. The distance information and angle information measured by the phased array radar and / or phased array ultrasonic radar can be transmitted to the sleeping posture judgment module, which can calculate the distance from the target area to the YZ reference plane and / or the ZX reference plane and / or the XY reference plane according to the measured distance and angle; can judge the human body part corresponding to the target area and the position of the human body part in the X-direction / Y-direction / Z-direction according to the distance from the target area to the reference plane; can judge the sleeping posture according to the position of the head and / or the position of the shoulder and / or the position relationship between the head and the shoulder.

[0013] The pillow of the present invention comprises at least one distance sensor, which is arranged on a displacement mechanism. The displacement mechanism can drive the distance sensor to translate in an XZ or XY plane, scan a human body / pillow surface / bed surface / quilt covering the human body, measure the distance from a target area to the distance sensor, and record the position of the distance sensor in an X direction, a Z direction, and / or a Y direction, and the position in an X direction, a Z direction, or an X direction, when the distance is measured; the distance information and the position information can be transmitted to a sleeping posture judgment module; the sleeping posture judgment module judges the human body part corresponding to the target area and the position of the human body part in the X direction, a Z direction, and / or a Y direction according to the distance value to the target area; and judges the sleeping posture according to the position of the head and / or the position / posture of the shoulders and / or the positional relationship between the head and shoulders.

[0014] The distance sensor array or its supporting structure such as a bracket of the pillow of the present invention can be connected to the upper pillow surface or the lifting mechanism, and the distance sensor array can be lifted and lowered together with the upper pillow surface or the lifting mechanism. The distance sensor or its supporting structure such as a bracket / base can be connected to the upper pillow surface or the lifting mechanism, and the distance sensor can be lifted and lowered together with the upper pillow surface or the lifting mechanism. The phased array radar / phased array ultrasound or its supporting structure such as a support rod can be connected to the upper pillow surface or the lifting mechanism, and can be lifted and lowered together with the upper pillow surface or the lifting mechanism.

[0015] The pitches of the distance sensors in the distance sensor array in the X direction and / or the Z direction can be different, and the pitches of the distance sensors in different rows can be different.

[0016] The method for detecting movement of a human body during sleep of the present invention comprises a distance sensor array, wherein the distance sensor array comprises at least one distance sensor, and the distance sensor can measure the distance to a target area of ​​the human body; if a distance change value detected by any distance sensor in the distance sensor array exceeds a set distance threshold within a set time range, it is determined that the human body has moved.

[0017] The method for detecting the presence of a sleeping human body of the present invention comprises a distance sensor array, wherein the distance sensor array comprises at least one distance sensor, and the distance sensor can measure the distance to a target area of ​​the human body; if the distance from any target area to the distance sensor array or the XY reference plane and / or the XZ reference plane and / or the YZ reference plane is within the head distance range and / or the shoulder distance range, it is considered that the human body exists, that is, the person is lying on the bed / pillow.

[0018] When a person lies on his side, the first distance sensor can detect the presence of the head, and the second distance sensor can detect the presence of the shoulder. The sleeping posture judgment module can identify the positions of the head and the shoulder according to the positions of the first distance sensor and the second distance sensor, that is, the shoulder is higher than the head in the direction perpendicular to the bed surface. The sleeping posture judgment module can judge the sleeping posture as lying on the side according to the spatial position relationship between the head and the shoulder.

[0019] The method for judging sleeping posture of the present invention comprises at least one distance sensor array, wherein the distance sensor array is arranged on a side of a pillow away from a human body and along a Y-axis toward the human body, wherein the distance sensor array comprises at least two distance sensors, wherein the distance sensors are capable of measuring the distance from a target area to the sensor, and wherein the distance sensors are arranged within a height range from an upper surface of an upper pillow surface to a height or width of a head, and comprises the following steps: a, judging whether the distance value measured by the distance sensor is within a head distance range and / or a shoulder distance range, wherein if the distance value is within the head distance range, the position corresponding to the distance sensor is the position of the head, and if the distance value is within the shoulder distance range, the position corresponding to the distance sensor is the position of the shoulder; and b, judging the sleeping posture according to the position of the head and / or shoulder.

[0020] The method for judging sleeping posture of the present invention comprises at least one distance sensor array, wherein the distance sensor array is arranged on a side of a pillow away from a human body and along a Y-axis toward the human body, wherein the distance sensor array comprises at least one first distance sensor and at least one second distance sensor, wherein the first distance sensor is arranged within a height range from an upper surface of a pillow to a head height / or a width, and the second distance sensor is arranged within a height range from a head height or a width to a shoulder height, and comprises the following steps: a, judging whether the head is within a detection area and / or the position of the head according to a distance value range detected by the first distance sensor; b, judging whether the shoulder is within a detection area and / or the position of the shoulder according to a distance value range detected by the second distance sensor; and c, judging the sleeping posture according to the position of the head and / or the position / posture of the shoulder and / or the relative position of the head and the shoulder.

[0021] A method for judging sleeping posture, comprising at least one distance sensor array, wherein the distance sensor array is arranged above a pillow and / or a bed surface and / or a shoulder along a Z-axis toward a human body / bed surface / upper pillow surface, wherein the distance sensor array comprises at least one distance sensor, wherein at least one distance sensor is arranged above the shoulder to measure the distance from the shoulder to the distance sensor, and the method comprises the following steps: a, judging whether the shoulder is within a detection area and / or the height of the shoulder according to the distance value range; and b, judging the sleeping posture according to the height of the shoulder.

[0022] The method for judging sleeping posture of the present invention comprises at least one distance sensor array, wherein the distance sensor array is arranged above the pillow and / or the bed surface and / or the shoulder, and the detection direction of the distance sensor array is along the Z axis toward the human body / bed surface / upper pillow surface. The distance sensor array comprises at least one first distance sensor and at least one second distance sensor, wherein at least one first distance sensor is arranged above the upper pillow surface to detect the distance from the upper pillow surface / head to the distance sensor, and at least one second distance sensor is arranged above the shoulder to detect the distance from the shoulder to the distance sensor, and comprises the following steps: a, judging whether the head is within the detection area and / or the position of the head according to the numerical range of the distance from the upper pillow surface / head to the distance sensor; b, judging the position / posture of the shoulder according to the numerical value of the second distance sensor; and c, judging the sleeping posture according to the position of the head and / or the position / posture of the shoulder and / or the positional relationship between the head and the shoulder.

[0023] The method for judging sleeping posture of the present invention comprises at least one distance sensor array, wherein the distance sensor array is arranged above / obliquely above the human body, and there is an angle between the detection direction of the distance sensor array and the bed surface that is greater than 0 degrees and less than 90 degrees; the distance sensor array comprises at least one distance sensor, and comprises the following steps: a, each distance sensor measures the distance value to a target area; b, converting each distance value into the distance from the target area to a horizontal reference plane and / or a vertical reference plane; c, determining the human body part corresponding to each target area according to the distance from each target area to the horizontal reference plane and / or the vertical reference plane; d, judging the sleeping posture according to the position of the head and / or the position / posture of the shoulders and / or the positional relationship between the head and shoulders.

[0024] The method for judging sleeping posture of the present invention comprises at least one distance sensor array, which is arranged above / obliquely above the human body, and the distance sensor array comprises at least three distance sensors, and the distance sensors are distributed on the distance sensor array in a spherical or three-dimensional curved surface, and comprises the following steps: a, each distance sensor measures a distance value to a target area; b, each distance value is converted into a distance from the target area to a YZ reference plane and / or a ZX reference plane and / or an XY reference plane; c, according to the distance from each target area to each reference plane, the human body part corresponding to each target area is determined; d, the sleeping posture can be judged according to the position of the head and / or the position / posture of the shoulders and / or the positional relationship between the head and shoulders.

[0025] The method for judging sleeping posture of the present invention includes at least one distance sensor, which is arranged above / diagonally above the pillow, and is installed on a swing base or a swing substrate. The swing base can drive the distance sensor to swing around the X-axis and / or the Z-axis to scan the human body / pillow surface / bed surface / quilt covering the human body, and measure the distance from the target area to the distance sensor, including the steps of: a, calculating the distance value from the target area to the YZ reference plane and / or the ZX reference plane and / or the XY reference plane based on the measured distance and angle information; b, judging the human body part corresponding to the target area and the position of the human body part based on the distance value from the target area to the reference plane; c, judging the sleeping posture based on the position of the head and / or the position / posture of the shoulders and / or the positional relationship between the head and shoulders.

[0026] The method for judging sleeping posture of the present invention comprises at least one phased array radar and / or phased array ultrasonic radar, wherein the phased array radar and / or phased array ultrasonic radar are arranged above / obliquely above the pillow, and the phased array radar and / or phased array ultrasonic radar can scan the human body / pillow surface / bed surface / quilt covering the human body, measure the distance to the target area, and record the angle between the beam centerline and the X-axis and / or the Y-axis and / or the Z-axis when the distance is measured, comprising the steps of: a, calculating the distance value from the target area to the YZ reference plane and / or the ZX reference plane and / or the XY reference plane according to the measured distance and the angle; b, judging the human body part corresponding to the target area and the position of the human body part according to the distance from the target area to the reference plane; c, judging the sleeping posture according to the position of the head and / or the position / posture of the shoulders and / or the positional relationship between the head and shoulders.

[0027] The method for judging sleeping posture of the present invention comprises at least one distance sensor, wherein the distance sensor is arranged on a displacement mechanism, and the displacement mechanism can drive the distance sensor to translate in an XZ plane or an XY plane, scan a human body / a pillow surface / a bed surface / a quilt covering the human body, measure a distance from a target area to the distance sensor, and record a position of the distance sensor in an X-direction and a Z-direction or an X-direction and a Y-direction when the distance is measured, comprising the steps of: a, judging a human body part corresponding to the target area and a position of the human body part in an X-direction and a Z-direction or an X-direction and a Y-direction according to a distance value to the target area; and b, judging a sleeping posture according to a position of the head and / or a position / posture of the shoulder and / or a positional relationship between the head and the shoulder.

[0028] A method for judging sleeping posture comprises the following steps: a, detecting whether a human body is in a side-lying sleeping posture, and if so, entering step b; b, calculating the position difference in the X direction between a distance sensor facing the head and a distance sensor facing the shoulder; and c, judging the body orientation of the human body according to the position difference in the X direction between the distance sensor measuring the head position and the distance sensor measuring the shoulder position.

[0029] A method for judging sleeping posture comprises the following steps: a. detecting the Z-direction position of a person's head and the Z-direction position of a shoulder; b. judging the person to be in a side-lying sleeping posture if the Z-direction position of the shoulder is higher than the Z-direction position of the head; otherwise, judging the person to be in a supine or prone sleeping posture.

[0030] A method for judging sleeping posture comprises the following steps: a. detecting the X-direction position of a person's head and the X-direction position of a shoulder; b. judging the person to be in a supine or prone sleeping posture if the X-direction position of the shoulder is distributed on the left and / or right side of the X-direction position of the head; otherwise, judging the person to be in a side-lying sleeping posture.

[0031] A method for determining whether a human body moves during sleep comprises the following steps: a. a distance sensor continuously or intermittently measures the distance value to a target area; b. determining whether the difference between any two distance values ​​measured within a set time interval exceeds a set distance range, if so, the human body moves.

[0032] A method for judging whether a human body is lying on a bed comprises the steps of: a, measuring a distance value; b, judging whether there is a target whose distance to an XZ reference plane or an XY reference plane is within a head distance range; if so, judging that the human body is lying on the bed; otherwise, judging that the human body is not lying on the bed.

[0033] A method for judging whether a human body is lying on a bed comprises the steps of: a, measuring a distance value; b, judging whether there is a target whose distance to an XZ reference plane or an XY reference plane is within a shoulder distance range; if so, judging that the human body is lying on the bed; otherwise, judging that the human body is not lying on the bed.

[0034] A method for determining the positional relationship between a distance sensor or radar and a pillow includes at least one indicating light source, wherein the positional relationship between the indicating light source and the distance sensor or radar is fixed, and the method is: turning on the indicating light source to form a light spot or pattern on a pillow surface or a bed surface, and adjusting the spatial position of the distance sensor or radar so that the light spot or pattern of the indicating light source is aligned with a preset position.

[0035] The angle between the detection direction of the distance sensor and the X-axis, Y-axis, and Z-axis is greater than or equal to 0 degrees and less than or equal to 90 degrees.

[0036] The number of distance sensors in each row / column of the distance sensor array may be the same or different, and the spacing between the distance sensors in each row / column may be the same or different.

[0037] The distance sensor array can include a phased array electromagnetic wave radar and a phased array ultrasonic radar.

[0038] A distance sensor is a device that can measure distance in a certain direction, including but not limited to laser distance measuring devices, visible light distance measuring devices, infrared distance measuring devices, ultraviolet distance measuring devices, ultrasonic distance measuring devices, structured light distance measuring devices, coherent light or interference light distance measuring devices, and radar distance measuring devices. Preferably, a distance measuring device with good directional directivity and narrow beam is used. Multiple distance sensors are arranged in an array, and the array can be a vertical and horizontal array, a polygonal array, a circular array, a curved array, or a broken line array. The angle between the measurement directions measured by each distance sensor is less than 20 degrees, and preferably the measurement directions of each distance sensor are parallel. Each distance sensor can be arranged in a plane, a curved surface, or different planes.

[0039] For optical distance sensors, the direction angle of ranging can be limited by arranging a structure that limits light diffusion, such as a light shield or lens, in front of the distance sensor, so that only the target area within a very small spatial cone angle is measured to improve the resolution of the target area.

[0040] For acoustic wave and electromagnetic wave distance sensors, a structure that limits wave diffusion can also be arranged in front of them to focus the measurement direction angle. A slender pipe can be arranged in front of the distance sensor to limit the direction angle of the emitted measurement light / acoustic wave / electromagnetic wave and limit the incident angle of the reflected light / acoustic wave / electromagnetic wave. The inner wall of the pipe can be covered with light absorbing / wave absorbing material.

[0041] It includes at least one indicating light source, which can emit a light beam to form a light spot and / or pattern on the target; the indicating light source is arranged on the distance sensor array substrate / housing or the distance sensor base / housing or the radar substrate / base / housing, and the position relationship between the indicating light source and the distance sensor or radar is fixed.

[0042] The pillow of the present invention overcomes the problem of high cost of the three-dimensional human body measurement system and can reduce the cost of the pillow. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a side view of the system structure of an embodiment of the pillow of the present invention;

[0044] Figure 2 yes Figure 1 A top view of an embodiment of the present invention;

[0045] Figure 3 yes Figure 1 A stereoscopic view of an embodiment of the invention;

[0046] Figure 4 yes Figure 1 A side view of a human body lying on its side in the embodiment;

[0047] Figure 5 is a schematic diagram of another embodiment of the pillow of the present invention;

[0048] Figure 6 is a side view of the system structure of another embodiment of the pillow of the present invention;

[0049] Figure 7 yes Figure 6 A schematic diagram of the embodiment in FIG. 1 as viewed from the top of the head;

[0050] Figure 8 is a side view of the system structure of another embodiment of the pillow of the present invention;

[0051] Fig. 9 is a three-dimensional view of another embodiment of the pillow of the present invention;

[0052] Fig.10 yes Fig. 9 A side view of an embodiment of the invention;

[0053] Fig.11 is a schematic diagram of a distance sensor of a pillow of the present invention;

[0054] Fig.12 is a three-dimensional view of another embodiment of the pillow of the present invention;

[0055] Fig.13 It is a schematic diagram of the target area of ​​the human body measured by the distance sensor in the horizontal direction when the human body is lying on its side;

[0056] The same reference numerals in the drawings represent the same or similar components. DETAILED DESCRIPTION

[0057] Figure 1 , Figure 2 , Figure 3 , Figure 4 is an embodiment, Figure 1 This is a side view of a person lying on his back on a pillow. Figure 2 This is a top view of a person lying on his back on a pillow. Figure 3 It is a three-dimensional diagram of a person lying on his back. Figure 4 This is a schematic diagram of a person lying on his side. The coordinate system is established as follows: Figure 3 As shown, the left and right direction of a person is the X-axis, that is, the horizontal direction; from the head to the feet of the person is the Y-axis, that is, the longitudinal direction; and perpendicular to the bed surface is the Z-axis, that is, the vertical direction. Figure 1In the figure, the pillow 3 includes a lower pillow plate and an upper pillow surface 31, and at least one lifting mechanism 32 is arranged between the two, and the lifting mechanism 32 can drive the upper pillow surface 31 to rise and fall. The lifting mechanism includes well-known mechanical, hydraulic, pneumatic, and electromagnetic lifting devices. Person 1 lies on the pillow, and the upper pillow surface 31 supports the person's head. The distance sensor array 21 is arranged on the top of the person 1's head, that is, the side of the pillow away from the human body. The distance sensor array includes a base 22, and the base 22 includes a flat plate. The distance sensor array is a planar distance sensor array. A plurality of distance sensors 23 are installed on the base 22, and the base can support and fix each distance sensor. The base is a substrate, and the distance sensor is installed thereon, which is the basic structure of the array. The base 22 is arranged upright, perpendicular to the bed surface. The distance sensor array can be arranged on the head of the bed, or on the wall, or erected on the bed surface through a supporting mechanism, and the supporting mechanism can also be connected to the bottom plate of the pillow. The supporting mechanism includes a column, a bracket, etc. The distance sensor array 21 includes 16 distance measurement modules in 4 rows and 4 columns, and the distance measurement modules include distance sensors 23. Each distance measurement module, i.e., distance sensor, is arranged in a rectangular shape and is located in the same plane. The distance sensor array includes a power supply module, a circuit, a control module, a housing, and other well-known support modules to control each distance sensor and transmit information.

[0058] At least one row of first distance sensors 231 is arranged within the height range from the upper surface of the upper pillow surface 31 to the height or width of the head; the first distance sensor is used to detect the presence and / or position of the head, and can also detect the presence and / or position of the shoulder when lying on the back / prone. At least one row of second distance sensors 233 is arranged within the height range from the head height / width to the shoulder height when lying on the side; the second distance sensor is used to detect the presence and / or position of the shoulder. When lying on the back / prone, the shoulder height is lower than the height of the second distance sensor, and the second distance sensor cannot detect the target area, that is, there is no object within its measurement range. When a person lies on his side, at least one second distance sensor can measure the distance to the shoulder, that is, the shoulder exists, and the position of the second distance sensor in the X direction is also the X direction position of the shoulder.

[0059] When a person is not lying on the pillow, the first distance sensor cannot detect an object, or the distances detected by all the first distance sensors are beyond the head distance range. When a person lies on the pillow, at least one first distance sensor can detect the head, that is, the distance value detected by it is within the head distance range. According to whether the first distance sensor detects the head, it can be judged whether the person lies on the pillow and the X-direction position of the head when the person lies on the pillow. The first distance sensor can detect the shoulder, that is, the position of the shoulder; when the person lies on his back / prone on the pillow, multiple first distance sensors are facing the head as well as the shoulder. While measuring the distance to the head, the other distance sensors on both sides of the sensor facing the head face the shoulders of the person, and the distances measured by these distance sensors are within the distance range of the shoulders, that is, these distance sensors detect the existence and position of the shoulders. The spatial position of the shoulder is located on both sides of the head. If the first distance sensor detects the head and detects shoulders on both sides of the head at the same time, it can be judged that the person is lying on his back or prone; if the head is detected, but the shoulders are not detected on both sides of the head in the X direction, the person is lying on his side.

[0060] When a person is covered with a quilt, the quilt covers the torso and shoulders, and the distance sensor facing the shoulder measures the distance from the quilt at the shoulder to the sensor. Because the height difference between the shoulder and the head in the Y direction is the distance of a head, which is more than 15CM, the position of the head and shoulders will not be affected even if the person is covered with a quilt.

[0061] When a person lies on his side, the height of the shoulder is higher than the height of the second distance sensor. The distance sensor facing the shoulder in this row of second distance sensors measures the distance from the shoulder to the distance sensor, and the distance sensor not facing the shoulder cannot detect the object. The X-direction position of the shoulder can be determined based on the X-direction position of the distance sensor that detects the shoulder. Whether the person lies on the pillow can be determined based on whether the first distance sensor detects the head, and whether the person is lying on his back or prone can be determined based on whether the first distance sensor detects the shoulder; whether the person is sleeping on his back / prone or side can be determined based on whether the second distance sensor detects the shoulder.

[0062] The measuring directions of each distance sensor are parallel to each other, facing from the head to the feet of the person, and can be parallel to the bed surface; the angle between the measuring direction and the Y axis is less than 20 degrees. The horizontal spacing and vertical spacing of each distance measurement module can be the same or different, for example, the horizontal spacing is 8 to 15CM, and the vertical spacing is 5 to 10CM. The number of rows and columns of the distance sensor array can be different. Adjacent distance sensors can be arranged in triangles, quadrilaterals, pentagons, hexagons, or polygons.

[0063] The distance sensor has a measurement range defined by a closest measurement distance and a farthest measurement distance. Beyond the farthest measurement distance, it is determined that there is no object in front of the sensor's measurement direction. The target area measured by the distance sensor includes a person's head, shoulders, bed surface, and quilt covering the human body. When there is no human body or quilt within the measurement range of the distance sensor, the distance sensor does not detect the target area. The distance sensor can measure the distance from the distance sensor measurement plane to the target area, and can also specify a real or virtual surface as a distance measurement reference surface.

[0064] The distance sensor includes a laser distance sensor, an ultrasonic distance sensor, an infrared distance sensor, a radar distance sensor, a visible light distance sensor, a structured light distance sensor, etc. A sensor with a narrow distance beam is preferably used, that is, a sensor with a small angle of the direction angle of the beam. When the distance sensor is a laser or optical distance sensor, when the person 1 lies on the pillow 3, each distance sensor 23 can emit a distance beam simultaneously or sequentially, and the distance beam located at a low position is irradiated on the top of the head, shoulders and other parts of the person, or on the quilt covering the human body, and the distance beam located at a high position does not irradiate the human body. Each distance measuring module can measure the distance between the target area it is facing and each distance measuring module. The measurement space direction angle of the laser or optical distance measuring module, that is, the cone angle, is very narrow, usually less than 3 degrees, preferably 1 degree, so the target area it irradiates is also very small, much smaller than the projection area of ​​the top of the head and shoulders on the distance sensor array substrate or reference surface. Therefore, the distance measured by the distance sensor is the distance of a single part of the human body, such as the head and shoulders.

[0065] The pillow 3 includes at least one power device, which can drive the lifting mechanism to move up and down to drive the upper pillow surface to move up and down and / or tilt.

[0066] The control module 10 includes at least one sleeping posture judgment module 11 and at least one lifting mechanism control module 17, including a human-computer interaction module 13 and other known auxiliary modules and devices, such as power supply, calculation, storage, communication modules, etc. The distance sensor array 21 can transmit the distance information to the target area in front of each distance sensor 23 to the sleeping posture judgment module 11. The sleeping posture judgment module 11 receives the multiple distance information transmitted and can identify the head and shoulders according to the multiple distance information. The distance between the distance sensor array and the pillow is fixed, so the distance from the top of the head and the shoulder of the human body to the distance sensor array is also relatively fixed, that is, within a relatively certain distance range. For example, the distance between the distance sensor array and the edge of the upper pillow surface is 5CM, and the width of the upper pillow surface along the Y direction is 40CM. When a person lies on the pillow, the distance from the top of the head to the distance sensor array is within the range of 10 to 30CM, and the distance from the shoulder to the distance sensor array is within the range of 35 to 60CM. The distance between the sensor array and the pillow can change, so the distance from the head and shoulders to the sensor array plane will also change, and people's heights and weights are different. Therefore, when in use, the distance range of the head and the distance range of the shoulders need to change according to the changes in the above parameters.

[0067] Before use, the distance sensor array can be calibrated. When a person lies on the pillow, the distance sensor numbers corresponding to the head and shoulders are observed, and the distance values ​​measured by the distance sensors with the numbers are recorded. The person's position and sleeping posture are changed multiple times, and the head distance value and shoulder distance value measured each time are recorded respectively. By counting these distance values, the head distance range and shoulder distance range are obtained.

[0068] When in use, each distance sensor starts working and measures the distance from the target in front of it. When a person lies on the pillow, the distance sensor facing the person's head measures the distance from the top of the head to the person, and the distance distribution range is between 10 and 30CM; the distance sensor facing the person's shoulder measures the distance from the shoulder to the person, and the distance distribution range is between 35 and 60CM. The head / shoulder distance distribution range is the head / shoulder distance range. When the distance value measured by the distance sensor is greater than the above range, it is considered that there is no human body or object in the direction facing the distance sensor. When a person is covered with a quilt, the distance sensor measures the distance from a certain area of ​​the quilt to the person. Usually the quilt covers the shoulders of the person, the head is outside the quilt, the quilt is soft, and the shape and position of the quilt are consistent with the shoulders, so the distance value measured by the quilt is not much different from the distance value obtained by directly measuring the human body. The distance values ​​measured by each distance sensor are different. By comparing the distance values ​​measured by each distance sensor with the distance distribution range of the head and shoulders, it can be inferred which part of the human body the target area measured by each distance sensor corresponds to. For example, if the distance measured by a distance sensor is 15CM, the corresponding target area is the human head; if the measured distance is 43CM, the corresponding target area is the human shoulder; if the measured distance is greater than 60CM or exceeds the measurement range, there is no human body in front of the distance sensor.

[0069] You can also choose any plane parallel to the XZ plane as a reference plane, and convert the distance measured by the distance sensor to the distance to the reference plane. When the measuring planes of the distance sensors are not on the same plane or there are differences between the distance sensors, converting the measured real distance to the distance to the reference plane can eliminate these inconsistencies. You can put a flat plate in front of the distance sensor array, preferably parallel to the distance sensor array substrate, and then use each distance sensor to measure the distance to the flat plate, and correct the measured distance to eliminate the error. The reference plane can be any plane parallel to the substrate.

[0070] Figure 2 In the figure, a person 1 lies on a pillow 3, and a distance sensor array 21 is arranged on the side of the pillow away from the human body, and faces the human body along the Y-axis. Facing the human body along the Y-axis means that the angle between the center line of the distance sensor measurement direction and the Y-axis is less than 45 degrees, preferably less than 10 degrees / 1 degree. The distance sensor array 21 is a planar distance sensor array, that is, the center lines of the measurement directions of the distance sensors are parallel to each other or the angle between them is less than 5 degrees, and they face one direction. The distance sensors 231 located in the lower row measure the distance from the head / shoulder of the person. The distance sensor facing the person's head measures the distance from the head to the sensor, and the distance sensor facing the shoulder measures the distance from the shoulder to the sensor. When the person lies on his back, there is no target area within the measurement range facing the distance sensors at the top of the distance sensor array.

[0071] Figure 3 In the figure, the distance sensor array 21 stands upright at the top of the head. The distance sensor array 21 is a planar distance sensor array, that is, the substrate 22 of the array is in the form of a plane, and multiple distance sensors 23 are installed on the substrate 22. The plane of the substrate is parallel to the XZ plane. The height of at least one row of first distance sensors 231 is within the height range from the upper surface of the upper pillow surface to the height or width of the head, facing the head of the person. The height of at least one row of second distance sensors 233 is within the height range from the height or width of the head to the height of the shoulder, facing the shoulder of the person. Because the distances from different parts of the human body to the distance sensor substrate are different, the distance values ​​of the target areas in front of each distance sensor are different. The measurement beam shape of the distance sensor is a spatial cone / square cone, and the angle between the center line of the measurement beam and the waistline is preferably less than 3 degrees / 1 degree. When the angle is 6 degrees, the diameter of the beam irradiation area at 50CM is about 5.2CM, which is much smaller than the size of the projection figure of the top of the head / shoulders on the base surface. Therefore, the distance value measured by each distance sensor can be considered as the distance of a single part of the human body, namely the head or shoulder.

[0072] Figure 4 In the embodiment, when a person lies on his side, his head rests on a pillow, his torso stands sideways, and the height of one shoulder of the person is higher than the height of the head. When the person is covered with a quilt, the height of the quilt is also higher than the height of the head. The first distance sensors 231 in one or more rows at the lower part of the distance sensor array face the height of the head, and the second distance sensors 233 in one or more rows at the upper part face the height of the shoulder. When the height of one or more rows of sensors at the upper part is higher than the shoulder height of the person lying on his side, the row or rows of sensors cannot detect the corresponding part of the human body, that is, the target area measured by them does not exist.

[0073] When the detection direction centerline of the distance sensor is parallel to the Y axis, the distance between them in the X direction is less than the distance from the front to the back of the shoulder, preferably less than 8CM. Alternatively, the distance sensor measurement direction centerline in the distance sensor array can have an angle greater than 10 degrees with the Y axis, preferably greater than 20 degrees; the distance from the distance sensor array to the target area of ​​the human body can be calculated by the measured distance and angle, which is the projected length of the measured distance on the Y axis. When there is an angle, the distance between the distance sensors can be greater than the thickness of the shoulder.

[0074] The pillow of the present invention can determine the human body parts corresponding to each distance sensor according to the distance measured by each distance sensor; and then determine the sleeping posture of the person according to the spatial position / posture of each part of the human body. When the distance measured by the distance sensor is within the distance range corresponding to the head, the sensor is facing the head, and the X-direction and Z-direction positions of the head can be determined according to the X-direction and Z-direction positions of the sensor. When the distance ranges measured by multiple sensors are all within the distance range of the head, the coordinate range corresponding to the head can be determined according to the coordinate distribution of the multiple sensors, and the projection of the head on the XZ plane can be obtained. When the distance measured by the distance sensor is within the distance range corresponding to the shoulder, the sensor is facing the shoulder, and the X-direction and Z-direction positions of the shoulder, that is, the X-direction and Z-direction coordinates of the shoulder can be determined according to the X-direction and Z-direction positions of the sensor. When the distance ranges measured by multiple sensors are all within the distance range of the shoulder, the coordinate range corresponding to the shoulder can be determined according to the coordinate distribution of the multiple sensors, and the projection of the shoulder on the XZ plane can be obtained. According to the coordinate distribution of the head and the shoulder, that is, the projection on the XZ plane, the spatial position of the head and the shoulder can be determined. The distance sensor array plane is equivalent to a coordinate plane, and the location of each sensor is equivalent to the location of the scale. The distance range is the distance distribution range.

[0075] The sleeping posture judgment module determines the sleeping posture according to the spatial position relationship / posture of the head and shoulders. When the position of the distance sensor corresponding to the head is determined, and the distance sensor above the distance sensor measures the existence of the shoulder, that is, the shoulder is above the head of the person, then the person is lying on his side. Usually, the head of a person is accustomed to leaning forward, and when the person adopts a side-lying sleeping posture, the head is leaning forward even more. Therefore, when the person is lying on his side, there will be a distance difference between the head and shoulder positions measured by each distance sensor in the X-axis direction. According to the position difference of the head and shoulder of the person in the X-direction, the orientation of the face and body of the person when lying on his side can be determined. When the distance sensor corresponding to the head is on the left side of the distance sensor corresponding to the shoulder, the person lies on the left side; when the distance sensor corresponding to the head is on the right side of the distance sensor corresponding to the shoulder, the person lies on the right side. Here, left and right refer to the left and right of the bed surface. When the position of the distance sensor corresponding to the head is determined, and the distance sensor above the distance sensor does not measure the existence of the human body, that is, the shoulder is not above the head of the person, then the person is lying on his back or prone. When the position of the distance sensor corresponding to the head is determined and the distance sensors of the shoulders are measured to be located on the left and right sides of the head distance sensor in the X direction, the person is lying on his back or prone.

[0076] The sleeping posture judgment module transmits the sleeping posture information to the lifting mechanism control module, and the lifting mechanism control module controls the movement of the lifting mechanism to change the height and / or angle of the pillow according to the sleeping posture information transmitted by the sleeping posture judgment module. When a person lies on his back, the lifting mechanism control module lowers the height of the upper pillow surface, so that the height of the person's head is lowered and the neck is tilted back, which is conducive to the cervical spine to restore the natural curvature. When a person lies on his side, the height of the upper pillow surface is increased to prevent the head from leaning to one side and improve sleeping comfort.

[0077] The distance sensor can be used to determine whether a person is lying on the pillow. For one or several rows of sensors under the distance sensor array, when the measured distance value is within the distance range of the head, it is considered that the head is resting on the pillow; if no distance value is measured within the distance range of the head, it is considered that the head is not resting on the pillow. When the distance value measured by any distance sensor is within the distance range of the head, it is determined that someone is lying on the pillow. When it is determined that someone is lying on the pillow, the distance measured by the distance sensors above and / or on the side of the distance sensor corresponding to the head is detected. When the distance value measured by the sensor above the sensor corresponding to the head is within the distance range of the shoulder, it is determined that the shoulder is located above the head and the person is in a side-lying sleeping position. When the distance values ​​measured by the sensors on both sides of the distance sensor corresponding to the head are within the distance range of the shoulder, it is determined that the shoulders are located on both sides of the head and the person is in a supine or prone sleeping position. The sleeping position of a person can also be determined based on the height of the distance sensor corresponding to the shoulder. When the height of the sensor corresponding to the shoulder is within the preset height range for lying on the back / prone, the person is lying on the back / prone; when the height of the sensor corresponding to the shoulder is within the preset height range for lying on the side, the person is lying on the side. The height value of the shoulder when a person is lying on the back / prone or lying on the side can be obtained by measuring multiple human body data statistics, and can also be obtained based on standard human body data or statistical human body data.

[0078] Each distance sensor can measure the distance continuously or at a set time interval. When the absolute value of the difference between the distance values ​​measured successively by one or more distance sensors is greater than a preset threshold or error value, it means that the human body part corresponding to the distance sensor has been displaced, and it is determined that the human body has moved; continuous measurement of multiple positions of any human body part can determine the movement trend / direction / trajectory of the human body. Continuously measuring the movement trajectory of the shoulder can determine the direction of the person turning over, and continuously measuring the movement direction of the head can also determine the direction of the person's movement / turning over. According to the movement distance of the head / shoulder in the X direction, the change of sleeping posture can be determined. When the position / distance change value of the head in the X direction is about 1 / 4 of the head circumference, the corresponding situation is that the human body turns 90 degrees; when the head movement distance is about 1 / 2 of the head circumference, the corresponding situation is that the human body turns 180 degrees. When the height of the shoulder changes from a height lower than the head or the same height as the head to a height higher than the head, the corresponding situation is that the person changes from lying on the back / prone to lying on the side, and vice versa from lying on the side to lying on the back or prone. Continuous measurement includes multiple measurements at fixed or variable time intervals.

[0079] Figure 5 In the figure, the base plate 22 of the distance sensor array 21 is mechanically connected to the upper pillow surface 31 through the bracket 25, and the distance sensor array 21 can be raised / lowered / tilted together with the upper pillow surface 31. The fixed connection between the distance sensor array and the upper pillow surface can prevent the bottom row of sensors from being blocked due to the raising of the upper pillow surface, and can reduce the number of sensor rows and the number of sensors. The mechanical connection method includes connecting the distance sensor array to the upper pillow surface 31 or the lifting mechanism 32 through a connecting rod / board / bracket / connector, including fixed connection and detachable connection, including gluing / hinge / plug-in / screwed / adsorbed / magnetically attracted / adhesive / welded on the upper pillow surface / lifting mechanism.

[0080] Figure 6 , Figure 7 2 are right side and top side views of one embodiment. Figure 6In the figure, a person 1 lies on a pillow 3, and a planar distance sensor array 21 is arranged above the human body along the Z axis toward the human body, including 5 rows × 5 columns of distance sensors 23. Along the Z axis toward the human body means that the angle between the center line of the distance sensor measurement direction and the Z axis is less than 45 degrees, preferably less than 10 degrees / 1 degree. The distance sensor 23 faces the bed surface, pointing to the head and torso of the person. The sensor array can be fixed on the head of the bed / wall / roof by a bracket, or supported on the side of the bed / bed surface by a bracket. A smart terminal device 5 is included, and the sleeping posture judgment module can be arranged in the smart terminal device. Smart terminal devices include handheld smart devices such as smart phones and tablet computers. The smart terminal device 5 is connected to the drive control module 51, and the drive control module 51 is connected to the lifting mechanism of the pillow and the distance sensor array 21. The lifting mechanism control module can be arranged in the drive control module, and can also be arranged in the smart terminal device. The drive control module can receive information transmitted by the sensor array, can transmit the information to the smart terminal device; and can drive the lifting mechanism to operate. The drive control module can convert the control information transmitted by the smart terminal device into a drive signal to control the lifting mechanism and the sensor array, and can realize the conversion of the control signal voltage / current and the drive signal voltage / current, that is, convert the control command of the smart device into the control voltage / current to realize the connection between the smart device and the sensor array and the lifting mechanism. Under the control of the smart terminal device, the sensor array measures the distance from each distance sensor to the target area, and then transmits each distance information and / or the corresponding distance sensor information to the sleeping posture judgment module in the smart terminal device. The smart terminal device can include a master control module, which can control the operation of the sensor array, the drive control module, the lifting mechanism control module, etc.

[0081] According to the installation height of the distance sensor array 21, the distance distribution range from the head, shoulder, chest / back of a person to the corresponding distance sensor can be preset. The distance value from each human body part to each distance sensor can also be measured in the case of no one, supine, sideways, prone, covered with a quilt, or not covered with a quilt, and then the distance range of each human body part is obtained by counting the above distance values. When a person lies on the pillow, the height difference between the head and the upper pillow surface is the front-to-back height or left-right width of the head, which is more than 10CM. When a person lies on his side, the height difference between the shoulder and the head in the Z direction is a shoulder width; when a person lies on his back or prone, the shoulder height is close to or slightly lower than the head, and the shoulder height at this time is much lower than the shoulder height when lying on his side, which is more than 10CM, so even if covered with a quilt, it does not affect the judgment of the position of the head and shoulders.

[0082] The distance sensor can be used to determine whether a person is lying on the bed. If the distance measured by the distance sensor corresponding to the head and / or torso exceeds the distance range when the person is lying on the bed, it is considered that the person is not lying on the bed.

[0083] Figure 6 , Figure 7 In the embodiment, the distance value measured by the distance sensor facing the head of the person is within the head distance range, so it can be judged that the person is lying on the pillow and the position of the head of the person is determined. Because the upper pillow surface can be raised / lowered, the distance from the head to the distance sensor will change. The lifting mechanism can transmit the current pillow height information to the drive control module, and the drive control module transmits the pillow height information to the sleeping posture judgment module. The sleeping posture judgment module can correct the head distance range according to the pillow height information. The correction method includes setting a standard head distance range with an arbitrary reference plane such as a bed surface as the starting plane, adding or subtracting the pillow height from the actual measured distance value to obtain a corrected distance value, and judging whether the corrected distance value is within the standard head distance range can judge whether the head is on the pillow and determine the distance sensor position corresponding to the head, that is, the position of the head. A row of distance sensors facing the pillow is used to measure the distance of the head, and the measured distance value is used to judge whether the person is resting on the pillow and the position of the head in the X direction of the pillow. Preferably, a row of distance sensors directly above the pillow is used to measure the distance information of the head. The center line of the distance sensor measurement direction in the distance sensor array can be parallel to the Z axis, or there can be an angle between them; preferably, there is an angle greater than 20 degrees. The distance from the distance sensor array to the target area of ​​the human body can be calculated by the measured distance and the angle, which is the projected length of the measured distance on the Z axis.

[0084] Figure 6 , Figure 7 In the figure, the distance sensor facing the shoulder of the person measures the distance value from the shoulder or the quilt covering the human body to the sensor, and the direction of the torso can be determined according to the height of the shoulder or the quilt covering the human body. When the height of the shoulder is within the shoulder height range when lying on the side, it can be determined that the torso is in a side-standing posture, and the person is lying on the side; when the height of the shoulder is within the shoulder height range when lying on the back / prone, it can be determined that the torso is in a supine or prone posture, and the person is lying on the back or side. When the shoulder height is lower than the shoulder height range when lying on the side, it can also be determined that the sleeping posture is lying on the back or prone. The height of the head / shoulder can be obtained by subtracting the distance from the head / shoulder to the distance sensor from the distance from the bed surface. The row of distance sensors facing the shoulders also measures the height of the front chest / back of the person. When lying on the back / prone, its value is close to the shoulder height. When lying on the side, the front chest / back cannot be measured.

[0085] Figure 8In the embodiment, the distance sensor array 21 is located obliquely above the side of the pillow away from the human body / obliquely above the human body, that is, it is neither parallel to the bed surface nor perpendicular to the bed surface, and there is an angle a greater than 0 degree and less than 90 degrees between the sensor array and the Z axis / bed surface. The angle a can be obtained by measurement, or the angle a can be preset, and then the angle of the bracket of the distance sensor array 21 can be adjusted to form the angle a. The distance sensor array can be placed on the bed surface or installed on the head of the bed / wall / ceiling through a bracket, and can also be connected to the pillow, preferably connected to the upper pillow surface.

[0086] The computer / embedded computer 6 controls the distance sensor array 21 and the pillow 3 through the drive control module 51, and can receive information transmitted by the sensor array and the pillow and issue control commands to them. There is an angle not equal to 0 between the measuring direction of the distance sensor 23 and the human body / bed surface, and the measured distance is the real distance from the target area of ​​the human body to the distance sensor. A vertical reference plane 10 perpendicular to the bed surface and a horizontal reference plane 11 parallel to the bed surface are selected, and there is an angle a between the plane 11 and the measuring direction of each distance sensor, and the angle between the plane 10 and the measuring direction of each distance sensor is 90-a. The horizontal distance from the reference plane 10 to each distance sensor is known. For example, a vertical plane passing through the lower edge of the sensor array is selected as the reference plane 10, and the horizontal distance from each sensor to the reference plane 10 can be calculated by the distance from the sensor to the edge of the array and the angle a. After measuring the distance value from each distance sensor to the target human body area, the horizontal distance from the target human body area to the reference plane 10 can be obtained according to the angle a and the horizontal distance from each distance sensor to the reference plane 10. Figure 8 In the figure, the horizontal distance from each target human body area to the reference plane 10 is the horizontal distance from each distance sensor to the reference plane 10 plus the projection of the measured distance value in the horizontal direction. The plane where the bed surface is located is preferably used as the horizontal reference plane 11. According to the vertical distance from the edge of the sensor array to the horizontal reference plane 11, the measured distance and the angle a, the vertical distance from each target human body area to the horizontal reference plane 11 can be obtained. According to the horizontal distance from each human body target area to the reference plane 10, combined with the horizontal distance range of the head and shoulders, the human body parts corresponding to each human body target area, such as the head and shoulders, can be determined; according to the vertical distance from each human body target area, that is, the human body parts corresponding to it to the reference plane 11, the relative spatial position relationship of each human body part, such as the head and shoulders, can be determined. According to the spatial position relationship of each human body part, such as the head and shoulders, the sleeping posture of a person can be determined. According to the measured distance values ​​of each target area, the distance from each target area to the horizontal reference plane and the vertical reference plane can be obtained; combined with the horizontal distance range and vertical distance range of the head and shoulders, the human body part corresponding to each target area can be determined; according to the spatial position / posture of each human body part, the sleeping position of a person can be judged.

[0087] Fig. 9 and Fig.10 It is a three-dimensional schematic diagram and a side view of the same embodiment. Fig. 9 , Fig.10 In the figure, the sensor array 21 is arranged obliquely above the top of the person's head. The sensor array 21 has a curved base 22, and a plurality of distance sensors 23 are fixedly arranged on the curved base 22. The distance sensor array is a curved distance sensor array, that is, the shape of the base 22 is a two-dimensional or three-dimensional curved surface, and the distance sensors 23 are installed on the curved surface. The base is a substrate. The measuring direction of each distance sensor has an angle that is not zero in the X direction, the Y direction, and the Z direction. Preferably, the curved surface of the base is a spherical surface, the center line of the measuring direction of the distance sensor passes through the center of the sphere, and the center line of the measuring direction of each distance sensor is radial. The angle between the center line of the measuring direction of each sensor and the X, Y, and Z axes can be measured or preset. A reference plane 12 parallel to the YZ plane is selected, and the YZ plane passing through the center of the sensor array curved surface is preferably used as the reference plane 12. A reference plane 10 parallel to the ZX plane and a reference plane 11 parallel to the XY plane are selected. The angles between the center lines of the measurement directions of the sensors and the reference surfaces 10, 11, 12 can be measured or preset.

[0088] Each distance sensor faces the human body / upper pillow surface / bed surface. The distance from the reference planes 10, 11, 12 to the center of the sensor array can be measured or pre-set, and the distance from each sensor to the reference planes 10, 11, 12 can be calculated based on the position of each sensor on the spherical surface and the angle between the center line of the measurement direction and each reference plane. After measuring the distance from the target area to the sensor, the distance from each target area to the reference planes 10, 11, 12 can be obtained by combining the angle between the center line of the distance sensor measurement direction and the reference planes 10, 11, 12, the distance from the reference planes 10, 11, 12 to the center of the array curved surface and the angle and distance between each distance sensor and the center of the curved surface. According to the distance from each target area to the reference plane 10 and the distance range from the human head and shoulders to the reference plane 10, it is possible to determine the human body part corresponding to each target area, that is, the head, shoulder or other parts. According to the distances of each target area to the reference surfaces 11 and 12 and whether the body part corresponding to each target area is the head or the shoulder, the spatial position relationship of each body part, that is, the spatial position relationship of the head and the shoulder, can be determined. If the shoulder is located above the head, that is, the coordinate of the shoulder in the Z direction is greater than the coordinate of the head, it is side-lying; if the shoulders are located on both sides of the head, it is supine or prone; if the position of the shoulder in the Z direction is lower than the position of the head, it is supine or prone.

[0089] Two or more curved sensor arrays can be arranged, spaced apart in the X direction, with the spacing not being 0 and preferably being greater than 10CM. The left and right sensor arrays can eliminate the occlusion area caused when a person lies on the left or right side of the pillow, and can measure more human target areas.

[0090] Fig.11 It is a distance sensor with the same function as the curved distance sensor array. The distance sensor 23 is installed on a swing base 24 that can swing up and down and left and right. The swing base 24 can drive the distance sensor 23 to swing around the Z axis and / or the X axis, so that the distance sensor can scan the X direction and / or the Z direction, that is, scan along the left and right direction of the bed and scan along the up and down direction of the bed. The distance sensor can scan the human body / pillow surface / bed surface / quilt covering the human body, and measure the distance from the target area to the distance sensor. The swing base 24 can drive the distance sensor to scan the human body, measure the distance when scanning different target areas of the human body, and record the angle between the center line of the sensor measurement direction and the X axis, Y axis, and Z axis when the distance is measured. The distance information and angle information measured by the distance sensor can be transmitted to the sleeping posture judgment module, and the sleeping posture judgment module can calculate the distance value from the human body target area to each reference surface based on the measured distance value and angle. During scanning, it can scan continuously or intermittently; intermittent scanning includes measuring the distance once every time the base rotates an angle, for example, measuring the distance once after rotating 5 degrees. According to the distance values ​​from different human target areas to each reference surface, the human body parts corresponding to the human body target areas can be judged, and the spatial positions of the human body parts can be judged. According to the spatial positions of the human body parts, the sleeping posture of a person can be judged. The swing base 24 can be connected to the bed, wall or pillow through the bracket 25. The swing base 24 can repeatedly scan the human body under the control of the control module in the host computer / intelligent terminal device. The swing base includes a swing mechanism, and the swing mechanism can include a pan / tilt, a steering gear, a crank slider mechanism, a turntable mechanism, a screw slider mechanism, a connecting rod group, a wire pulling mechanism, a gear group, a linear motor, a stepping motor, a rotating motor, an electromagnet, magnetostriction, thermostriction, pressure-sensitive expansion, pneumatic / hydraulic action cylinder expansion and other well-known swing mechanisms. The distance sensor is connected to the swing mechanism, and can swing left and right / up and down under the drive of the swing mechanism to scan the human body / bed surface / quilt.

[0091] The pillow of the present invention can use phased array radar or phased array ultrasonic radar as a distance sensor. Phased array radar and phased array ultrasonic are well-known technologies. The phased array includes multiple transmitting subunits. By adjusting the phase and amplitude of each transmitting subunit, the beam scanning direction can be changed. The phased array radar or phased array ultrasonic is arranged on the top of the head / obliquely above / above the head of a person, and the beam is allowed to scan the human body to obtain the distance and beam direction angle when different beams are pointed. According to the distance and direction angle measured by the beam, the distance from the target area of ​​the human body to each reference surface can be obtained. According to the distance from the target area to each reference surface, it is possible to identify which part of the human body the target area is. According to the posture / position relationship of the human body parts, the sleeping posture of the person can be identified.

[0092] Fig.12In the embodiment, the column 26 is erected and fixed on the bed surface or pillow. At least one first slider is arranged on the column 26, and the first slider can slide up and down along the column 26. The crossbar 27 is connected to the first slider and can move up and down together with the first slider. A second slider is arranged on the crossbar 27, and the second slider can slide left and right along the crossbar 27. The distance sensor 23 is arranged on the second slider and can slide horizontally / longitudinally together with the second slider. The column can include a slide rail. A displacement mechanism that translates / sways in the XZ plane, such as a mechanical arm, can be used to replace the second slider, that is, the distance sensor is installed at the end of the mechanical arm, and the mechanical arm drives the distance sensor to move in the X and Z directions. The above-mentioned displacement mechanism can be arranged in the XY plane to drive the distance sensor to translate in the XY plane. The displacement mechanism that drives the distance sensor to move includes a known displacement device such as a slide rail, an optical axis, a lead screw, a push rod, a linear motor, a hydraulic / pneumatic actuator, and a wire pulling mechanism. The distance sensor 23 can move under the drive of the displacement mechanism, measure the distance from the human body target area to the sensor at different positions on the top of the human head, and record the position of the distance sensor at the same time, that is, record the position of the distance sensor in the X direction and the Z direction when the distance is measured. According to the position of the distance sensor and the distance measured at the position, the human body part corresponding to the position can be determined. According to the positional relationship between the human body parts, the sleeping position of the person can be determined. The center line of the measurement direction of the distance sensor can be parallel to the Y axis, and can also have an angle with the Y axis that is not 0. Fig.12 In the present invention, the measurement of multiple points can be realized by changing the spatial position of the distance sensor, and the distance sensor array is replaced by one or a few distance sensors, thereby reducing the number of distance sensors.

[0093] Fig.13 In the figure, a person 1 lies on his side with his head on a pillow 3. A distance sensor array 21 is arranged vertically at the top of the person's head. A plurality of distance sensors 23 distributed along the X-direction and the Z-direction are respectively facing the person's head, shoulders and areas without human bodies. Preferably, the interval between the distance sensors in the X-direction is less than 6 cm. When a person sleeps on his side, his head tends to tilt toward the front of his chest. Fig.13As shown, there is a distance difference in the X direction between the distance sensor facing the head and the distance sensor facing the shoulder. That is, the positions of the sensor that measures the shortest distance from the head to the sensor array and the sensor that measures the shortest distance from the shoulder to the sensor array are different in the X direction, and there is a position difference. This position difference indicates the direction of the human body, that is, the direction of the face. According to the direction of the torso / face, it can be judged whether the person is lying on the left side or the right side. That is, according to the position difference in the X direction between the distance sensor that measures the head position and the distance sensor that measures the shoulder position, the direction of the person when lying on the side can be judged. The specific judgment process is to first detect whether the human body is sleeping in a side-lying position. If so, the position difference in the X direction between the distance sensor facing the head and the distance sensor facing the shoulder is calculated, and then the direction of the person when lying on the side is judged according to the position difference in the X direction between the distance sensor that measures the head position and the distance sensor that measures the shoulder position, that is, according to the position difference between the head and the shoulder, it is judged whether the person is lying on the left side or the right side.

[0094] In order to facilitate the determination of the positional relationship between the sensor array or the distance sensor or the radar and the pillow / bed surface, at least one indicating light source may be arranged in the substrate / base of the sensor array or the distance sensor or the radar. The indicating light source includes a laser / projection light in a point / line or other pattern, which can emit a light beam to form a light spot and / or a pattern on the target. The positional relationship between the indicating light source and the distance sensor / radar is fixed, that is, the angle between the measuring direction of the distance sensor / radar and the direction of the indicating light source is fixed. When installing the sensor array / distance sensor / radar, turn on the indicating light source to form a light spot or pattern on the pillow surface or the bed surface, adjust the position of the distance sensor array / radar, so that the light spot / pattern of the indicating light source is aligned with the preset position, such as the center or edge of the upper pillow surface, so that the distance sensor array / radar can be installed in the correct position and ensure the correct orientation. The installation positional relationship between the distance sensor array / radar and the indicating light source and the upper pillow surface / bed surface can be pre-designed and determined. The indicating light source includes a switch, which can be turned on and off manually or by a control module.

Claims

1. A pillow, comprising at least one upper pillow surface and at least one lifting mechanism, wherein the lifting mechanism can be lifted and lowered to drive the upper pillow surface to lift and / or tilt, wherein: The pillow comprises at least one distance sensor array, wherein the distance sensor array is arranged on a side of the pillow away from the human body, and the detection direction of the distance sensor array is from the head of the human body toward the feet of the human body along the Y-axis direction; The distance sensor array includes at least two distance sensors, and the distance sensors are capable of measuring the distance from the target area to the distance sensors; The distance sensor is arranged within the height range from the upper surface of the upper pillow surface to the height or width of the head; The device comprises at least one sleeping posture determination module, wherein the sleeping posture determination module can receive a plurality of distance values ​​transmitted from the distance sensor array, and the sleeping posture determination module can identify the position of the head and / or shoulders according to the plurality of distance values; The sleeping posture determination module can determine the sleeping posture according to the position of the head and / or shoulders; It includes at least one lifting mechanism control module, which can control the movement of the lifting mechanism to change the height of the pillow and / or the angle of the upper pillow surface according to the sleeping posture information transmitted by the sleeping posture judgment module.

2. A pillow, comprising at least one upper pillow surface and at least one lifting mechanism, wherein the lifting mechanism can be lifted and lowered to drive the upper pillow surface to lift and / or tilt, wherein: The pillow comprises at least one distance sensor array, wherein the distance sensor array is arranged on a side of the pillow away from the human body, and the detection direction of the distance sensor array is from the head of the human body toward the feet of the human body along the Y-axis direction; The distance sensor array includes at least one first distance sensor and at least one second distance sensor, and the distance sensor is capable of measuring the distance from the target area to the sensor; The first distance sensor is arranged within a height range from the upper surface of the pillow to the height and / or width of the head; The second distance sensor is arranged within a height range from the height or width of the head to the height of the shoulder when lying on the side; The device comprises at least one sleeping posture determination module, wherein the sleeping posture determination module can receive distance values ​​transmitted by a first distance sensor and a second distance sensor, and can determine whether the head is within a detection area and / or the position of the head according to the range of distance values ​​detected by the first distance sensor, and can determine whether the shoulder is within the detection area and / or the position of the shoulder according to the range of distance values ​​detected by the second distance sensor; The sleeping posture determination module can determine the sleeping posture according to the position of the head and / or the position of the shoulders and / or the relative position of the head and shoulders; It includes at least one lifting mechanism control module, which can control the movement of the lifting mechanism to change the height and / or angle of the pillow according to the sleeping posture information transmitted by the sleeping posture judgment module.

3. A pillow, comprising at least one upper pillow surface and at least one lifting mechanism, wherein the lifting mechanism can be lifted and lowered to drive the upper pillow surface to lift and / or tilt, wherein: It includes at least one distance sensor array, which is arranged above the pillow and / or the bed surface and / or the shoulder, and the detection direction of the distance sensor array is along the Z axis toward the human body / bed surface / upper pillow surface; The distance sensor array includes at least one distance sensor capable of measuring the distance from the target area to the sensor; At least one distance sensor is arranged above the shoulder to detect the distance from the shoulder to the distance sensor; The device comprises at least one sleeping posture determination module, which can receive the distance value transmitted by the distance sensor array, and can determine whether the shoulder is within the detection area and / or the height of the shoulder according to the range of the distance value; the sleeping posture determination module can determine the sleeping posture according to the height of the shoulder; It includes at least one lifting mechanism control module, which can control the movement of the lifting mechanism to change the height and / or angle of the pillow according to the sleeping posture information transmitted by the sleeping posture judgment module.

4. A pillow, comprising at least one upper pillow surface and at least one lifting mechanism, wherein the lifting mechanism can be lifted and lowered to drive the upper pillow surface to lift and / or tilt, wherein: It includes at least one distance sensor array, which is arranged above the pillow and / or the bed surface and / or the shoulder, and the detection direction of the distance sensor array is along the Z axis toward the human body / bed surface / upper pillow surface; The distance sensor array includes at least two distance sensors, and the distance sensors are capable of measuring the distance from the target area to the sensor; At least one distance sensor is arranged above the shoulder to detect the distance from the shoulder to the distance sensor; At least one distance sensor is arranged above the upper pillow surface to detect the distance from the upper pillow surface / head to the distance sensor; It includes at least one sleeping posture determination module, and the sleeping posture determination module can receive a plurality of distance values ​​transmitted by the distance sensor array; The sleeping posture determination module can determine whether the head is within the detection area and / or the position of the head according to the distance value range from the upper pillow surface / head to the distance sensor; The sleeping posture determination module can determine the position / posture of the shoulder according to the height of the shoulder; The sleeping posture determination module can determine the sleeping posture according to the position of the head and / or the position / posture of the shoulders and / or the positional relationship between the head and shoulders; It includes at least one lifting mechanism control module, which can control the movement of the lifting mechanism to change the height and / or angle of the pillow according to the sleeping posture information transmitted by the sleeping posture judgment module.

5. A pillow, comprising at least one upper pillow surface and at least one lifting mechanism, wherein the lifting mechanism can be lifted and lowered to drive the upper pillow surface to lift and / or tilt, wherein: It comprises at least one distance sensor array, which is arranged above / obliquely above the human body, and there is an angle between the detection direction of the distance sensor array and the bed surface that is greater than 0 degrees and less than 90 degrees; The distance sensor array includes at least one distance sensor capable of measuring the distance from the target area to the sensor; It includes at least one sleeping posture determination module, and the sleeping posture determination module can receive the distance value transmitted by the distance sensor array; The sleeping posture determination module can convert the distance values ​​measured by each distance sensor into the distance from the target area to the horizontal reference plane and / or the vertical reference plane; The sleeping posture determination module can determine the human body part corresponding to each target area according to the distance from each target area to the horizontal reference plane and / or the vertical reference plane; The sleeping posture determination module can determine the sleeping posture according to the position of the head and / or the position / posture of the shoulders and / or the positional relationship between the head and shoulders; It includes at least one lifting mechanism control module, which can control the movement of the lifting mechanism to change the height and / or angle of the pillow according to the sleeping posture information transmitted by the sleeping posture judgment module.

6. A pillow, comprising at least one upper pillow surface and at least one lifting mechanism, wherein the lifting mechanism can be lifted and lowered to drive the upper pillow surface to lift and / or tilt, wherein: The device comprises at least one distance sensor array, wherein the distance sensor array is arranged above / obliquely above the human body; The distance sensor array comprises at least three distance sensors, and the distance sensors are arranged on the distance sensor array in a spherical surface or a three-dimensional curved surface; It includes at least one sleeping posture determination module, and the sleeping posture determination module can receive the distance value transmitted by the distance sensor array; The sleeping posture determination module can convert the distance values ​​measured by each distance sensor into the distance from the target area to the YZ reference plane and / or the ZX reference plane and / or the XY reference plane; The sleeping posture judgment module can determine the human body part corresponding to each target area according to the distance from each target area to each reference surface; The sleeping posture determination module can determine the sleeping posture according to the position of the head and / or the position / posture of the shoulders and / or the positional relationship between the head and shoulders; It includes at least one lifting mechanism control module, which can control the movement of the lifting mechanism to change the height and / or angle of the pillow according to the sleeping posture information transmitted by the sleeping posture judgment module.

7. A pillow, comprising at least one upper pillow surface and at least one lifting mechanism, wherein the lifting mechanism can be lifted and lowered to drive the upper pillow surface to lift and / or tilt, wherein: The pillow comprises at least one distance sensor, which is arranged above / diagonally above the pillow and can measure the distance from the target area to the sensor; The distance sensor is mounted on a swing base, and the swing base can drive the distance sensor to swing around the X-axis and / or the Z-axis, scan the human body / pillow surface / bed surface / quilt covering the human body, measure the distance from the target area to the distance sensor, and record the angle between the center line of the distance sensor measurement direction and the X-axis, Y-axis, and Z-axis when the distance is measured; The device comprises at least one sleeping posture determination module, and the distance information and the angle information measured by the distance sensor can be transmitted to the sleeping posture determination module, and the sleeping posture determination module can calculate the distance value from the target area to the YZ reference plane and / or the ZX reference plane and / or the XY reference plane according to the measured distance and angle; The sleeping posture determination module can determine the human body part corresponding to the target area and the position of the human body part in the X direction, Y direction, and Z direction according to the distance value from the target area to the reference surface; The sleeping posture determination module can determine the sleeping posture according to the position of the head and / or the position / posture of the shoulders and / or the positional relationship between the head and shoulders; It includes at least one lifting mechanism control module, which can control the movement of the lifting mechanism to change the height and / or angle of the pillow according to the sleeping posture information transmitted by the sleeping posture judgment module.

8. A pillow, comprising at least one upper pillow surface and at least one lifting mechanism, wherein the lifting mechanism can be lifted and lowered to drive the upper pillow surface to lift and / or tilt, wherein: It comprises at least one phased array radar and / or phased array ultrasonic radar, and the phased array radar and / or phased array ultrasonic radar are arranged above / obliquely above the pillow; The phased array radar and / or phased array ultrasonic radar can scan the human body / pillow surface / bed surface / quilt covering the human body, measure the distance to the target area, and record the angle between the beam centerline and the X-axis, Y-axis, and Z-axis when the distance is measured; The invention comprises at least one sleeping posture determination module, and the distance information and angle information measured by the phased array radar and / or the phased array ultrasonic radar can be transmitted to the sleeping posture determination module, and the sleeping posture determination module can calculate the distance value from the target area to the YZ reference plane and / or the ZX reference plane and / or the XY reference plane according to the measured distance and angle; The sleeping posture determination module can determine the human body part corresponding to the target area and the position of the human body part in the X direction, Y direction, and Z direction according to the distance from the target area to the reference surface; The sleeping posture determination module can determine the sleeping posture according to the position of the head and / or the position / posture of the shoulders and / or the positional relationship between the head and shoulders; It includes at least one lifting mechanism control module, which can control the movement of the lifting mechanism to change the height and / or angle of the pillow according to the sleeping posture information transmitted by the sleeping posture judgment module.

9. A pillow, comprising at least one upper pillow surface and at least one lifting mechanism, wherein the lifting mechanism can be lifted and lowered to drive the upper pillow surface to lift and / or tilt, wherein: The device comprises at least one distance sensor, which is arranged on a displacement mechanism, and the displacement mechanism can drive the distance sensor to translate in an XZ or XY plane, scan a human body / a pillow surface / a bed surface / a quilt covering the human body, measure the distance from the target area to the distance sensor, and record the position of the distance sensor in the X direction / Z direction or the X direction / Y direction when the distance is measured; It includes at least one sleeping posture judgment module, and the distance information and position information measured by the distance sensor can be transmitted to the sleeping posture judgment module; the sleeping posture judgment module can judge the human body part corresponding to the target area and the position of the human body part in the X direction, Z direction and / or Y direction according to the distance value to the target area; The sleeping posture determination module can determine the sleeping posture according to the position of the head and / or the position / posture of the shoulders and / or the positional relationship between the head and shoulders; It includes at least one lifting mechanism control module, which can control the movement of the lifting mechanism to change the height and / or angle of the pillow according to the sleeping posture information transmitted by the sleeping posture judgment module.

10. The pillow according to any one of claims 1 to 6, characterized in that: The distance sensor array and / or the distance sensor array supporting structure is connected to the upper pillow surface or the lifting mechanism, and can be lifted and lowered together with the upper pillow surface or the lifting mechanism.

11. The pillow according to claim 7 or 9, characterized in that: The distance sensor and / or the distance sensor supporting mechanism is connected to the upper pillow surface or the lifting mechanism, and can be lifted and lowered together with the upper pillow surface or the lifting mechanism.

12. The pillow according to claim 8, characterized in that: The phased array radar / phased array ultrasonic radar or its supporting mechanism is connected to the upper pillow surface or the lifting mechanism, and can be lifted and lowered together with the upper pillow surface or the lifting mechanism.

13. The pillow according to any one of claims 1 to 6, characterized in that: The distance sensors in the distance sensor array have different spacings in the X direction and / or the Z direction.

14. The pillow according to claim 1 or 2, characterized in that: There is an angle greater than 10 degrees between the center line of the distance sensor measurement direction in the distance sensor array and the Y axis.

15. The pillow according to claim 3 or 4, characterized in that: There is an angle greater than 10 degrees between the center line of the distance sensor measurement direction in the distance sensor array and the Z axis.

16. The pillow according to any one of claims 1 to 9, characterized in that: It includes at least one indicating light source, which can emit a light beam to form a light spot and / or pattern on the target; The indicating light source is arranged on a distance sensor array substrate / housing or a distance sensor base / housing or a radar substrate / base / housing, and has a fixed positional relationship with the distance sensor or the radar.

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