Posture estimation method and thermal massage mattress using the same

Abstract

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

Description

[Technical field]

[0001] The present invention relates to a posture estimation method and a thermal massage mattress utilizing the same.

[0002] Specifically, the present invention relates to a thermal massage mattress that utilizes a whole body pressure measuring sensor to estimate the lying posture of a person lying on the mattress and can perform various treatments based on the estimated posture of the person. [Background technology]

[0003] Technology is being developed that can detect the posture of a person lying on a mattress and induce a stable posture based on the detected posture. Methods of detecting posture include determining posture through the numerical value and distribution of body pressure measured by a person on a two-dimensional flat mattress, photographing and analyzing human motion, and combining these methods.

[0004] However, the developed body pressure measurement method had the problem that it could only be applied when the user was lying down with their head and feet facing in a specific direction, and the motion shooting method had the problem that the mattress installation position was limited for shooting, and it was not possible to cover it with a blanket. Summary of the Invention [Problem to be solved by the invention]

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

[0006] Another object of the present invention is to provide a posture estimation method capable of accurately estimating a lying posture even if a user lies down freely without knowing the direction in which to lie down.

[0007] The present invention also provides a posture estimation method capable of accurately estimating a user's lying down posture.

[0008] Another object of the present invention is to provide a thermal massage mattress capable of providing a massage in accordance with the user's lying position.

[0009] Another object of the present invention is to provide a thermal massage mattress that can grasp a user's sleep pattern according to the user's lying position and create the best sleeping environment.

[0010] Another object of the present invention is to provide a thermal massage mattress that can prevent bedsores by measuring the user's lying position.

[0011] The technical problem of the present invention is not limited to the object mentioned above, and other objects and advantages of the present invention not mentioned can be understood from the following description and can be more clearly understood from the embodiment of the present invention. In addition, it is easily understood that the objects and advantages of the present invention can be realized by the means and combinations thereof described in the claims. [Means for solving the problem]

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

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

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

[0015] The variables may include at least one of a pressure value (force), a pressure action area (area), a maximum pressure location (peak pressure), and an area mean pressure (mean pressure).

[0016] The variables may be extracted as percentages.

[0017] Extracting it as a percentage allows for error-free body pressure analysis for people with different body types and weights.

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

[0019] The lying position may be classified into a supine position, a prone position, and a side-lying position.

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

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

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

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

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

[0025] The partitioning of the intervals may be performed by a learned algorithm.

[0026] The division of the sections may be performed according to specified predetermined body proportions.

[0027] The division of said intervals may be performed by a learned algorithm or, if the division cannot be performed by a learned algorithm, according to a specified predefined body proportion.

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

[0029] The pose estimation algorithm may include a first scanning direction from head to foot in a longitudinal direction, and a second scanning direction extending to the left and right, in which the analysis is performed sequentially for each section. That is, the first scanning direction may be the longitudinal direction, and the second scanning direction may be the lateral direction.

[0030] The judgment criteria may include whether the pressure application area is symmetrical in a predetermined section. Preferably, the symmetrical criteria may be an imaginary axis extending in a longitudinal direction through the head. The imaginary axis may be parallel to the first scanning direction.

[0031] The judgment criterion may include whether or not the maximum pressure position is present in a predetermined section. Such judgment criterion may be whether the maximum pressure position is present in the corresponding section, or whether the maximum pressure position is not present in the corresponding section.

[0032] The judgment criterion may include whether the width of the pressure application area in a predetermined section is greater than its length. The judgment criterion may be that the length of the pressure application area in the corresponding section is greater than its width, or that the width of the pressure application area in the corresponding section is greater than its length.

[0033] The judgment criteria may include whether the pressure value in the predetermined section is recognized to be equal to or greater than a reference value, which may include whether the pressure value is not measured in the predetermined section or whether the pressure value is measured below a predetermined value.

[0034] The judgment criteria may include at least one of the judgment criteria described above.

[0035] The posture estimation algorithm determines whether the body pressure characteristic meets an estimation criterion in the estimation section, and if so, further checks whether the body pressure characteristic meets a verification criterion in the verification section to identify a lying down posture.

[0036] The estimated section may include at least one of a section including a shoulder, a section including a lumbar vertebrae, and a section including a buttocks and thighs.

[0037] Preferably, the section including the shoulders may be an estimation section for estimating a sideways sleeping posture.

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

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

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

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

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

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

[0044] The posture estimation algorithm can identify the user's posture as a side-sleeping posture if the body pressure characteristics meet the estimation criteria for a side-sleeping posture in a section including the shoulders and meet the verification criteria for a side-sleeping posture in a section including the buttocks.

[0045] Preferably, the estimation criteria may include that the pressure acting area in the corresponding section is asymmetric.

[0046] Preferably, the verification criterion may include that a maximum pressure position exists in the corresponding section.

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

[0048] Furthermore, the posture estimation algorithm can identify the user's posture as lying on his / her back if the body pressure characteristic meets a second verification criterion for lying on his / her back in a section including the buttocks.

[0049] Preferably, the estimation criteria may include whether or not a pressure value in a corresponding section is recognized to be equal to or lower than a reference value.

[0050] Preferably, the first verification criterion may include at least one of the following: that the pressure application area is symmetrical in the corresponding section; and that the length of the pressure application area is greater than the width.

[0051] Preferably, the second verification criterion may include that a maximum pressure position exists in the relevant section.

[0052] The posture estimation algorithm can identify the user's posture as being supine if the body pressure characteristics meet the estimation criteria for a supine posture in the area including the buttocks and thighs and meet the verification criteria for a supine posture in the area including the buttocks and thighs.

[0053] Preferably, the estimation criteria may include that the pressure application area is symmetrical and the width of the pressure application area is greater than the length of the pressure application area in the corresponding section.

[0054] Preferably, the verification criterion may include that a maximum pressure position exists in the corresponding section.

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

[0056] Preferably, the estimation criteria may include that the pressure application area is symmetrical in the corresponding section and the length of the pressure application area is greater than the width.

[0057] Preferably, the verification criteria may include that the maximum pressure position does not exist in the corresponding section.

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

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

[0060] The mattress can extract physical information such as the user's body pressure distribution, height, and weight from the information sensed through the sensors, thereby classifying or identifying the user.

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

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

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

[0064] The arithmetic and control unit may extract biosignals (heart rate, respiratory rate, etc.) from changes in pressure measured by the pressure sensor of the user, thereby learning sleep patterns.

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

[0066] This allows the report to also provide information about sleep disorders like snoring and sleep apnea.

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

[0068] The mattress may further include a temperature sensor for sensing the body temperature of the user.

[0069] The arithmetic and control unit can control the temperature locally at a predetermined position of the mattress through the heating function of the ceramic, and can also control the temperature in a predetermined area or the entire area by moving the heating ceramic.

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

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

[0072] For example, the arithmetic and control unit may recommend or provide an optimal massage mode that matches a body pressure distribution of a user. For example, the body pressure distribution may be a body pressure distribution associated with the spine, and the recommended massage mode may be a massage mode for the spine, and the massage mode may be determined to reflect the body pressure distribution.

[0073] As another example, the arithmetic and control unit may learn a mode preferred by a user having a similar body pressure distribution using an artificial intelligence algorithm, and provide the learned massage mode, which may be a mode for intensively massaging a specific part.

[0074] As another example, the arithmetic and control unit may set and provide a safety mode that corresponds to a supine position, a prone position, or a sideways sleeping position and is activated in the corresponding position.

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

[0076] When the calculation and control unit determines from the pressure information that changes over time that a specific area is subject to continuous pressure above a specific value, it can move the massage ceramics to change the patient's position to prevent bedsores.

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

[0078] According to the posture estimation method of the present invention, the lying down posture of the user can be accurately estimated.

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

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

[0081] The thermal massage mattress of the present invention is capable of massaging the user in accordance with his / her lying position.

[0082] The thermal massage mattress of the present invention is capable of understanding the user's sleep patterns and creating the best possible sleeping environment.

[0083] The thermal massage mattress of the present invention measures and continuously monitors the user's lying position, and uses ceramics to change the user's position, thereby preventing bedsores.

[0084] In addition to the above-mentioned effects, specific effects of the present invention will be described below together with specific matters for carrying out the invention. [Brief description of the drawings]

[0085] [Figure 1]FIG. 1 shows a mattress according to the present invention in a position where a user lies down on it. [Diagram 2] 2 is a graph showing a body pressure distribution measured by pressure sensors arranged in a two-dimensional matrix form when the user of FIG. 1 is lying down; [Diagram 3] 1 is a graph showing a state in which a body pressure distribution measured by a pressure sensor is divided into a plurality of sections. [Figure 4] The graphs show the state divided into multiple sections corresponding to the body pressure distribution of a user lying down in various postures, where (a) shows the side sleeping posture, (b) shows the supine posture, and (c) shows the prone posture. [Diagram 5] 2 is a flow chart of a posture estimation method according to an embodiment; [Figure 6] 1 is a perspective view showing one embodiment of a thermal ceramic applied to a mattress of the present invention and a guide rail for guiding the thermal ceramic. [Figure 7] FIG. 7 is a plan view of the thermal ceramic of FIG. 6. [Figure 8] 8 is a plan view showing a state in which the calculation control unit aligns the thermal ceramics of FIG. 7 to correspond to the lying-down posture of the user. FIG. [Figure 9] FIG. 9 is a side view of the thermal ceramic of FIG. 8. [Figure 10] FIG. 7 is an enlarged perspective view of the thermal ceramic from FIG. 6 with the guide rails omitted. [Figure 11] FIG. 11 is a side view of FIG. [Figure 12] 12 is a side view showing a state in which the lift body has been raised from the state shown in FIG. 11. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0086] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0087] The present invention is not limited to the embodiments disclosed below, and may be embodied in various different forms and may be modified in various ways. The present embodiments are merely provided to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention. Therefore, the present invention is not limited to the embodiments disclosed below, and should be understood to include all modifications, equivalents, and alternatives within the technical spirit and scope of the present invention, as well as the substitution or addition of the configuration of any one embodiment and the configuration of another embodiment.

[0088] The accompanying drawings are merely for the purpose of making the embodiments disclosed in the present specification easily understandable, and the accompanying drawings are not intended to limit the technical ideas disclosed in the specification, and should be understood to include all modifications, equivalents, or alternatives included in the idea and technical scope of the present invention. In the drawings, the size and thickness of components may be exaggerated or exaggerated for the convenience of understanding, but the scope of protection of the present invention should not be interpreted as being limited thereby.

[0089] The terms used in this specification are merely used to describe specific examples and embodiments, and are not intended to limit the present invention. In addition, singular expressions include plural expressions unless otherwise specified in the context. In the specification, terms such as "includes" and "comprises" are intended to specify the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification. In other words, in the specification, terms such as "includes" and "comprises" should be understood as not precluding the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0090] Terms including ordinal numbers such as "first", "second", etc. may be used to describe various components, and the components are not limited by the terms. The terms are used only to distinguish one component from another. Therefore, unless otherwise specified, a first component may be a second component.

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

[0092] When a component is referred to as being "on top of" or "on bottom of" another component, it should be understood that it is not just the component that is directly on top of the other component, but that there may be other components in between.

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

[0094] Throughout the specification, "A and / or B" means A, B, or A and B, unless specifically stated to the contrary, and "C through D" means at least C and at most D, unless specifically stated to the contrary.

[0095] [Pose estimation method] Hereinafter, a method for estimating a user's lying down posture according to an embodiment of the present invention will be described with reference to FIGS.

[0096] The posture estimation method of the embodiment may be applied to a thermal massage mattress 10. The mattress 10 provides a rectangular flat bottom on which a user U can lie down. The mattress 10 may be in various forms such as a fixed type, a folding / unfolding type, a roll / unrolling type, etc., and the present invention does not limit the unfolding type of the mattress 10.

[0097] A plurality of pressure sensors 11 may be embedded in the mattress 10 in a two-dimensional matrix lattice form. Thus, when a user lies on the mattress 10, each pressure sensor 11 measures the body pressure acting on a corresponding part and provides the measured pressure to the calculation control unit 60 as an electrical signal.

[0098] The pressure sensor 11 may be a pressure sensor that is so flexible that the position of the pressure sensor cannot be grasped even when the user U lies down.

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

[0100] 2, even if the user lies slightly diagonally, the calculation and control unit 60 can analyze the body pressure distribution of the user and accurately determine the longitudinal direction and the lateral direction. It is obvious that the above analysis and determination can be performed even if the user lies with the head and feet facing in the opposite direction.

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

[0102] In the embodiment, the section is exemplified by dividing the section into five sections, which may be a first section L1 including the head, a second section L2 including the shoulders, chest, and back, a third section L3 including the stomach, waist, and lumbar vertebrae, a fourth section L4 including the buttocks and thighs, and a fifth section L5 including the calves.

[0103] However, the division positions of each section should not be limited to this. For example, the fourth section may be a section including only the buttocks, and the fifth section may be a section including not only the calves but also the feet.

[0104] The demarcation of said intervals may be performed by a learned algorithm, or, if this is not possible, according to specified predefined body proportions.

[0105] For example, the body proportions may be designated based on the "Korean Body Standard Information" database implemented by the National Agency for Technology and Standards of the Ministry of Trade, Industry and Energy of Korea. Specifically, referring to the database based on the "8th Human Body Measurement Survey Project," the height of the user may be recognized based on a male in his 30s, and then, from the top and bottom of the height direction, i.e., from head to foot, the first section may be 15%, the second section may be 16%, the third section may be 12.7%, the fourth section may be 28.8%, and the fifth section may be 27.5%.

[0106] The first zone may be from the top of the body to the back of the neck, the second zone from the back of the neck to below the breast, the third zone from below the breast to the waist, the fourth zone from the waist to the middle of the kneecap, and the fifth zone from the middle of the kneecap to the bottom of the body.

[0107] 4, the characteristics of the body pressure distribution in each section can be clearly distinguished according to the user's lying posture. For reference, (a) shows the side lying posture, (b) shows the back lying posture, and (c) shows the prone posture.

[0108] It can be seen that the first section L1 has one pressure acting area in the center of the short side in any case. The calculation control unit 60 can grasp the characteristics of such pressure acting area and quickly grasp the position of the head and use it as a reference.

[0109] In the second section L2, the difference between the side-sleeping position (a) and the other positions (b, c) is clearly distinguished. That is, it is clear that the side-sleeping position (a) is different from the other positions in that the pressure acting area corresponding to the shoulders is asymmetrical, and the pressure values ​​are also asymmetrical.

[0110] In the third section L3, the difference between the supine posture (b) and the other postures (a, c) is clearly distinguished. That is, the supine posture (b) is different from the other postures in that the pressure value corresponding to the lumbar vertebrae is small and the pressure acting area is also very small.

[0111] Considering the fourth section L4, the side-lying position (a) and the back-lying position (b) have the highest pressure points at the buttocks, whereas the prone position (c) does not.

[0112] If we consider the fourth section L4 again, we can see that the pressure application area and pressure value are symmetrical in the supine position (b) and prone position (c), whereas this is not the case in the side sleeping position (a).

[0113] If we consider the fourth section L4 again, in the supine position (b), the left-right width of the pressure application area is longer than its longitudinal length, whereas in the prone position (c), the longitudinal length of the pressure application area is longer than its left-right width.

[0114] Considering the fifth section L5, in the supine position (b), the pressure values ​​and pressure action area are symmetrical, and the longitudinal length of the pressure action area is longer than the lateral width, whereas the other positions (a, c) do not have any of these characteristics.

[0115] In this way, in order to clearly extract features that distinguish a specific posture from other postures and increase the reliability of the posture estimation result, in the posture estimation method of the embodiment, the calculation control unit 60 extracts the pressure value (force), pressure action area (area), maximum pressure position (peak pressure), and area mean pressure (mean pressure) as variables in proportions from the measured pressure information of a two-dimensional matrix.

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

[0117] The meaning of extracting as a ratio can be understood as applying the opposite value of a numerical value, not the absolute value of a numerical value. For example, the pressure values ​​at each point in the pressure information of a two-dimensional matrix measured from a person weighing 50 kg may be generally lower than the pressure values ​​at each point in the pressure information of a two-dimensional matrix measured from a person weighing 80 kg. In this way, when estimating posture based on the absolute values ​​of numerical values ​​that differ from person to person, there is a possibility that errors may occur during the estimation process.

[0118] On the other hand, if the variables are extracted as a ratio, standardized variables can be derived regardless of the difference in weight or body shape between people. For example, the value obtained by dividing the pressure information of a two-dimensional matrix measured from a person weighing 50 kg by 50 means a predetermined ratio, and the value obtained by dividing the pressure information of a two-dimensional matrix measured from a person weighing 80 kg by 80 also means a predetermined ratio. By extracting the variables of two people as a ratio in this way, the posture can be estimated from the standardized variables regardless of the user's body shape or weight, thereby increasing the reliability of the posture estimation result.

[0119] An algorithm for estimating posture from such extracted variables may involve sequential analysis of each section in a first direction from head to foot (first scan direction), as shown in Figure 3, and additional analysis in a second direction corresponding to the short side direction (second scan direction).

[0120] As will be described later, this scanning direction is the direction that can most quickly and accurately implement the posture estimation algorithm, and therefore, the side sleeping posture can be most quickly identified, and the supine posture and the prone posture can be quickly identified in sequence.

[0121] This is because the estimation interval for each posture is located close to the head, and if the estimation criteria are met in the estimation interval for each posture, other analyses can be skipped and it can be immediately checked whether the verification criteria are met in the verification interval.

[0122] The arithmetic and control unit 60 extracts the body pressure distribution data measured by the pressure sensor 11 as the variables explained above, and estimates the posture according to the algorithm shown in FIG.

[0123] First, it is determined whether body pressure is recognized in the first section L1 (S01). If head pressure is recognized, it can be said that there is no problem with the extracted variables, and proceed to the next step (S02). On the other hand, if body pressure is not recognized, it cannot be excluded that there is an error in the extracted variables, so it is reset and the algorithm ends.

[0124] Next, it is determined whether the pressure values ​​and pressure acting areas are symmetrical in the second section L2 (S02). The second section L2 includes the shoulders and may be an estimated section for a sideways sleeping posture.

[0125] If the variables extracted in the second section L2 are asymmetric, this is the basis for estimating that the sleeping position is sideways. In other words, the criterion for estimating that the sleeping position is sideways is that the body pressure characteristics in the second section L2 are asymmetric.

[0126] If the body pressure characteristics in the estimated section of the side sleeping position match the estimation criterion, verification is performed (S03). The verification is performed by determining whether the maximum pressure position is in the section corresponding to the buttocks in the fourth section L4 including the buttocks. That is, the verification section of the side sleeping position is the fourth section L4, and the verification criterion of the side sleeping position is that the maximum pressure position is in the section corresponding to the buttocks.

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

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

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

[0130] The step (S04) judges whether the body pressure is recognized in the third section L3 or whether the body pressure is equal to or less than a predetermined value. If the lumbar body pressure is not recognized or is recognized insignificantly, this is a basis for estimating the supine posture. That is, the third section L3 may be an estimation section of the supine posture, and the fact that the body pressure is insignificant or not recognized may be an estimation criterion of the supine posture.

[0131] If the body pressure characteristics in the estimated region of the supine position match the estimation criteria, verification is performed (S05). The verification step includes a procedure of checking whether the body pressure distribution in the fifth region L5 is symmetrical and whether the length of the pressure acting region is longer than the width.

[0132] That is, the fifth section L5 may be a verification section in a supine position, and a pressure acting region that is symmetrical on the left and right sides of the body pressure distribution and is longer in the longitudinal direction may be a verification criterion.

[0133] If the body pressure distribution meets the verification criteria, additional verification (S06) is performed. The additional verification is performed by determining whether the maximum pressure position is present in the section corresponding to the buttocks in the fourth section L4 including the buttocks. That is, the additional verification section for the supine position is the fourth section L4, and the additional verification criterion for the supine position is that the maximum pressure position is present in the section corresponding to the buttocks.

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

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

[0136] If the body pressure distribution in the fourth section L4 is symmetrical and the length of the pressure acting area is greater than the width, this is estimated to be a prone position (S07). In other words, the fourth section L4 is an estimated section for a prone position, and being symmetrical and the length of the pressure acting area being greater than the width is an estimated criterion for a prone position.

[0137] If it is determined in step S07 that the posture is prone, a verification step S08 is performed to check whether the maximum pressure position is not present in the fourth section L4 that includes the buttocks. That is, the fourth section L4 becomes a verification section for the prone posture, and the absence of the maximum pressure position becomes the verification criterion.

[0138] If the maximum pressure position does not exist in the section including the buttocks in step (S08), the algorithm determines that the user U is lying down in a prone position, and ends the algorithm.

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

[0140] On the other hand, if the prone position is not estimated in step S07, that is, if the body pressure distribution is symmetrical but the width of the pressure acting area is greater than the length, then the body is estimated to be lying on its back. That is, the fourth section L4 is the estimated section for lying on its back, and the fact that the pressure acting area is symmetrical but the width is greater than the length is the criterion for estimating lying on its back.

[0141] If it is determined in step S07 that the user U is lying on his / her back, a verification step S06 is performed by determining whether the maximum pressure point is in the section corresponding to the buttocks in the fourth section L4 including the buttocks. If the maximum pressure point is in the section corresponding to the buttocks in the fourth section L4, the algorithm determines that the user U is lying on his / her back and ends the algorithm.

[0142] On the other hand, if this is not the case, a reset is performed and the algorithm is terminated since the data error cannot be eliminated.

[0143] According to the posture estimation algorithm discussed above, the estimation basis of each step is very clear and highly reliable, and each step can be made in a procedure that can quickly and accurately determine the lying down posture.

[0144] [Heat massage mattress] Hereinafter, the thermal massage mattress to which the above-mentioned posture estimation method is applied will be described in detail with reference to Figs.

[0145] A predetermined installation space for installing a massage device 20 shown in FIG. 6 is provided under the surface of the mattress 10 shown in FIG.

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

[0147] 7 and 8, the calculation control unit 60 can align the X-axis direction of the massage device 20 to correspond to a first direction of the body pressure distribution measured and analyzed by the pressure sensor 11. In the embodiment, a method is exemplified in which the X-axis direction is aligned with the first direction by moving at least one of one end and the other end of the massage device 20 in the X-axis direction in the Y-axis direction intersecting with the X-axis.

[0148] The thermal massage ceramic 50 can move back and forth in the X-axis direction. The X-axis may extend parallel to the mattress 10. The thermal massage ceramic 50 can move up and down in the Z-axis direction that intersects with the mattress 10. The Z-axis may be perpendicular to a plane including the mattress 10.

[0149] The driving device 30 includes a lifting unit 40 for moving the thermal massage ceramics 50 in the Z-axis direction and the opposite direction, and a running unit 31 for moving the thermal massage ceramics 50 in the X-axis direction and the opposite direction.

[0150] The running portion 31 includes a pair of guide rails 33 extending in the X-axis direction and spaced apart in the Y-axis direction that is perpendicular to the Z-axis direction and the X-axis direction, and a running body 35 that runs along the guide rails 33 in the X-axis direction and the opposite direction.

[0151] The guide rails 33 may be arranged, for example, spaced apart in the Y-axis direction across the human spine. The Y-axis direction may be the left-right direction. The guide rails 33 do not have to extend straight in the X-axis direction. For example, the guide rails 33 may have a bend within a range that substantially corresponds to the extension direction of the human spine.

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

[0153] A thermal massage ceramic 50 is installed on the lifting unit 40. The lifting unit 40 is installed on the running body 35 so that the thermal massage ceramic 50 can move relatively in the Z-axis direction and the opposite direction with respect to the running body 35.

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

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

[0156] A pair of ceramics 50 are provided on both ends of the pivot arm 51 in the X-axis direction, and are rotatable about a rotation center R3 extending in the Y-axis direction. The imaginary axis of the rotation center R3 may pass through each of the ceramics 50.

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

[0158] The ceramic may be a heater having a heat generating portion built therein.

[0159] The traveling operation of the traveling body 35 and the lifting operation of the lifting unit 40 may be controlled by the calculation control unit 60. That is, the calculation control unit 60 may control the driving device 30 to move the thermal massage ceramics 50 in the Z-axis direction and the opposite direction, or in the X-axis direction and the opposite direction.

[0160] In the embodiment, a structure is illustrated in which the lifting body 41 is rotated about the lifting center R1 at the other end in the X-axis direction to lift and lower one end of the lifting body 41 in the X-axis direction in order to move the thermal massage ceramic 50 in the Z-axis direction and the opposite direction. However, in order to move the thermal massage ceramic 50 in the Z-axis direction and the opposite direction, the lifting body 41 can also be rotated about the lifting center R1 at one end in the X-axis direction to lift and lower the other end of the lifting body 41 in the X-axis direction. Additionally, it is of course possible to slide the lifting body 41 in the Z-axis direction and the opposite direction relative to the traveling body 35 to move the thermal massage ceramic 50 in the Z-axis direction and the opposite direction.

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

[0162] The calculation control unit 60 can analyze the change in the user's sleep behavior through the transition of the pressure information measured by the pressure sensor 11 over time. The change in the sleep behavior may include the user turning over in his / her sleep or changing the lying position.

[0163] The arithmetic and control unit 60 can also extract biosignals (heart rate, respiratory rate, etc.) from changes in pressure measured by a pressure sensor of the user.

[0164] The arithmetic and control unit 60 can learn the sleep pattern of the user U through the above-mentioned data analysis.

[0165] The arithmetic and control unit 60 can analyze the four-step sleep state of the user U through the above-mentioned data analysis and sleep pattern learning.

[0166] Sleep can be divided into several stages, including rapid eye movement (REM) sleep, in which the eyes move rapidly, and non-rapid eye movement (NREM) sleep, in which the eyes do not move rapidly.

[0167] Rapid eye movement (REM) sleep is a type of sleep in which we dream and are characterized by irregular heartbeats and breathing. Neuroscientists claim that it is during this REM sleep that memories are stored.

[0168] Non-REM (NREM) sleep is also classified into four stages, from light sleep (step 1) to deep sleep (step 4), depending on the depth of sleep. Sleep goes from steps 1-2 to steps 3-4, and then changes to REM sleep. This process is repeated 3-5 times throughout the night.

[0169] There is still much debate as to which is the deeper sleep, REM or NREM, and all sleep in the fetus is REM. In general, for adults, more than half of sleep is light NREM sleep, with deep sleep making up less than 15% and REM sleep making up about 25%.

[0170] The sleep state thus analyzed can be provided to the user in the form of a report.

[0171] In addition, through the changes in body pressure described above, information regarding sleep disorders such as snoring and sleep apnea can also be analyzed and this can also be provided in a report.

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

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

[0174] The arithmetic and control unit 60 can perform local temperature control for a predetermined position of the mattress 10 through the heating function of the ceramic 50 .

[0175] In addition, the arithmetic and control unit 60 can control the temperature of a specific area of ​​the mattress 10 by periodically moving the thermal ceramic. According to this principle, it is obvious that the temperature of the entire area of ​​the mattress 10 can also be controlled.

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

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

[0178] Here, the body pressure distribution may be a body pressure distribution associated with the spine.

[0179] Here, the recommended massage mode may be a massage mode for the spine.

[0180] Here, the massage mode may be determined in accordance with the body pressure distribution.

[0181] The arithmetic and control unit 60 learns the modes preferred by users having similar body pressure distributions using an artificial intelligence algorithm.

[0182] The arithmetic and control unit 60 can provide the massage mode thus learned.

[0183] The arithmetic and control unit 60 can provide a mode for intensively massaging a specific optimum part in response to the body pressure distribution due to the identified user and his / her sleeping posture.

[0184] The calculation and control unit 60 can set and provide a safety mode that is activated in a corresponding posture, such as lying on one's back, lying on one's stomach, or lying on one's side.

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

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

[0187] The arithmetic and control unit 60 can set the movement trajectory of the ceramics based on the extracted body pressure distribution of the user.

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

[0189] In addition, the calculation and control unit 60 continuously monitors pressure information that changes over time. If the calculation and control unit 60 determines that a pressure equal to or greater than a predetermined value is continuously applied to a predetermined area during the monitoring, it can change the posture of the user U using the massage ceramics 50. This can prevent bedsores.

[0190] The above-described embodiments are illustrative in all respects and should not be construed as limiting, and the scope of the present invention is defined by the claims set forth below rather than the above detailed description. The meaning and scope of the claims set forth below should of course be interpreted as including all modifications and variations derived from the equivalent concept within the scope of the present invention.

[0191] As described above, the present invention has been described with reference to the drawings illustrating the present invention, but the present invention is not limited to the embodiments and drawings disclosed in this specification, and it is obvious that various modifications may be made by those skilled in the art within the scope of the technical concept of the present invention. In addition, even if the effects of the configuration of the present invention are not explicitly described while describing the embodiments of the present invention, it is natural that the effects that can be predicted by the corresponding configuration should also be recognized. [Explanation of symbols]

[0192] 10 Massage Mattress 11 Pressure Sensor 20 Massage Device 30 Drive unit 31 Running part 33 Guide rail 35 Running body 36 Wheels 40 Lifting section 41 Lifting body R1 Center of elevation 50 Thermal Massage Ceramics 51 Pivot arm R2 pivot center R3 Rotation center 60 Calculation control unit U User L1 First section (head section) L2 Second section (shoulder-chest section) L3 Third section (abdominal-lower back section) L4 4th section (buttocks and thighs section) L5 Fifth section (calf / foot section)

Claims

1. measuring pressure at each position through a plurality of pressure sensors arranged in a two-dimensional matrix; A body pressure characteristic extraction step of extracting pressure location and pressure intensity as variables from the measured pressure information of the two-dimensional matrix; and estimating a lying-down posture from the extracted variables by a posture estimation algorithm.

2. The method of claim 1 , wherein the variables include at least one of a pressure value (force), a pressure action area (area), a maximum pressure position (peak pressure), and an area mean pressure (mean pressure).

3. The method of claim 1 , wherein the variables are extracted as percentages.

4. The posture estimation method according to claim 1 , wherein the posture estimation algorithm divides a two-dimensional matrix into a plurality of sections along a longitudinal (dorsal) direction of the human body based on the body pressure characteristics.

5. 5. The posture estimation method of claim 4, wherein the plurality of sections include a first section corresponding to a head, a second section corresponding to shoulders, chest and back, a third section corresponding to a stomach and lumbar vertebrae, a fourth section corresponding to buttocks and thighs, and a fifth section corresponding to calves and feet.

6. The posture estimation method according to claim 4 , wherein the posture estimation algorithm estimates the lying posture by determining whether a body pressure characteristic in a predetermined section meets a predetermined criterion.

7. The posture estimation method according to claim 6 , wherein the posture estimation algorithm performs an analysis for each section in a direction from the head to the feet, and performs an analysis in a transverse direction as a supplementary step.

8. The criteria are: Whether the pressure acting area is symmetrical in a given section; Whether the maximum pressure position is in a predetermined section or not; Whether the width of the pressure application area is greater than its length in a given section; and The posture estimation method according to claim 6 , further comprising determining whether or not a pressure value is recognized to be equal to or greater than a reference value in a predetermined section.

9. The posture estimation method according to claim 6 , wherein the lying posture is classified into a supine posture, a prone posture, and a sideways sleeping posture.

10. The pose estimation algorithm comprises: The posture estimation method according to claim 4 , further comprising the step of: determining whether the body pressure characteristic meets an estimation criterion in an estimation section and a verification criterion in a verification section to identify the lying posture.

11. The estimated section includes at least one of a section including a shoulder, a section including a lumbar vertebrae, and a section including a buttocks and thighs, The posture estimation method according to claim 10 , wherein the verification section includes at least one of a section including a buttocks, a section including a buttocks and thighs, and a section including a calf.

12. The pose estimation algorithm comprises:

5. The posture estimation method of claim 4, wherein if the body pressure characteristics match an estimation criterion for a sideways sleeping posture in a section including the shoulders and match a verification criterion for a sideways sleeping posture in a section including the buttocks, the user's posture is identified as a sideways sleeping posture.

13. The estimation criteria include that the pressure acting area is asymmetric in the corresponding section, The method of claim 11 , wherein the verification criterion includes that a maximum pressure position exists in a corresponding section.

14. The pose estimation algorithm comprises: The posture estimation method according to claim 4, further comprising: identifying the user's posture as being supine if the body pressure characteristics meet an estimation criterion for a supine posture in a section including the lumbar vertebrae and meet a first verification criterion in a section including the calves.

15. The estimation criterion includes whether or not the pressure value is recognized to be equal to or lower than a reference value in the corresponding section; The method of claim 14, wherein the first verification criterion includes at least one of: that the pressure application area is symmetrical in the corresponding section; and that the length of the pressure application area is greater than the width of the pressure application area.

16. The pose estimation algorithm comprises: Furthermore, if the body pressure characteristic satisfies a second verification criterion for a supine posture in a section including the buttocks, the user's posture is identified as a supine posture; The method of claim 15 , wherein the second verification criterion includes that a maximum pressure position exists in a corresponding section.

17. The pose estimation algorithm comprises:

5. The posture estimation method of claim 4, wherein the user's posture is identified as being supine if the body pressure characteristics meet an estimation criterion for a supine posture in a section including the buttocks and thighs and meet a verification criterion for a supine posture in a section including the buttocks and thighs.

18. The estimation criteria include that the pressure acting area is symmetrical in the corresponding section and the width of the pressure acting area is greater than the length of the pressure acting area; The method of claim 17 , wherein the verification criterion includes that a maximum pressure position exists in a corresponding section.

19. The pose estimation algorithm comprises:

5. The posture estimation method according to claim 4, wherein the user's posture is identified as a prone posture when the body pressure characteristics match an estimation criterion for a prone posture in a section including the buttocks and thighs and match a verification criterion for a prone posture in a section including the buttocks.

20. The estimation criteria include that the pressure acting area is symmetrical in the corresponding section and the length of the pressure acting area is greater than the width, The method of claim 19 , wherein the verification criterion includes that a maximum pressure position does not exist in a corresponding section.

21. A massage mattress on which the posture estimation method according to any one of claims 1 to 20 is performed, The mattress comprises: A plurality of pressure sensors arranged in a two-dimensional matrix; A calculation control unit that extracts body pressure characteristics from pressure information measured by the pressure sensor and estimates a posture of a user; a massage ceramic movable in a direction parallel to said two-dimensional matrix and movable in a direction intersecting said two-dimensional matrix.

22. 22. The massage mattress of claim 21, wherein the massage ceramic includes a heat function.

23. The massage mattress according to claim 22, wherein the arithmetic and control unit analyzes changes in the user's sleep behavior from pressure information that changes over time.

24. The massage mattress according to claim 23, wherein the arithmetic and control unit performs temperature control for optimal sleep or prevention of low-temperature burns in response to the analyzed changes in sleep behavior.

25. The massage mattress according to claim 22, wherein the arithmetic and control unit identifies the user from pressure information measured by the pressure sensor.

26. 26. The massage mattress of claim 25, wherein the calculation and control unit recommends a massage mode based on the identified user and the identified user's posture, and automatically sets the position of the massage ceramics.

27. The massage mattress of claim 21, wherein when the calculation control unit determines from pressure information that changes over time that a specific area is subjected to a continuous pressure of a predetermined value or more, it moves the massage ceramics to change the body position to prevent bedsores.

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