Support surface movement control device and support equipment

Abstract

To provide a support surface movement control device that can move a support surface more suitably.SOLUTION: A support surface movement control device that controls the movement of a support surface that supports a user's body includes a physical information acquisition unit that acquires physical information of the user on the support surface, and a movement control unit that automatically starts and executes movement control for moving the support surface. In the movement control, the movement control unit restricts the movement of the support surface when the physical information satisfies a restriction condition.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a support surface movement control device and a support device.

Background Art

[0002] As support devices for supporting the human body, various devices such as beds, sofas, chairs, and wheelchairs are used. Also, as a type of these support devices, those in which a support surface for supporting the human body is configured to be movable are known. For example, in a reclining bed, a reclining sofa, a reclining chair, etc., a portion of the support surface that supports the upper body of a person is pivotable with respect to a horizontal plane.

[0003] Regarding a support device in which the support surface is configured to be movable, it has been proposed to control the movement of the support surface by a control device such as a computer. Patent Document 1 describes a bed device including a back-raising control unit that performs back-raising control and a back-lowering control unit that performs back-lowering control.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In conventional devices, when moving the support surface according to the control by a control device, it is difficult to say that the safety of the user on the support surface is sufficiently ensured. Also, unnecessary movement of the support surface may be executed.

[0006] An object of the present invention is to provide a support surface movement control device and a support device that can move the support surface more suitably.

Means for Solving the Problems

[0007] According to a first aspect of the present invention, a support surface movement control device that controls the movement of a support surface for supporting a user's body, a body information acquisition unit that acquires body information of the user on the support surface, and a movement control unit that automatically starts and executes movement control for moving the support surface, wherein the movement control unit restricts the movement of the support surface when the body information satisfies a restriction condition in the movement control, is provided.

[0008] According to a second aspect of the present invention, a support device including a support surface for supporting a user's body and the support surface movement control device of the first aspect is provided.

Advantages of the Invention

[0009] According to the support surface movement control device and the support device of the present invention, the support surface can be moved more suitably.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

MODE FOR CARRYING OUT THE INVENTION

[0011] <Embodiment> Regarding the floorboard movement control system 100 (FIG. 3) of the embodiment of the present invention, taking the case where the floorboard movement control system 100 is used for a bed 500 (FIG. 1, an example of "supporting equipment") as an example, it will be described with reference to FIGS. 1 to 11.

[0012] [Bed 500] As shown in FIGS. 1 and 2, the bed 500 controlled by the floor board movement control system 100 has a base portion 510, a floor board 520 (an example of a "support surface") supported by the base portion 510, and a movement mechanism 530 for moving the floor board 520. In the following description, the long side direction (the direction of the Y axis in FIG. 2) and the short side direction (the direction of the X axis in FIG. 2) of the bed 500 and the floor board 520 are referred to as the longitudinal direction and the width direction of the bed 500 and the floor board 520, respectively.

[0013] The base portion 510 has a rectangular frame 511 in plan view and four legs 512 provided at the four corners of the frame 511.

[0014] The floor board 520 has, in order from the head side (the positive side in the Y-axis direction in FIG. 2) of the bed 500 along the longitudinal direction of the bed 500, a first floor board 521, a second floor board 522, a third floor board 523, and a fourth floor board 524 (each being an example of a "part of the support surface"). As a guide, the first floor board 521, the second floor board 522, the third floor board 523, and the fourth floor board 524 support the upper body, buttocks, thighs, and lower legs of the user U (FIG. 2) on the floor board 520, respectively.

[0015] The first floor board 521 is located in the vicinity of the second floor board 522 and is pivotable about an axis AX1 extending in the width direction of the bed 500. The second floor board 522 is fixed to the base portion 510. The third floor board 523 is located in the vicinity of the second floor board 522 and is pivotable about an AX3 extending in the width direction of the bed 500. The fourth floor board 524 is connected to the third floor board 523 and is pivotable about an axis AX4 located at the connection point with the third floor board 523 and extending in the width direction of the bed 500.

[0016] The movement mechanism 530 has a first movement mechanism 531 for moving the first floor board 521 and a second movement mechanism 532 for moving the third floor board 523 and the fourth floor board 524. In the present embodiment, the first movement mechanism 531 and the second movement mechanism 532 are electric cylinders, respectively. However, the first movement mechanism 531 and the second movement mechanism 532 may be any actuator.

[0017] By the operation of the first moving mechanism 531, the first floor board 521 pivots around the axis AX1, and is displaced between a horizontal position where the top surface of the first floor board 521 coincides with the horizontal plane (Fig. 1(a)) and a back-lifting position where the top surface of the first floor board 521 is inclined with respect to the horizontal plane (Fig. 1(b), Fig. 1(c)). In the horizontal position, the top surface of the first floor board 521 and the top surface of the second floor board 522 are flush.

[0018] By the operation of the second moving mechanism 532, the third floor board 523 pivots around the axis AX3. At this time, the fourth floor board 524 pivots around the axis AX4 and moves in the vertical direction while maintaining the state where the top surface of the fourth floor board 524 coincides with the horizontal plane. Thereby, the third floor board 523 and the fourth floor board 524 are displaced between a horizontal position where the top surfaces of the third floor board 523 and the fourth floor board 524 coincide with the horizontal plane (Fig. 1(a), Fig. 1(b)) and a knee-lifting position where the top surface of the third floor board 523 is inclined with respect to the horizontal plane, the top surface of the fourth floor board 524 coincides with the horizontal plane, and the fourth floor board 524 is located above the top surface of the second floor board 522 (Fig. 1(c)). In the horizontal position, the top surfaces of the third floor board 523 and the fourth floor board 524 are flush with the top surface of the second floor board 522.

[0019] [Configuration of the Floor Board Movement Control System 100] As shown in Fig. 3, the floor board movement control system 100 of the present embodiment mainly includes a load detection unit 10, a control unit (an example of a "support surface movement control device") 30, and a storage unit 40. The load detection unit 10 and the control unit 30 are connected via an A / D conversion unit 20. A display unit 50, a notification unit 60, and an input unit 70 are further connected to the control unit 30. The first moving mechanism 531 and the second moving mechanism 532 of the bed 500 are connected to the control unit 30.

[0020] The load detection unit 10 includes four load detectors 11, 12, 13, and 14. Each of the load detectors 11, 12, 13, and 14 is a load detector that detects a load using, for example, a beam-shaped load cell. The load detectors 11, 12, 13, and 14 are respectively connected to the A / D conversion unit 20 by wiring or wirelessly.

[0021] As shown in FIG. 2, the four load detectors 11 to 14 of the load detection unit 10 are respectively arranged under the casters C1, C2, C3, and C4 attached to the lower ends of the four legs 512 of the bed 500.

[0022] The A / D conversion unit 20 includes an A / D converter that converts an analog signal from the load detection unit 10 into a digital signal, and is connected to the load detection unit 10 and the control unit 30 by wiring or wirelessly.

[0023] The control unit 30 is a dedicated or general-purpose computer, and a center of gravity position calculation unit 31, a body information acquisition unit 32, a biological information acquisition unit 33, and a bed movement control unit 34 (an example of a "movement control unit") are constructed inside. The body information acquisition unit 32 includes a getting-out-of-bed determination unit 321, a body movement determination unit 322, a posture determination unit 323, and a sleeping posture determination unit 324. The biological information acquisition unit 33 includes a respiration rate calculation unit 331, a heart rate calculation unit 332, and a sleep determination unit 333.

[0024] The storage unit 40 is a storage device that stores data used in the floor board movement control system 100, and for example, a hard disk (magnetic disk) can be used. The display unit 50 is a monitor such as a liquid crystal monitor that displays information output from the control unit 30. The notification unit 60 is a device that audibly performs a predetermined notification based on information from the control unit 30, and includes, for example, a speaker. The input unit 70 is an interface for performing a predetermined input to the control unit 30, and can be a keyboard and a mouse.

[0025] [Operation of the Floor Board Movement Control System 100] The floor board movement control system 100 constantly acquires the body information and biological information of the user U on the bed 500, and automatically moves the floor board 520 by control based on each acquired information. Hereinafter, the acquisition of body information, the acquisition of biological information, and the floor board movement control based on these will be described in order.

[0026] [Acquisition of Body Information] The acquisition of body information is executed by the body information acquisition unit 32 of the control unit 30. The body information acquisition unit 32 in this embodiment continuously acquires the body information of the user U on the bed 500 at a predetermined cycle. The acquisition of body information executed by the body information acquisition unit 32 mainly includes a load detection step S11, a center of gravity position calculation step S12, a getting out of bed determination step S13, a body movement determination step S14, a posture determination step S15, and a sleeping posture determination step S16, as shown in the flowchart of FIG. 4.

[0027] In the load detection step S11, the load detectors 11, 12, 13, and 14 are used to detect the load of the user U on the floor board 520 (bed 500). The load of the user U on the floor board 520 is distributed and applied to the load detectors 11 to 14 arranged under the four legs 512 of the bed 500, and is detected dispersedly by these.

[0028] Each of the load detectors 11 to 14 detects a load (load change) and outputs it as an analog signal to the A / D conversion unit 20. The A / D conversion unit 20 converts the analog signal into a digital signal with a sampling period of, for example, 5 milliseconds, and outputs it to the control unit 30 as a digital signal (hereinafter referred to as "load signal"). Hereinafter, the load signals obtained by digitally converting the analog signals output from the load detectors 11, 12, 13, and 14 in the A / D conversion unit 20 are referred to as load signals s1, s2, s3, and s4, respectively.

[0029] In the center of gravity position calculation step S12, the center of gravity position calculation unit 31 calculates the position of the center of gravity G of the user U based on the load signals s1, s2, s3, and s4.

[0030] The position of the center of gravity G is calculated by the following (Equation 1) and (Equation 2), where the position of the center of gravity G in the XY coordinates shown in FIG. 2 is (x, y), the coordinates of the load detectors 11, 12, 13, and 14 are (X1, Y1), (X2, Y2), (X3, Y3), and (X4) respectively, and the partial loads of the user U indicated by the load signals s1, s2, s3, and s4 are W1, W2, W3, and W4 respectively.

[0031]

Equation

Number

[0032] In the getting-out-of-bed determination step S13, the getting-out-of-bed determination unit 321 determines whether the user U has gotten out of the bed based on the load applied by the user U to the bed board 520. Specifically, for example, the getting-out-of-bed determination unit 321 calculates the total value of the partial loads W1, W2, W3, and W4, and determines that the user U has gotten out of the bed when the calculated value (hereinafter referred to as the "user load W") is smaller than the threshold value TH W Rather than or in addition to the getting-out-of-bed determination based on the user load W, the getting-out-of-bed determination unit 321 may perform a getting-out-of-bed determination based on the center of gravity G of the user U calculated in the center-of-gravity position calculation step S12. Specifically, for example, even when the center of gravity G has not been calculated, it may be determined that the user U has gotten out of the bed.

[0033] In the body movement determination step S14, the body movement determination unit 322 determines whether body movement has occurred in the user U based on at least one of the load signals s1, s2, s3, and s4.

[0034] Here, "body movement" means the movement of the user's head, torso (trunk), and limbs. Movements of organs, blood vessels, etc. associated with breathing, heartbeat, etc. are not included in body movement. Body movement can be classified, for example, into large body movements accompanied by the movement of the user U's torso (trunk) and small body movements accompanied only by the movement of the user's limbs and head. An example of a large body movement is turning over or getting up, and an example of a small body movement is the movement of hands, feet, or head during sleep.

[0035] The variation in the sampling value of the load signal s1 from the load detector 11 becomes smaller during the period when no body movement occurs in the user U and becomes larger during the period when body movement occurs in the user U. The same applies to the load signals s2, s3, and s4 from the load detectors 12, 13, and 14.

[0036] Therefore, for at least one of the load signals s1 to s4 from the load detectors 11 to 14, the body movement determination unit 322 calculates the standard deviation σ representing the magnitude of the variation in the sampling values included in a predetermined period (for example, 5 seconds), and compares the calculated standard deviation σ with a predetermined threshold value TH σ to determine whether or not body movement has occurred in the user U.

[0037] Specifically, for example, if the value of the standard deviation σ calculated for a predetermined period is less than the predetermined threshold value TH σ it is determined that no body movement has occurred in the user U during that period. On the other hand, if the value of the standard deviation σ calculated for a predetermined sampling period is greater than or equal to the predetermined threshold value TH σ it is determined that body movement has occurred in the user U during that period. Note that instead of the standard deviation σ, the variance σ 2 may be compared with a predetermined threshold value to determine the presence or absence of body movement of the user U.

[0038] In the posture determination step S15, the posture determination unit 323 determines the posture of the user U on the floor board 520. In the present embodiment, the posture determination unit 323 determines whether the posture of the user U is a lying position (a posture lying on the floor board 520. FIG. 5(b)), a sitting-up posture (a posture in which the upper body is raised on the floor board 520. FIG. 5(c)), or a sitting position at the end of the floor board 520 (a posture sitting at the end of the floor board 520. FIG. 5(d)).

[0039] In the present embodiment, the posture determination unit 323 determines the posture of the user U based on the following principle.

[0040] When a person breathes, due to the movement of the diaphragm and the accompanying movement of the internal organs, the position of the center of gravity of the person vibrates in the direction of the person's spine. Specifically, the center of gravity moves toward the head side in response to exhalation and moves toward the leg side in response to inhalation. Therefore, as shown in FIG. 5(a), in response to the breathing of the user U, the position of the center of gravity G of the user U vibrates along the spine (body axis BA) of the user U.

[0041] Here, when the posture of the user U on the floor board 520 is the lying position (Fig. 5(b)), since the direction in which the body axis BA of the user U extends is the in-plane direction of the top surface of the floor board 520, the amplitude of the vibration of the center of gravity G calculated in the center of gravity position calculation step S12 according to the breathing of the user U becomes relatively large. On the other hand, when the posture of the user U on the floor board 520 is the sitting-up posture (Fig. 5(c)) or the upright sitting position (Fig. 5(d)), since the direction in which the body axis BA of the user U extends is the direction intersecting the top surface of the floor board 520, the amplitude of the vibration of the center of gravity G calculated in the center of gravity position calculation step S12 according to the breathing of the user U becomes small.

[0042] Therefore, the posture determination unit 323 determines that the user U is in the lying position when the amplitude AM of the vibration along a predetermined direction that appears over time among the trajectories of the center of gravity G calculated in the center of gravity position calculation step S12 is greater than a predetermined threshold value TH AM and determines that the user U is in the sitting-up posture or the upright sitting position when the amplitude AM is less than or equal to the predetermined threshold value TH AM as follows.

[0043] In addition, when the posture determination unit 323 determines that the user U is in the sitting-up posture or the upright sitting position, the posture determination unit 323 further determines whether the center of gravity G of the user U is located within the bed end region BE (Fig. 5(a)). When the posture determination unit 323 determines that the center of gravity G of the user U is located within the bed end region BE, it determines that the posture of the user U is the upright sitting position, and when it determines that the center of gravity G of the user U is not located within the bed end region BE, it determines that the posture of the user U is the sitting-up posture. The bed end region BE can be a region within a predetermined distance from both sides in the width direction on the floor board 520.

[0044] When the user U changes from the lying position to the sitting-up position, the upper body of the user U moves toward the foot side (negative Y direction) of the floor board 520, so that the position of the center of gravity G moves toward the foot side (negative Y direction) of the floor board 520 along the body axis BA. Conversely, when the posture of the user U on the floor board 520 changes from the sitting-up position to the lying position, the upper body of the user U moves toward the head side (positive Y direction) of the floor board 520, so that the position of the center of gravity G moves toward the head side (positive Y direction) of the floor board 520 along the body axis BA. Also, the direction of the body axis AX of the user U can be estimated based on the direction of the vibration that appears over time among the trajectories of the center of gravity G (that is, the direction of the vibration corresponding to breathing).

[0045] Therefore, in a state where the posture determination unit 323 has determined that the posture of the user U is the lying position, when the center of gravity G of the user U moves along the body axis BA beyond a predetermined distance toward the foot side of the floor board 520 within a predetermined period, the posture determination unit 323 may determine that the posture of the user U has changed to the sitting-up position. The posture determination unit 323 may also, in a state where it has determined that the posture of the user U is the sitting-up position, when the center of gravity G of the user U moves along the body axis BA beyond a predetermined distance toward the head side of the floor board 520 within a predetermined period, determine that the posture of the user U has changed to the lying position.

[0046] In the lying posture determination step S16, the lying posture determination unit 324 determines the lying posture of the user U on the floor board 520. When it is determined in the posture determination step S15 that the posture of the user U is the lying position, the lying posture determination unit 324 determines which of the supine position, the lateral lying position (horizontal lying position), and the prone position (stomach lying position) is the lying posture of the user U.

[0047] In the present embodiment, the lying posture determination unit 324 determines the lying posture of the user U based on the following principle.

[0048] FIG. 6(a), FIG. 6(b), and FIG. 6(c) all show the waveforms of the variation of the load signal s1 from the load detector 11 disposed on the head side of the floor board 520 in response to the respiration of the user U. FIG. 6(a) shows the waveform (the "supine position waveform WAs") when the sleeping posture of the user U is the supine position, FIG. 6(b) shows the waveform (the "lateral position waveform WAr") when the sleeping posture of the user U is the lateral position, and FIG. 6(c) shows the waveform (the "prone position waveform WAp") when the sleeping posture of the user U is the prone position, respectively.

[0049] In any of the supine position waveform WAs, the lateral position waveform WAr, and the prone position waveform WAp, the load signal s1 gradually decreases during the period from the time t0 to the time t1 (inspiratory period P1) when the user U is inhaling, and the load signal s1 gradually increases during the period from the time t2 to the time t3 (expiratory period P3) when the user U is exhaling. This is because the center of gravity G moves away from the load detector 11 during inhalation and approaches the load detector 11 during exhalation. Also, during the period from when the user U finishes inhaling at the time t1 to when the user U starts exhaling at the time t2 (post-inspiratory hold period P2), and during the period from when the user U finishes exhaling at the time t3 to when the user U starts inhaling at the time t4 (post-expiratory hold period P4), the load signal s1 remains substantially constant.

[0050] Here, in the prone position waveform WAp, the inhalation period P1 is longer than the inhalation period P1 of the supine position waveform WAs, the post-inhalation hold period P2 is shorter than the post-inhalation hold period P2 of the supine position waveform WAs, and the exhalation period P3 is shorter than the exhalation period P3 of the supine position waveform WAs. In other words, the prone position waveform WAp has a shape in which the peak on the valley side is shifted in the positive direction of the time axis compared to the supine position waveform WAs. Therefore, the slope of the fall in the inhalation period P1 in the prone position waveform WAp is smaller than the slope of the fall in the inhalation period P1 in the supine position waveform WAs, and the slope of the rise in the exhalation period P3 in the prone position waveform WAp is larger than the slope of the rise in the exhalation period P3 in the supine position waveform WAs. Such a waveform change is caused by the fact that when the user U is in the prone position, the chest is pressed against the bed surface by its own weight, so the operation for inhalation is loaded and the inhalation speed becomes slow. The lateral position waveform WAr has an intermediate shape between the supine position waveform WAs and the prone position waveform WAp.

[0051] The sleeping posture determination unit 324 determines the sleeping posture of the user U based on the fact that the mode of variation of the load signal s1 changes as described above according to the sleeping posture of the user U. Specifically, for example, a component of variation corresponding to the respiration of the user U is extracted from the load signal s1 by filtering or the like, and the sleeping posture of the user U is determined from the length of the inhalation period P1, the length of the post-inhalation hold period P2, the length of the exhalation period P3, etc. in the variation.

[0052] Note that the sleeping posture can also be determined using other known methods. Specifically, for example, the method described in JP-A-2018-15210 can be used.

[0053] [Acquisition of biological information] The acquisition of ecological information is executed by the biological information acquisition unit 33 of the control unit 30. The biological information acquisition unit 33 of the present embodiment continuously acquires the biological information of the user U on the bed 500 at a predetermined cycle. The acquisition of biological information executed by the biological information acquisition unit 33 mainly includes a load detection step S11, a center of gravity position calculation step S12, a respiration rate calculation step S21, a heart rate calculation step S22, and a sleep determination step S23 as shown in the flowchart of FIG. 7.

[0054] The load detection step S11 and the center of gravity position calculation step S12 are the same as the load detection step S11 and the center of gravity position calculation step S12 in the acquisition of body information, respectively. That is, in the present embodiment, the results of the load detection step S11 and the center of gravity position calculation step S12 are used in both the acquisition of body information and the acquisition of biological information.

[0055] In the respiration rate calculation step S21, the respiration calculation unit 331 calculates the respiration rate of the user U. Specifically, for example, frequency analysis is performed on any one of the load signals s1 to s4, and the respiration rate of the user U is estimated based on the value of the frequency peak that appears in the frequency band of about 0.2 to 0.33 Hz, which is the frequency band corresponding to the respiration frequency of a human.

[0056] In the heart rate calculation step S22, the heart rate calculation unit 332 calculates the heart rate of the user U. Specifically, for example, frequency analysis is performed on any one of the load signals s1 to s4, and the heart rate of the user U is estimated based on the value of the frequency peak that appears in the frequency band of about 0.5 to 3.3 Hz, which is the frequency band corresponding to the heart rate of a human.

[0057] In the sleep determination step S23, the sleep determination unit 333 determines the sleep / wakefulness of the user U.

[0058] The sleep determination unit 333 calculates an activity index (activity degree index) ACI, which is the time integral value of the simple average of the standard deviations σ1 to σ4 of the load signals s1 to s4, according to the following (Equation 3).

Equation

[0059] The integration time is 20 seconds here, but it is not limited to this. Since the standard deviations σ1 to σ4 increase according to the body movement of the user U, the activity index ACI becomes larger when the user U shows body movement that causes a larger load change over a longer period of time. That is, the activity index ACI is a parameter that reflects both the magnitude of the body movement and the duration (persistence time) of the body movement.

[0060] The sleep determination unit 333 calculates a new activity index ACI every 20 seconds using the values of the standard deviations σ1 to σ4 at each sampling time in the past 20 seconds. Then, based on the comparison between the calculated activity index ACI and the threshold TH ACI it determines whether the user U is in a sleeping state or an awake state. Specifically, for example, when the activity index ACI is smaller than the threshold TH ACI it determines that the user U is in a sleeping state.

[0061] [Control of the movement of the bed board] In this embodiment, the control of the movement of the bed board 520 includes a getting-up movement control (an example of "ascending movement control") and a falling-asleep movement control (an example of "descending movement control"). In the getting-up movement control, the bed movement control unit 34 moves the first bed board 521 in the horizontal position (an example of "initial position") to the back-lifted position. This prompts the user U on the bed board 520 to get up. In the falling-asleep movement control, the bed movement control unit 34 moves the first bed board 521 in the back-lifted position to the horizontal position, and also moves the third bed board 523 and the fourth bed board 524 in the knee-lifted position to the horizontal position. Thereby, the shape of the bed board 520 is changed from a shape suitable for the user U to fall asleep to a shape suitable for the user U to continue sleeping.

[0062] [Getting-up movement control] The getting-up movement control will be described with reference to the flowcharts of FIGS. 8, 9, and 10. In this embodiment, the bed movement control unit 34 performs the getting-up movement control based on the information obtained in the body information acquisition process continuously executed by the body information acquisition unit 32 in parallel with the getting-up movement control.

[0063] As shown in FIG. 8, in step S31, the bed movement control unit 34 determines whether the current time has reached the set time. The set time is, for example, the scheduled wake-up time previously input by the user U via the input unit 70. If the current time has not reached the set time (S31: NO), the bed movement control unit 34 repeats step S31. If the current time has reached the set time (S31: YES), the bed movement control unit 34 sets variables m and n to "0" respectively (step S32) and executes the movement start control step S33. The variable m is a variable for counting the number of repetitions of the movement start control step S33, and the variable n is a variable for counting the number of times the movement control step S35 described later is aborted.

[0064] As shown in FIG. 9, in the movement start control step S33, the bed movement control unit 34 first executes step S331 to determine whether the user U has gotten out of bed from the floor board 520. The bed movement control unit 34 refers to the latest determination result of the out-of-bed determination step S13.

[0065] If the user U has gotten out of bed from the floor board 520 (S331: YES), the bed movement control unit 34 ends the movement start control step S33 without starting the movement of the first floor board 521. If the user U is in bed on the floor board 520 (S331: NO), the bed movement control unit 34 determines whether the user U is located in the bed end region BE (step S332).

[0066] Specifically, for example, the bed movement control unit 34 determines whether the center of gravity G of the user U calculated in the center of gravity position calculation step S12 is located in the bed end region BE (an example of the "end region"). The bed movement control unit 34 determines that the user U is located in the bed end region BE when the center of gravity G of the user U is located in the bed end region BE, and determines that the user U is not located in the bed end region BE when the center of gravity G of the user U is not located in the bed end region BE.

[0067] When the user U is located in the bed end area BE (S332: YES), the bed movement control unit 34 ends the movement start control step S33 without starting the movement of the floor board 521. When the user U is not located in the bed end area BE (S332: NO), the bed movement control unit 34 determines whether the user U is in a sitting position (that is, either a sitting-up position or a near-sitting position) (step S333). The bed movement control unit 34 refers to the latest determination result of the posture determination step S15.

[0068] When the user U is in a sitting position (S333: YES), the bed movement control unit 34 ends the movement start control step S33 without starting the movement of the first floor board 521. When the user U is not in a sitting position (S333: NO), the bed movement control unit 34 determines whether the user U is in a prone position (step S334). The bed movement control unit 34 refers to the latest determination result of the sleeping posture determination step S16.

[0069] When the user U is in a prone position (S334: YES), the bed movement control unit 34 ends the movement start control step S33 without starting the movement of the first floor board 521. When the user U is not in a prone position (S334: NO), the bed movement control unit 34 activates the first movement mechanism 521 and starts the movement of the first floor board 521 toward the back-raising position (step S335).

[0070] In the movement start control step S33, ending the movement start control step S33 without starting the movement of the first floor board 521 corresponds to restricting the movement of the first floor board 521 and, by extension, the floor board 520.

[0071] As shown in FIG. 8, after the movement start control step S33, in step S34, the bed movement control unit 34 determines whether the first floor board 521 is in the process of moving (that is, whether the first movement mechanism 521 is operating). When the first floor board 521 is not in the process of moving (S34: NO), the bed movement control unit 34 determines whether the variable m is greater than the threshold value TH m (step S371). The bed movement control unit 34 determines whether the variable m is greater than the threshold value TH mIn the following case (S371: NO), add 1 to the variable m (step S372), wait for a predetermined period (step S39), and execute the movement start control step S33 again. The bed movement control unit 34 determines that the variable m is greater than the threshold value TH m If it is greater (S371: YES), the getting-up movement control is terminated. At this time, the bed movement control unit 34 may display (notify) that the getting-up movement control has been terminated without completing the raising of the back of the first floor board 520 via the display unit 50 and / or the notification unit 60.

[0072] When the bed movement control unit 34 determines that the first floor board 521 is being moved (S34: YES), it executes the in-movement control step S35.

[0073] As shown in FIG. 10, in the in-movement control step S35, the bed movement control unit 34 first executes step S351 to determine whether the user U has gotten out of the floor board 520. The bed movement control unit 34 refers to the latest determination result of the getting-out-of-bed determination step S13.

[0074] When the bed movement control unit 34 determines that the user U has gotten out of the floor board 520 (S351: YES), it stops the movement of the first floor board 521 and returns the first floor board 521 to the horizontal position (step S352), and ends the in-movement control step S35. When the bed movement control unit 34 determines that the user U is on the floor board S520 (S351: NO), it determines whether body movement has occurred in the user U (step S353). The bed movement control unit 34 refers to the latest determination result of the body movement determination step S14.

[0075] When there is no body movement of the user U (S353: NO), the bed movement control unit 34 determines whether the movement of the first floor board 521 to the back-raising position has been completed (step S356). In the present embodiment, the bed movement control unit 34 estimates the position of the first floor board 521 based on the operating time of the first movement mechanism 531 and the movement speed of the first floor board 521 stored in advance. When the bed movement control unit 34 determines that the movement of the first floor board 521 to the back-raising position has been completed (S356: YES), it ends the movement-in process control step S35. When the bed movement control unit 34 determines that the movement of the first floor board 521 to the back-raising position has not been completed (S356: NO), it executes step S351 again.

[0076] When there is body movement of the user U (S353: YES), the bed movement control unit 34 determines whether the user U is located in the bed end region BE (step S354). The bed movement control unit 34 makes the determination in the same manner as in step S332 of the movement start control step S33. When the user U is located in the bed end region BE (S354: YES), the bed movement control unit 34 stops the movement of the first floor board 521 and returns the first floor board 521 to the horizontal position (step S352), and ends the movement-in process control step S35.

[0077] When the user U is not located in the bed end region BE (S354: NO), the bed movement control unit 34 determines whether the user U is in a sitting position (that is, either a getting-up posture or a near-sitting posture) (step S355). The bed movement control unit 34 refers to the latest determination result of the posture determination step S15.

[0078] When the user U is in a sitting position (S355: YES), the bed movement control unit 34 stops the movement of the first floor board 521, returns the first floor board 521 to the horizontal state (step S352), and ends the movement control process S35. When the user U is not in a sitting position (S355: NO), the bed movement control unit 34 determines whether the movement of the first floor board 521 to the back-raising position is completed (step S356). If the bed movement control unit 34 determines that the movement of the first floor board 521 to the back-raising position is completed (S356: YES), it ends the movement control process S35. If it determines that the movement of the first floor board 521 to the back-raising position is not completed (S356: NO), it executes step S351 again.

[0079] In the movement control process S35, stopping the movement of the first floor board 521 corresponds to restricting the movement of the first floor board 521 and thus the floor board 520.

[0080] As shown in FIG. 8, after the movement control process S35, in step S36, the bed movement control unit 34 determines whether the first floor board 521 is in the back-raising position. If the bed movement control unit 34 determines that the first floor board 521 is in the back-raising position (S36: YES), it ends the getting-up movement control.

[0081] If the bed movement control unit 34 determines that the first floor board 521 is not in the back-raising position (S36: NO), it determines whether the variable n is greater than the threshold value TH n (step S381). If the bed movement control unit 34 determines that the variable n is less than or equal to the threshold value TH n (step S381: NO), it adds "1" to the variable n (step S382), waits for a predetermined period (step S39), and executes the movement start control process S33 again. If the bed movement control unit 34 determines that the variable n is greater than the threshold value TH n (step S381: YES), it ends the getting-up movement control. At this time, the bed movement control unit 34 may display (notify) via the display unit 50 and / or the notification unit 60 that the getting-up movement control has ended without completing the back-raising of the first floor board 520.

[0082] [Falling asleep movement control] The sleep movement control will be described with reference to the flowchart of FIG. 11. In the present embodiment, the bed movement control unit 34 performs the sleep movement control based on the information acquired in the body information acquisition process continuously executed by the body information acquisition unit 32 in parallel with the sleep movement control, and the information acquired in the biological information acquisition process continuously executed by the biological information acquisition unit 33 in parallel with the sleep movement control.

[0083] In step S41, the bed movement control unit 34 determines whether the user U is in a sleeping state. The bed movement control unit 34 refers to the latest determination result of the sleep determination step S23. If the user U is not in a sleeping state (S41: NO), the bed movement control unit 34 repeats step S41.

[0084] If the user U is in a sleeping state (S41: YES), the bed movement control unit 34 determines whether the user U is located in the bed end region BE (step S42). The bed movement control unit 34 makes the determination in the same manner as in step S332 of the wake-up movement control. If the user U is located in the bed end region BE (S42: YES), the bed movement control unit 34 waits for a predetermined period without starting the movement of the first floor board 521, the third floor board 523, and the fourth floor board 524 (step S43), and then repeats step S41. Note that not starting the movement of the first floor board 521, the third floor board 523, and the fourth floor board 524 corresponds to restricting the movement of the first floor board 521, the third floor board 523, and the fourth floor board 524, and thus the movement of the floor board 520.

[0085] If the user U is not located in the bed end region BE (S42: NO), the bed movement control unit 34 activates the first movement mechanism 521 and the second movement mechanism 522, and starts the movement of the first floor board 521, the third floor board 523, and the fourth floor board 524 in the horizontal direction (step S44).

[0086] Next to step S44, the bed movement control unit 34 determines whether body movement has occurred in the user U (step S45). The bed movement control unit 34 refers to the latest determination result of the body movement determination step S14.

[0087] When the body movement of the user U occurs (S45: YES), the bed movement control unit 34 determines whether the user U is located in the bed end region BE (step S46). The bed movement control unit 34 makes the determination in the same manner as in step S332 of the getting-up movement control. When the user U is located in the bed end region BE (S46: YES), the bed movement control unit 34 stops the movement of the first floor board 521, the third floor board 523, and the fourth floor board 524 (step S47), waits for a predetermined period (step S43), and then executes step S41 again. Note that stopping the movement of the first floor board 521, the third floor board 523, and the fourth floor board 524 in step S47 corresponds to restricting the movement of the first floor board 521, the third floor board 523, and the fourth floor board 524, and thus the movement of the floor board 520.

[0088] When no body movement of the user U occurs (S45: NO), or when the user U is not located in the bed end region BE (S46: NO), the bed movement control unit 34 determines whether the movement of the first floor board 521, the third floor board 523, and the fourth floor board 524 to the horizontal position has been completed (step S48). In the present embodiment, the bed movement control unit 34 estimates the positions of the first floor board 521, the third floor board 523, and the fourth floor board 524 based on the operating times of the first movement mechanism 531 and the second movement mechanism 532 and the movement speeds of the first floor board 521, the third floor board 523, and the fourth floor board 524 stored in advance. When the bed movement control unit 34 determines that the movement of the first floor board 521, the third floor board 523, and the fourth floor board 524 to the horizontal position has been completed (S48: YES), it ends the falling-asleep movement control. When the bed movement control unit 34 determines that the movement of the first floor board 521, the third floor board 523, and the fourth floor board 524 to the horizontal position has not been completed (S48: NO), it executes step S45 again.

[0089] The advantageous effects of the floor board movement control system 100 of the present embodiment are summarized below.

[0090] The floor board movement control system 100 of the present embodiment refers to the body information of the user U in the getting-up movement control and the falling-asleep movement control. And when the body information satisfies the restriction conditions, the movement of the floor board 520 is restricted. Specifically, in the getting-up movement control, when the user U has got out of bed or is in a getting-up posture (that is, when the body information indicates that there is no need for the floor board 520 to move), when the user U is located in the bed end region BE, or when the user U is in a sitting position (that is, when there is a risk that the user U may fall from the floor board 520), etc., the movement of the floor board 520 is restricted. Therefore, according to the floor board movement control system 100, the floor board 520 can be moved more suitably.

[0091] In the getting-up movement control, when it is determined that the sleeping posture of the user U in the present embodiment is the prone position, the movement of the first floor board 521 to the back-lifting position is restricted. Therefore, according to the floor board movement control system 100, the movement of the floor board 520 in the direction that burdens the body of the user U can be restricted, and thus the floor board 520 can be moved more suitably.

[0092] In the present embodiment, after restricting the movement of the first floor board 521 in the movement control step S35 during the getting-up movement control, the floor board movement control system 100 returns the first floor board 521 to the horizontal position. And then, the movement of the first floor board 521 to the back-lifting position is attempted a predetermined number of times. In this way, since the first floor board 521 is once returned to the horizontal position, the movement distance when the first floor board 521 is moved to the back-lifting position again is long, and the effect of prompting the user U to get up is great. Also, since the movement of the first floor board 521 to the back-lifting position is attempted a predetermined number of times, even when the movement of the first floor board 521 is restricted, the movement of the first floor board 521 to the back-lifting position is highly likely to be achieved, and the promotion of the user U getting up is highly likely to be achieved.

[0093] In the present embodiment, after restricting the movement of the floor board 520 in the falling-asleep movement control, the floor board movement control system 100 attempts to move the floor board 520 again. Therefore, the first floor board 521, the third floor board 523, and the fourth floor board 524 can be favorably moved to the horizontal position.

[0094] <Modification Example> In the above-described embodiment, the following modification modes can also be used.

[0095] In the getting-up movement control executed by the floor board movement control system 100 of the above embodiment, whether or not the condition (limitation condition) for restricting the movement of the first floor board 521 is satisfied is determined in consideration of all of the position of the user U on the bed 500 (floor board 520), the presence or absence of the body movement of the user U, the posture of the user U, and the sleeping posture of the user U. However, this is not limited thereto. The floor board movement control system 100 may determine, in the getting-up movement control, whether or not the condition for restricting the movement of the first floor board 521 is satisfied based on at least one of the position of the user U on the floor board 520, the presence or absence of the body movement of the user U, the posture of the user U, and the sleeping posture of the user U (that is, the position and / or the presence or absence of the body movement and / or the posture and / or the sleeping posture). In the present specification and the present invention, the information indicating whether or not the user U has gotten out of bed from the floor board 520 (support surface) is included in the information indicating the position of the user U on the floor board 520 (support surface).

[0096] Specifically, for example, the bed movement control unit 34 may determine whether or not the limitation condition is satisfied based only on the position of the user U on the floor board 520. In this case, for example, in the movement start control step S33 and / or the movement control step S35 during movement, the bed movement control unit 34 may restrict the movement of the floor board 521 when the user U is located in the bed end region BE regardless of the presence or absence of the body movement of the user U, the posture of the user U, and the sleeping posture of the user U.

[0097] As another example, the bed movement control unit 34 may determine whether a restriction condition is satisfied based on the position of the user U on the floor board 520 and the presence or absence of body movement of the user U on the floor board 520. In this case, for example, in the movement start control step S33 and / or the movement control step S35, regardless of the posture and sleeping posture of the user U, the bed movement control unit 34 may restrict the movement of the floor board 521 when the user U is located in the bed end region BE and body movement occurs in the user U. Alternatively, the bed movement control unit 34 may determine whether a restriction condition is satisfied based on the position of the user U on the floor board 520 and the sleeping posture of the user U on the floor board 520. In this case, for example, in the movement start control step S33 and / or the movement control step S35, the bed movement control unit 34 may restrict the movement of the floor board 521 when the user U is located in the bed end region BE and the user U is in the side lying position.

[0098] In the getting-up movement control executed by the floor board movement control system 100 of the above embodiment, when the movement of the first floor board 521 is restricted in the movement start control step S33 (S34: NO), and when the movement of the first floor board 521 to the back-lifting position is not completed in the movement control step S35 (S36: NO), the floor board movement control system 100 executes the movement start control step S33 again. That is, repetitive control is performed to execute the getting-up movement control again when the getting-up movement control is not completed. However, this is not limited thereto. The floor board movement control system 100 may not execute such repetitive control in the getting-up movement control. Note that the step S39 of waiting for a predetermined period may be omitted.

[0099] In the getting-up movement control executed by the floor board movement control system 100 of the above embodiment, the floor board movement control system 100 moves only the first floor board 521. However, this is not limited thereto. In the getting-up movement control executed by the floor board movement control system 100, the first floor board 521 may be moved to the back-lifting position, and at the same time, the third floor board 523 and the fourth floor board 524 may be moved to the knee-lifting position.

[0100] In the getting-up movement control executed by the floor board movement control system 100 of the above-described embodiment, in step S352 of the in-movement control step S35, after stopping the movement of the first floor board 521, the floor board movement control system 100 returns the first floor board 521 to the horizontal position. However, this is not limiting, and it is also possible to only stop the movement of the first floor board 521. In this case, the movement of the first floor board 521 after the restriction condition is released starts from the stop position at the time when the movement of the first floor board 521 was restricted.

[0101] In the falling-asleep movement control executed by the floor board movement control system 100 of the above-described embodiment, it is determined whether or not the conditions (restriction conditions) for restricting the movement of the first floor board 521, the third floor board 523, and the fourth floor board 524 are satisfied, taking into account the position of the user U on the bed 500 (floor boards 520) and the presence or absence of the body movement of the user U. However, this is not limiting. In the falling-asleep movement control, the floor board movement control system 100 may determine whether or not the conditions for restricting the movement of the first floor board 521, the third floor board 523, and the fourth floor board 524 are satisfied based on at least one of the position of the user U on the floor boards 520, the presence or absence of the body movement of the user U, the posture of the user U, and the sleeping posture of the user U. As the restriction conditions, the restriction conditions in the getting-up movement control can be appropriately used.

[0102] In the falling-asleep movement control executed by the floor board movement control system 100 of the above-described embodiment, the bed movement control unit 34 determines whether or not the user U is in a sleeping state in step S41, but this is not limiting. The bed movement control unit 34 may determine whether or not the current time has reached the set time in step S41.

[0103] In the sleep induction movement control executed by the floor board movement control system 100 of the above-described embodiment, the floor board movement control system 100 moves the first floor board 521, the third floor board 523, and the fourth floor board 524 to the horizontal position. However, it is not limited to this. In the sleep induction movement control executed by the floor board movement control system 100, only the first floor board 521, or only the third floor board 523 and the fourth floor board 524 may be moved to the horizontal position. At this time, the floor boards that are not moved may be in the horizontal position from the beginning. The position of the floor board before movement in the sleep induction movement control may be arbitrarily set by the user U. Further, the floor board movement control system 100 may not execute the repetitive control including step S43 in the sleep induction movement control. In this case, when it is determined in step S42 that the user U is located in the bed end region BE (step S42: YES), or when the movement of the floor board 520 is stopped in step S47, the sleep induction movement control may be terminated. Note that the repetitive control may be performed by omitting the step S43 of waiting for a predetermined period.

[0104] In the floor board movement control system 100 of the above-described embodiment, the bed movement control unit 34 automatically starts the movement control of the floor board 520. In this specification and the present invention, the control unit "automatically starting the movement control" means that the control unit autonomously starts the movement control based on condition determination or the like. The control unit starting the movement control of the floor board based on the determination of whether a preset condition is satisfied (for example, the determination of whether the set time has arrived, the determination of whether the physical information and / or biometric information of the user satisfies a predetermined condition), etc. is included in the control unit "automatically starting the movement control". On the other hand, the control unit starting the movement of the floor board in response to an artificial start instruction by the user or the like (for example, a start instruction input via key input, voice input, touch panel input, etc.) is not included in the control unit "automatically starting the movement control". Note that the bed movement control unit 34 is not limited to the mode of automatically starting the movement control of the floor board 520.

[0105] The floor board movement control system 100 of the above-described embodiment may be configured such that a user U or the like can input a desired restriction condition via the input unit 70 or the like to set a control condition for the bed movement control unit 34 to follow.

[0106] In each of the getting-up movement control and the falling-asleep movement control executed by the floor board movement control system 100 of the above embodiment, it may be determined whether to restrict the movement of the floor board 520 based on at least one of the position of the user U on the floor board 520, the presence or absence of body movement of the user U, the posture of the user U, and the sleeping posture of the user U.

[0107] Specifically, for example, when the bed movement control unit 34 determines that the center of gravity G of the user U is in the bed end region BE in the process S332 of getting-up movement control and / or the process S42 of falling-asleep movement control, it further determines whether the center of gravity G has been in a stable state for a predetermined period immediately before the determination time. Specifically, for example, the bed movement control unit 34 determines whether the total movement amount of the center of gravity G in a predetermined period immediately before the time when the center of gravity G is determined to be in the bed end region BE is equal to or less than a predetermined distance. And when the total movement amount of the center of gravity G in the predetermined period is equal to or less than the predetermined distance, the position of the user U is considered not to be in the bed end region BE. In other words, even if the center of gravity G of the user U is in the bed end region BE, if the position of the center of gravity G is stable, the risk of falling is considered small, and the movement of the floor board 520 is allowed.

[0108] As another example, when the bed movement control unit 34 determines that the sleeping posture of the user U is the prone position in the process S334 of getting-up movement control, it further determines whether the user U has continued in the prone position for a period exceeding a predetermined period immediately before the determination time. And when the user U has continued in the prone position for a period exceeding the predetermined period, the user U is considered not to be in the prone position. In other words, when the user U has continued in the prone position for a period exceeding the predetermined period, priority is given to prompting the user U to get up rather than burdening the user U's body.

[0109] In the floor board movement control system 100 of the above-described embodiment, the restriction of the movement of the floor board 520 is not limited to the stop of the movement of the floor board 520. The restriction of the movement of the floor board 520 may be to regulate the movement speed of the floor board 520 to a low speed (i.e., a speed lower than the movement speed when the movement of the floor board 520 is not restricted).

[0110] In each of the getting-up movement control and the falling-asleep movement control executed by the floor board movement control system 100 of the above-described embodiment, when at least one of the position of the user U on the floor board 520, the presence or absence of the body movement of the user U, the posture of the user U, and the sleeping posture of the user U satisfies the first condition, the movement of the floor board 520 is restricted in the first mode, and when at least one of the position of the user U on the floor board 520, the presence or absence of the body movement of the user U, the posture of the user U, and the sleeping posture of the user U satisfies a second condition different from the first condition, the movement of the floor board 520 may be restricted in a second mode different from the first mode.

[0111] Specifically, for example, the bed end region BE is divided into a first bed end region located at the end in the width direction of the floor board 520 and a second bed end region inside the first bed end region. Then, in the getting-up movement control and the falling-asleep movement control, when the user U is located in the first bed end region, the movement of the floor board 520 is stopped, and when the user U is located in the second bed end region, the floor board 520 is moved at a low speed (i.e., a speed lower than the movement speed when the movement of the floor board 520 is not restricted). In this case, the "restriction" when the user U is located in the first bed end region is "stop", and the "restriction" when the user U is located in the second bed end region is "speed regulation".

[0112] As another example, the "restriction" when the user U is located in the bed end region BE and the user U has body movement may be "stop", and the "restriction" when the user U is located in the bed end region BE and the user U has no body movement may be "speed regulation".

[0113] In the floor board movement control system 100 of the above-described embodiment, when restricting the movement of the floor board 520, if the center of gravity G of the user U is located in the head-side end region which is a region within a predetermined distance from the head-side (positive Y-direction) end of the floor board 520, only the movement of the first floor board 521 may be restricted. If the center of gravity G of the user U is located in the foot-side end region which is a region within a predetermined distance from the foot-side (negative Y-direction) end of the floor board 520, only the movement of the third floor board 523 and the fourth floor board 524 may be restricted. Thereby, only the movement of the floor board 520 in the region where the user U is located can be restricted.

[0114] In the floor board movement control system 100 of the above-described embodiment, information indicating the position, presence or absence of body movement, posture, and / or sleeping posture of the user U may be obtained based on an image captured by an imaging device.

[0115] In the floor board movement control system 100 of the above-described embodiment, instead of the load detection unit 10, any biological signal acquisition unit that acquires a biological signal of the user U (a signal that varies with the biological activity of the user U) can be used. Specifically, for example, a plurality of pressure sensors (pressure sensors) arranged in a matrix under the sheet can acquire the variation of the pressure applied by the user U to the floor board 520 as a biological signal. In this aspect, based on the outputs of the plurality of pressure sensors, the position of the center of gravity of the user, the presence or absence of body movement, posture, sleeping posture, etc. can be obtained.

[0116] The floor board movement control system 100 of the above-described embodiment does not necessarily have to include all of the load detectors 11 to 14, and it may only include any one of them. For example, when there are three load detectors, if they are not arranged in a straight line, the position of the center of gravity of the user U on the top surface of the floor board 520 can be detected. Also, the load detectors do not necessarily have to be arranged at the four corners of the bed, and they can be arranged at any position so as to detect the load of the subject on the bed and its variation. Also, the load detectors 11 to 14 are not limited to load sensors using beam-type load cells, and for example, force sensors can also be used.

[0117] In the above embodiment, the case where the floor board movement control system 100 is used for the bed 500 has been described as an example. However, the object to which the floor board movement control system 100 is applied is not limited to the bed 500. The floor board movement control system 100 can be used as a support surface movement control system that controls the movement of the support surface of any support device configured to be movable, such as a bed, a sofa, a chair, a wheelchair, etc., which supports the human body. In this case, the support surface movement control system may be capable of performing an ascending movement control for moving a part of the support surface (such as a backrest, a leg rest, etc.) in a direction of increasing the inclination angle with respect to the horizontal plane of the part and / or a descending movement control for moving the part in a direction of decreasing the inclination angle with respect to the horizontal plane of the part.

[0118] As long as the features of the present invention are maintained, the present invention is not limited to the above-described embodiments, and other forms conceivable within the scope of the technical idea of the present invention are also included within the scope of the present invention.

Explanation of Reference Numerals

[0119] 11, 12, 13, 14 Load detectors; 30 Control unit; 31 Center of gravity position calculation unit; 32 Body information acquisition unit; 321 Getting-out-of-bed determination unit; 322 Body movement determination unit; 323 Posture determination unit; 324; Sleeping posture determination unit; 33 Biological information acquisition unit; 34 Bed movement control unit; 500 Bed; 520 Floor board

Claims

1. A support surface movement control device that controls the movement of a support surface for supporting a user's body, comprising: a body information acquisition unit that acquires body information of the user on the support surface; and a movement control unit that automatically starts and executes movement control for moving the support surface, wherein, in the movement control, the movement control unit restricts the movement of the support surface when the body information satisfies a restriction condition.

2. The support surface movement control device according to claim 1, wherein the body information includes at least one of the position of the user on the support surface, the presence or absence of body movement, the posture, and the sleeping posture.

3. The support surface movement control device according to claim 1 or 2, wherein, in the movement control, the movement control unit restricts the movement of the support surface when the position of the user is within an end region on the support surface.

4. The support surface movement control device according to any one of claims 1 to 3, wherein, in the movement control, the movement control unit restricts the movement of the support surface when the position of the user is within an end region on the support surface and body movement occurs to the user on the support surface.

5. The movement control includes ascending movement control for moving a part of the support surface in a direction of increasing the inclination angle of the part with respect to the horizontal plane, and the support surface movement control device according to any one of claims 1 to 4, wherein, in the ascending movement control, the movement control unit restricts the movement of the support surface when the sleeping posture of the user on the support surface is a prone position.

6. The support surface movement control device according to any one of claims 1 to 5, wherein the body information includes at least one temporal history of the position of the user on the support surface, the presence or absence of body movement, the posture, and the sleeping posture.

7. The support surface movement control device according to any one of claims 1 to 6, wherein, in the movement control, when the body information satisfies a first condition, the movement control unit restricts the movement of the support surface in a first mode, and when the body information satisfies a second condition different from the first condition, the movement control unit restricts the movement of the support surface in a second mode different from the first mode.

8. The movement control includes ascending movement control for moving a part of the support surface from an initial position in a direction of increasing the inclination angle of the part with respect to the horizontal plane. The movement control unit, in the ascending movement control, when the body information satisfies the restriction conditions, stops the movement of the part and returns the part to the initial position, according to any one of claims 1 to 7 of the support surface movement control device.

9. The movement control unit, in the ascending movement control, after returning the part to the initial position, determines whether the body information satisfies the restriction conditions, and when the body information does not satisfy the restriction conditions, moves the part in a direction in which the inclination angle of the part with respect to the horizontal plane increases, according to claim 8 of the support surface movement control device.

10. The movement control includes a descending movement control for moving a part of the support surface in a direction in which the inclination angle of the part with respect to the horizontal plane decreases, and the control device, in the descending movement control, stops the movement of the part when the body information satisfies the restriction conditions, after stopping the movement of the part, determines whether the body information satisfies the restriction conditions, and when the body information does not satisfy the restriction conditions, moves the part in a direction in which the inclination angle of the part with respect to the horizontal plane decreases, according to any one of claims 1 to 9 of the support surface movement control device.

11. A support device comprising a support surface for supporting a user's body and the support surface movement control device according to any one of claims 1 to 10.

Images