Support surface movement control device and support equipment

Abstract

A support surface movement control device (30) that controls movement of a support surface (520) which supports the body of a user (U) comprises: a body information acquisition unit (32) that acquires body information of the user on the support surface; and a movement control unit (34) that automatically initiates and executes movement control for moving the support surface. In the movement control, the movement control unit restricts movement of the support surface when the body information satisfies a restriction condition.

Description

Support surface movement control device and support equipment

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

[0002] Various devices, such as beds, sofas, chairs, and wheelchairs, are used as support devices for supporting the human body. One type of support device known is one in which the support surface that supports the human body is configured to be movable. For example, in reclining beds, reclining sofas, and reclining chairs, the portion of the support surface that supports the upper body of a person can pivot relative to a horizontal plane.

[0003] It has been proposed that the movement of a support device having a movable support surface be controlled by a control device such as a computer. Patent Document 1 describes a bed apparatus including a back-raising control unit that controls the back raising and a back-lowering control unit that controls the back lowering.

[0004] Patent No. 5665411 specification

[0005] In conventional devices, when the support surface is moved in accordance with the control of the control device, it is difficult to say that the safety of the user on the support surface is sufficiently ensured, and there are also cases where unnecessary movement of the support surface is performed.

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

[0007] According to a first aspect of the present invention, there is provided a support surface movement control device that controls the movement of a support surface that supports a user's body, comprising: 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 to move the support surface, wherein the movement control unit restricts the movement of the support surface when the physical information satisfies a restriction condition in the movement control.

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

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

[0010] 1(a) to 1(c) are side views of a bed controlled by a bedpan movement control device. In FIG. 1(a), the first, second, third, and fourth bedpans are in horizontal positions. In FIG. 1(b), the first bedpan is in a back-raising position, and the second, third, and fourth bedpans are in horizontal positions. In FIG. 1(c), the first bedpan is in a back-raising position, the second bedpan is in a horizontal position, and the third and fourth bedpans are in a knee-raising position. FIG. 2 is a plan view showing the arrangement of a load detector relative to the bed. FIG. 3 is a block diagram showing the configuration of a bedpan movement control system according to an embodiment of the present invention. FIG. 4 is a flowchart of the process of acquiring physical information. FIG. 5(a) is an explanatory diagram showing the vibration of the center of gravity in response to the user's breathing. FIG. 5(b) is an explanatory diagram showing the direction of the body axis of a user in a lying position. FIG. 5(c) is an explanatory diagram showing the direction of the body axis of a user in a sitting position. FIG. 5(d) is an explanatory diagram showing the direction of the body axis of a user in a sitting position. FIGS. 6(a), 6(b), and 6(c) are graphs showing changes in the load signal depending on the user's sleeping position. FIG. 6(a) shows changes in the load signal when the user is in a supine position, FIG. 6(b) shows changes in the load signal when the user is in a lateral position, and FIG. 6(c) shows changes in the load signal when the user is in a prone position. FIG. 7 is a flowchart of a process for acquiring biological information. FIG. 8 is a flowchart of wake-up movement control. FIG. 9 is a flowchart of a movement start control process. FIG. 10 is a flowchart of an in-movement control process. FIG. 11 is a flowchart of sleep-onset movement control.

[0011] <Embodiment> A bed board movement control system 100 (Fig. 3) according to an embodiment of the present invention will be described with reference to Figs. 1 to 11, taking as an example a case where the bed board movement control system 100 is used for a bed 500 (Fig. 1, an example of a "support device").

[0012] 1 and 2, the bed 500 controlled by the bed board movement control system 100 has a base 510, a bed board 520 (an example of a "support surface") supported by the base 510, and a movement mechanism 530 that moves the bed 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 bed board 520 are referred to as the longitudinal direction and width direction of the bed 500 and the bed board 520, respectively.

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

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

[0015] The first bed plate 521 is located near the second bed plate 522 and is pivotable about an axis AX1 extending in the width direction of the bed 500. The second bed plate 522 is fixed to the base part 510. The third bed plate 523 is located near the second bed plate 522 and is pivotable about an axis AX3 extending in the width direction of the bed 500. The fourth bed plate 524 is connected to the third bed plate 523, and is located at the connection point with the third bed plate 523 and is pivotable about an axis AX4 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 plate 521 and a second movement mechanism 532 for moving the third floor plate 523 and the fourth floor plate 524. In this embodiment, the first movement mechanism 531 and the second movement mechanism 532 are each an electric cylinder. However, the first movement mechanism 531 and the second movement mechanism 532 may be any actuator.

[0017] By operation of the first moving mechanism 531, the first floor plate 521 pivots about the axis AX1 and is displaced between a horizontal position (FIG. 1(a)) where the top surface of the first floor plate 521 coincides with the horizontal plane and a raised position (FIGS. 1(b) and 1(c)) where the top surface of the first floor plate 521 is inclined relative to the horizontal plane. In the horizontal position, the top surface of the first floor plate 521 and the top surface of the second floor plate 522 are flush with each other.

[0018] By operation of the second moving mechanism 532, the third floor plate 523 pivots about the axis AX3. At the same time, the fourth floor plate 524 pivots about the axis AX4 and moves up and down while keeping the top surface of the fourth floor plate 524 aligned with the horizontal plane. As a result, the third floor plate 523 and the fourth floor plate 524 are displaced between a horizontal position (FIGS. 1A and 1B) in which the top surfaces of the third floor plate 523 and the fourth floor plate 524 are aligned with the horizontal plane, and a knee-raising position (FIG. 1C) in which the top surface of the third floor plate 523 is inclined with respect to the horizontal plane and the top surface of the fourth floor plate 524 is aligned with the horizontal plane and is positioned higher than the top surface of the second floor plate 522. In the horizontal position, the top surfaces of the third floor plate 523 and the fourth floor plate 524 are flush with the top surface of the second floor plate 522.

[0019] [Configuration of the bed board movement control system 100] As shown in Figure 3, the bed board movement control system 100 of this embodiment mainly has a load detection unit 10, a control unit (an example of a "support surface movement control device") 30, and a memory unit 40. The load detection unit 10 and the control unit 30 are connected via an A / D conversion unit 20. The control unit 30 is further connected to a display unit 50, an alarm unit 60, and an input unit 70. The control unit 30 is connected to a first movement mechanism 531 and a second movement mechanism 532 of the bed 500.

[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 detects a load using, for example, a beam-shaped load cell. Each of the load detectors 11, 12, 13, and 14 is connected to the A / D conversion unit 20 by wire or wirelessly.

[0021] As shown in FIG. 2, the four load detectors 11 to 14 of the load detection unit 10 are respectively disposed below casters C1, C2, C3, and C4 attached to the lower ends of 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 wire or wirelessly.

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

[0024] The memory unit 40 is a storage device that stores data used in the floorboard movement control system 100, and may be, for example, a hard disk (magnetic disk). The display unit 50 is a monitor such as an LCD monitor that displays information output from the control unit 30. The notification unit 60 is a device that makes predetermined audible notifications based on information from the control unit 30, and includes, for example, a speaker. The input unit 70 is an interface for making predetermined inputs to the control unit 30, and may be a keyboard and mouse.

[0025] [Operation of the bed board movement control system 100] The bed board movement control system 100 constantly acquires physical information and biometric information of the user U on the bed 500, and automatically moves the bed board 520 by control based on the acquired information. Below, the acquisition of physical information, acquisition of biometric information, and bed board movement control based on these will be explained in that order.

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

[0027] In the load detection step S11, the load of the user U on the floorboard 520 (bed 500) is detected using the load detectors 11, 12, 13, and 14. The load of the user U on the floorboard 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 in a distributed manner by these.

[0028] The load detectors 11 to 14 each detect a load (load change) and output 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 as a digital signal (hereinafter referred to as "load signal") to the control unit 30. 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 will be referred to as load signals s １ , s ２ , s ３ , s ４ It is called.

[0029] In the center of gravity position calculation step S12, the center of gravity position calculation unit 31 calculates the load signal s １ , s ２ , s ３ , s ４ The position of the center of gravity G of the user U is calculated based on the above.

[0030] The position of the center of gravity G is (x, y) in the XY coordinate system shown in FIG. 2, and the coordinates of the load detectors 11, 12, 13, and 14 are (X １ , Y １ ), (X ２ , Y ２ ), (X ３ , Y ３ ), (X ４ , Y ４ ), and the load signal s １ , s ２ , s ３ , s ４ The partial load of the user U indicated by W １ , W ２ , W ３ , W ４ Then, it is calculated by the following (Equation 1) and (Equation 2).

[0031]

[0032] In the bed exit determination step S13, the bed exit determination unit 321 determines whether or not the user U has exited the bed 500 based on the load applied by the user U to the bed board 520. Specifically, for example, the bed exit determination unit 321 determines whether or not the user U has exited the bed 500 based on the partial load W １ , W ２ , W ３ , W ４ The sum of these values ​​(hereinafter referred to as "user load W") is calculated, and the calculated value is Ｗ If the difference is smaller than the user weight W, it is determined that the user U has left the bed 500. The bed exit determination unit 321 may perform bed exit determination based on the center of gravity G of the user U calculated in the center of gravity position calculation step S12, instead of or in addition to the bed exit determination based on the user weight W. Specifically, for example, it may be determined that the user U has left the bed 500 if the center of gravity G has not been calculated.

[0033] In the body movement determination step S14, the body movement determination unit 322 calculates the load signal s １ , s ２ , s ３ , s ４ Based on at least one of the above, it is determined whether or not the user U is making a body movement.

[0034] Here, "body movement" refers to 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. As an example, body movement can be classified into large body movements that involve movement of the torso (trunk) of user U, and small body movements that only involve movement of the user's limbs or head. An example of large body movement is turning over in bed or getting up, and an example of small body movement is movement of the limbs or head while sleeping.

[0035] The load signal s from the load detector 11 １ The variation in the sampled values ​​of the load signal s from the load detectors 12, 13, and 14 is small during a period when the user U is not moving, and is large during a period when the user U is moving. ２ , s ３ , s ４ The same is true for .

[0036] Therefore, the body movement determining unit 322 detects the load signals s １ ~s ４ For at least one of the above, a standard deviation σ is calculated, which represents the magnitude of variation in sampled values ​​included in a predetermined period (for example, 5 seconds), and the calculated standard deviation σ is compared with a predetermined threshold value TH σ Based on the comparison, it is determined whether or not the user U is making a body movement.

[0037] Specifically, for example, the value of the standard deviation σ calculated for a predetermined period is set to a predetermined threshold value TH. σ On the other hand, if the value of the standard deviation σ calculated for a predetermined sampling period is smaller than a predetermined threshold TH σ If the standard deviation σ is equal to or greater than this, it is determined that the user U is making a body movement during the period. ２ The presence or absence of body movement of the user U may be determined by comparing the calculated value with a predetermined threshold value.

[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 this embodiment, the posture determination unit 323 determines whether the posture of the user U is in a lying position (a posture lying on the floor board 520; FIG. 5(b)), a standing position (a posture with the upper body raised on the floor board 520; FIG. 5(c)), or an edge-sitting position (a posture sitting on the edge of the floor board 520; FIG. 5(d)).

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

[0040] When a person breathes, the diaphragm moves, and the internal organs move accordingly, causing the position of the person's center of gravity to vibrate in the direction of the person's spine. Specifically, the center of gravity moves toward the head in response to exhalation, and toward the legs in response to inhalation. Therefore, as shown in Figure 5(a), the position of the center of gravity G of the user U vibrates along the user U's spine (body axis BA) in response to the user U's breathing.

[0041] Here, when the user U is in a lying position on the floor board 520 (FIG. 5(b)), the direction in which the body axis BA of the user U extends is in the plane of the top surface of the floor board 520, and therefore the amplitude of vibration of the center of gravity G calculated in the center of gravity position calculation step S12 in response to the user U's breathing becomes relatively large. On the other hand, when the user U is in a standing position (FIG. 5(c)) or a sitting position (FIG. 5(d)) on the floor board 520, the direction in which the body axis BA of the user U extends is a direction intersecting the top surface of the floor board 520, and therefore the amplitude of vibration of the center of gravity G calculated in the center of gravity position calculation step S12 in response to the user U's breathing becomes small.

[0042] Therefore, the posture determination unit 323 determines whether the amplitude AM of vibrations along a predetermined direction that appears over time on the locus of the center of gravity G calculated in the center of gravity position calculation step S12 is greater than or equal to a predetermined threshold value TH. ＡＭ If the amplitude AM is greater than a predetermined threshold TH ＡＭ If the following is true, it is determined that the user U is in a standing position or sitting on the edge of the chair.

[0043] Furthermore, if the posture determination unit 323 determines that the user U is in a sitting position or sitting on the edge of the bed, it further determines whether or not the center of gravity G of the user U is located within the bed edge region BE ( FIG. 5( a) ). If the posture determination unit 323 determines that the center of gravity G of the user U is located within the bed edge region BE, it determines that the user U's posture is sitting on the edge of the bed, and if it determines that the center of gravity G of the user U is not located within the bed edge region BE, it determines that the user U's posture is sitting on the edge of the bed. The bed edge region BE can be an area on the floor board 520 within a predetermined distance from both sides in the width direction.

[0044] When the user U changes from a lying position to a standing position, the upper body of the user U moves toward the legs of the floor board 520 (negative side in the Y direction), causing the position of the center of gravity G to move along the body axis BA toward the legs of the floor board 520 (negative side in the Y direction). Conversely, when the posture of the user U on the floor board 520 changes from a standing position to a lying position, the upper body of the user U moves toward the head of the floor board 520 (positive side in the Y direction), causing the position of the center of gravity G to move along the body axis BA toward the head of the floor board 520 (positive side in the Y direction). The direction of the body axis AX of the user U can be estimated based on the direction of vibrations that appear over time in the trajectory of the center of gravity G (i.e., the direction of vibrations corresponding to breathing).

[0045] Therefore, in a state in which the posture determination unit 323 has determined that the posture of the user U is in a lying position, if the center of gravity G of the user U moves along the body axis BA toward the leg side of the floor board 520 by more than a predetermined distance within a predetermined period of time, the posture determination unit 323 may also determine that the posture of the user U has changed to a lying position if the center of gravity G of the user U moves along the body axis BA toward the head side of the floor board 520 by more than a predetermined distance within a predetermined period of time, in a state in which the posture determination unit 323 has determined that the posture of the user U is in a lying position.

[0046] In the sleeping posture determination step S16, the sleeping posture determination unit 324 determines the sleeping posture of the user U on the bed board 520. If the posture of the user U is determined to be a supine position in the posture determination step S15, the sleeping posture determination unit 324 determines whether the sleeping posture of the user U is a supine position, a lateral position (lateral position), or a prone position (prone position).

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

[0048] 6(a), 6(b), and 6(c) show the load signal s from the load detector 11 arranged on the head side of the bed board 520. １6(a) shows the waveform of the fluctuation in response to the respiration of the user U. Fig. 6(a) shows the waveform when the user U is in a supine position ("supine position waveform WAs"), Fig. 6(b) shows the waveform when the user U is in a lateral position ("lateral position waveform WAr"), and Fig. 6(c) shows the waveform when the user U is in a prone position ("prone position waveform WAp").

[0049] In any of the supine position waveform WAs, the lateral position waveform WAr, and the prone position waveform WAp, the user U is inhaling at time t ０ From time t １ During the intake period P １ ) where the load signal s １ gradually decreases, and reaches the time t ２ From time t ３ During the expiratory period P ３ ) where the load signal s １ This is because the center of gravity G moves away from the load detector 11 during inspiration and moves closer to the load detector 11 during expiration. １ After the end of inhalation at time t ２ The period from when the breath is first exhaled to when the breath is first exhaled (the post-inhalation hold period P ２ ), and user U at time t ３ After the expiration is completed, the time t ４ The period from the time when the inhalation is started to the time when the inhalation is started (the post-expiration hold period P ４ ) where the load signal s １ is approximately constant.

[0050] Here, in the prone position waveform WAp, the inhalation period P １ is the inhalation period P of the supine position waveform WAs １ The post-inhalation hold period P ２ is the post-inspiration hold period P of the supine position waveform WAs ２ shorter than the expiratory period P ３ is the expiratory period P of the supine waveform WAs ３ In other words, the waveform WAp in the prone position has a shape in which the peak on the valley side is shifted in the positive direction of the time axis compared to the waveform WAs in the supine position. １ The falling slope of the waveform WAs in the supine position is１ and the slope of the falling edge of the waveform WAp in the prone position is smaller than the slope of the expiratory period P ３ The rising slope of the waveform WAs in the supine position is ３ The slope of the rising edge of the waveform WAr is larger than that of the rising edge of the waveform WAp in the supine position. This change in waveform occurs because, when the user U is lying prone, the thorax is pressed against the bed surface by the user's own weight, which places a strain on the inhalation movement and slows down the inhalation speed. The waveform WAr in the lateral position has a shape intermediate between the waveform WAs in the supine position and the waveform WAp in the prone position.

[0051] The sleeping posture determination unit 324 receives the load signal s １ The sleeping posture of the user U is determined based on the fact that the fluctuation mode of the load signal s changes as described above depending on the sleeping posture of the user U. Specifically, for example, １ The component of fluctuation according to the breathing of the user U is extracted from the １ The length of the post-inhalation hold period P ２ length of the expiratory period P ３ The sleeping posture of the user U is determined based on the length of the

[0052] The sleeping posture can also be determined using other known methods, such as the method described in Japanese Patent Application Laid-Open No. 2018-15210.

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

[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 acquiring physical information. That is, in this embodiment, the results of the load detection step S11 and the center of gravity position calculation step S12 are used in both acquiring physical information and acquiring biological information.

[0055] In the respiration rate calculation step S21, the respiration rate calculation unit 331 calculates the respiration rate of the user U. Specifically, for example, the load signal s １ ~s ４ The respiration rate of the user U is estimated based on the value of a frequency peak that appears in a band of approximately 0.2 to 0.33 Hz, which is a band corresponding to the frequency of human respiration.

[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, the load signal s １ ~s ４ The frequency analysis is performed on either of the above, and the heart rate of the user U is estimated based on the value of a frequency peak that appears in a band of approximately 0.5 to 3.3 Hz, which is a band corresponding to the frequency of the human heartbeat.

[0057] In the sleep determination step S23, the sleep determination unit 333 determines whether the user U is asleep or awake.

[0058] The sleep determination unit 333 calculates the weight signal s １ ~s ４ Standard deviation σ １ ~σ ４ An activity index (ACI) is calculated, which is the time integral value of the simple average of the above.

[0059] The integration time is 20 seconds here, but is not limited to this. １ ~σ ４ increases in accordance with the body movement of the user U, and therefore, when the user U exhibits body movement that causes a larger load change for a longer period of time, the activity index ACI becomes larger. In other words, the activity index ACI is a parameter that reflects both the magnitude and duration of the body movement.

[0060] The sleep determination unit 333 calculates the standard deviation σ at each sampling time for the past 20 seconds every 20 seconds. １ ~σ ４ Then, a new activity index ACI is calculated using the calculated activity index ACI and the threshold value TH ＡＣＩSpecifically, for example, when the activity index ACI is compared with the threshold value TH ＡＣＩ If the difference is smaller than , it is determined that the user U is in a sleeping state.

[0061] [Bedboard Movement Control] In this embodiment, the control of the movement of the bed board 520 includes a wake-up movement control (an example of an "upward movement control") and a sleep-down movement control (an example of a "downward movement control"). In the wake-up movement control, the bed movement control unit 34 moves the first bed board 521, which is in a horizontal position (an example of an "initial position"), to a back-raising position. This encourages the user U on the bed board 520 to wake up. In the sleep-down movement control, the bed movement control unit 34 moves the first bed board 521, which is in the back-raising position, to a horizontal position, and moves the third bed board 523 and the fourth bed board 524, which are in the knee-raising position, to horizontal positions. This changes the shape of the bed board 520 from a shape suitable for the user U to fall asleep to a shape suitable for the user U to continue sleeping.

[0062] [Wake-up movement control] The wake-up movement control will be described with reference to the flowcharts of Figures 8, 9, and 10. In this embodiment, the bed movement control unit 34 performs the wake-up movement control based on information acquired in a physical information acquisition process that is continuously executed by the physical information acquisition unit 32 in parallel with the wake-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 planned wake-up time input in advance 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 executes step S31 again. If the current time has reached the set time (S31: YES), the bed movement control unit 34 sets the variables m and n to "0" (step S32) and executes the movement start control step S33. Note that the variable m is a variable for counting the number of times the movement start control step S33 is repeated, and the variable n is a variable for counting the number of times the movement initiation control step S35, described later, has been stopped.

[0064] 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 left the bed board 520. The bed movement control unit 34 refers to the latest determination result of the bed leaving determination step S13.

[0065] If the user U has left the bed plate 520 (S331: YES), the bed movement control unit 34 ends the movement start control step S33 without starting movement of the first bed plate 521. If the user U is present on the bed plate 520 (S331: NO), the bed movement control unit 34 determines whether the user U is located in the bed end area 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 an "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] If 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 bed plate 521. If 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 (i.e., either a sitting position or a sitting-on-the-edge position) (step S333). The bed movement control unit 34 refers to the latest determination result of the posture determination step S15.

[0068] If 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 bed plate 521. If 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 position determination step S16.

[0069] If 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 movement of the first bed plate 521. If the user U is not in a prone position (S334: NO), the bed movement control unit 34 activates the first moving mechanism 531 to start movement of the first bed plate 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 therefore the floor board 520.

[0071] 8, after the movement start control step S33, the bed movement control unit 34 determines in step S34 whether the movement of the first bed plate 521 is being executed (i.e., whether the first moving mechanism 531 is operating). If the movement of the first bed plate 521 is not being executed (S34: NO), the bed movement control unit 34 determines whether the variable m is equal to or smaller than the threshold value TH ｍ The bed movement control unit 34 determines whether the variable m is greater than the threshold value TH ｍ If the variable m is equal to or smaller than the threshold value TH (S371: NO), the bed movement control unit 34 adds 1 to the variable m (step S372), waits for a predetermined period of time (step S39), and executes the movement start control step S33 again. ｍ If the difference is greater than the predetermined value (S371: YES), the bed movement control unit 34 ends the bed 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 bed movement control has ended without completing the raising of the first bed board 520.

[0072] When the bed movement control unit 34 determines that the movement of the first bed plate 521 is being performed (S34: YES), it executes the movement control step S35.

[0073] 10, in the during-movement control step S35, the bed movement control unit 34 first executes step S351 to determine whether the user U has left the bed board 520. The bed movement control unit 34 refers to the latest determination result of the leaving-bed determination step S13.

[0074] If the user U has left the bed plate 520 (S351: YES), the bed movement control unit 34 stops the movement of the first bed plate 521 and returns the first bed plate 521 to a horizontal position (step S352), and ends the during-movement control step S35. If the user U is present on the bed plate S520 (S351: NO), the bed movement control unit 34 determines whether or not the user U is moving (step S353). The bed movement control unit 34 refers to the latest determination result of the body movement determination step S14.

[0075] If the user U is not moving (S353: NO), the bed movement control unit 34 determines whether the movement of the first bed plate 521 to the back-raising position is complete (step S356). In this embodiment, the bed movement control unit 34 estimates the position of the first bed plate 521 based on the operation time of the first moving mechanism 531 and the pre-stored movement speed of the first bed plate 521. If the bed movement control unit 34 determines that the movement of the first bed plate 521 to the back-raising position is complete (S356: YES), it ends the in-movement control step S35. If the bed movement control unit 34 determines that the movement of the first bed plate 521 to the back-raising position is not complete (S356: NO), it executes step S351 again.

[0076] If the user U is moving (S353: YES), the bed movement control unit 34 determines whether the user U is located in the bed end area BE (step S354). The bed movement control unit 34 makes this determination in the same manner as step S332 of the movement start control step S33. If the user U is located in the bed end area BE (S354: YES), the bed movement control unit 34 stops the movement of the first bed plate 521 and returns the first bed plate 521 to a horizontal position (step S352), and ends the movement control step S35.

[0077] If the user U is not located in the bed edge area BE (S354: NO), the bed movement control unit 34 determines whether the user U is in a sitting position (i.e., either a standing position or a sitting-on-the-edge position) (step S355). The bed movement control unit 34 refers to the latest determination result of the position determination step S15.

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

[0079] In the during-movement control step S35, stopping the movement of the first floor board 521 corresponds to restricting the movement of the first floor board 521, and therefore the floor board 520.

[0080] 8, after the in-movement control step S35, the bed movement control unit 34 determines whether the first bed plate 521 is in the back-raising position in step S36. If the first bed plate 521 is in the back-raising position (S36: YES), the bed movement control unit 34 ends the getting-up movement control.

[0081] If the first bed plate 521 is not in the back-raising position (S36: NO), the bed movement control unit 34 determines whether the variable n is equal to or lower than the threshold value TH ｎ The bed movement control unit 34 determines whether the variable n is greater than the threshold value TH ｎ If the variable n is equal to or smaller than the threshold value TH (step S381: NO), the bed movement control unit 34 adds "1" to the variable n (step S382), waits for a predetermined period of time (step S39), and executes the movement start control step S33 again. ｎ If the difference is greater than the predetermined value (YES in step S381), the bed movement control unit 34 ends the bed 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 bed movement control has ended without completing the back-raising of the first bed board 520.

[0082] [Sleep Movement Control] The sleep movement control will be described with reference to the flowchart in Fig. 11. In this embodiment, the bed movement control unit 34 performs the sleep movement control based on information acquired in a physical information acquisition process that is continuously executed by the physical information acquisition unit 32 in parallel with the sleep movement control, and information acquired in a biological information acquisition process that is 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 asleep. The bed movement control unit 34 refers to the latest determination result of the sleep determination step S23. If the user U is not asleep (S41: NO), the bed movement control unit 34 executes step S41 again.

[0084] If the user U is asleep (S41: YES), the bed movement control unit 34 determines whether the user U is located in the bed end area BE (step S42). The bed movement control unit 34 makes this determination in the same manner as step S332 of the wake-up movement control. If the user U is located in the bed end area BE (S42: YES), the bed movement control unit 34 waits for a predetermined period of time without starting movement of the first bed plate 521, the third bed plate 523, and the fourth bed plate 524 (step S43), and then executes step S41 again. Note that not starting movement of the first bed plate 521, the third bed plate 523, and the fourth bed plate 524 is equivalent to restricting movement of the first bed plate 521, the third bed plate 523, and the fourth bed plate 524, and ultimately the movement of the bed plate 520.

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

[0086] After step S44, the bed movement control unit 34 determines whether or not the user U is moving (step S45). The bed movement control unit 34 refers to the latest determination result of the body movement determination step S14.

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

[0088] If the user U is not moving (S45: NO) or if the user U is not located in the bed end area BE (S46: NO), the bed movement control unit 34 determines whether the first, third, and fourth boards 521, 523, and 524 have been moved to horizontal positions (step S48). In this embodiment, the bed movement control unit 34 estimates the positions of the first, third, and fourth boards 521, 523, and 524 based on the operating times of the first and second moving mechanisms 531 and 532 and the pre-stored movement speeds of the first, third, and fourth boards 521, 523, and 524. If the bed movement control unit 34 determines that the first, third, and fourth boards 521, 523, and 524 have been moved to horizontal positions (S48: YES), it terminates the sleep movement control. If the bed movement control unit 34 determines that the movement of the first bed plate 521, the third bed plate 523, and the fourth bed plate 524 to the horizontal position has not been completed (S48: NO), it executes step S45 again.

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

[0090] The bed board movement control system 100 of this embodiment refers to the physical information of the user U in the wake-up movement control and the sleep-onset movement control. Then, when the physical information satisfies a restriction condition, the movement of the bed board 520 is restricted. Specifically, in the wake-up movement control, the movement of the bed board 520 is restricted when the user U has left the bed or is in a standing position (i.e., when the physical information indicates that the bed board 520 does not need to be moved), when the user U is located in the bed edge region BE, or when the user U is sitting on the edge of the bed (i.e., when there is a risk of the user U falling off the bed board 520), etc. Therefore, the bed board movement control system 100 can more appropriately move the bed board 520.

[0091] In the bed board movement control system 100 of this embodiment, when it is determined that the sleeping position of the user U is prone during the getting-up movement control, the bed board movement control system 100 restricts the movement of the first bed board 521 to the back-raising position. Therefore, the bed board movement control system 100 can restrict the movement of the bed board 520 in a direction that puts a strain on the body of the user U, and therefore the bed board 520 can be moved more suitably.

[0092] In this embodiment, the bed board movement control system 100 restricts the movement of the first bed board 521 in the in-movement control step S35 of the wake-up movement control, and then returns the first bed board 521 to a horizontal position. Then, movement of the first bed board 521 to the back-raising position is then attempted a predetermined number of times. Because the first bed board 521 is temporarily returned to the horizontal position in this manner, the movement distance when the first bed board 521 is moved again to the back-raising position is long, which is highly effective in encouraging the user U to wake up. Furthermore, because movement of the first bed board 521 to the back-raising position is attempted a predetermined number of times, even when the movement of the first bed board 521 is restricted, there is a high possibility that the first bed board 521 will be successfully moved to the back-raising position, and there is a high possibility that the user U will be encouraged to wake up.

[0093] The bed panel movement control system 100 of this embodiment restricts the movement of the bed panel 520 in the sleep movement control, and then attempts to move the bed panel 520 again. Therefore, the first bed panel 521, the third bed panel 523, and the fourth bed panel 524 can be moved to the horizontal position satisfactorily.

[0094] <Modifications> The following modifications can also be used in the above embodiment.

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

[0096] Specifically, for example, the bed movement control unit 34 may determine whether the restriction condition is satisfied based only on the position of the user U on the bed plate 520. In this case, for example, in the movement start control step S33 and / or the movement in progress control step S35, the bed movement control unit 34 may restrict the movement of the bed plate 521 when the user U is located in the bed end area BE, regardless of 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.

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

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

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

[0100] In the rising and moving control performed by the floor board movement control system 100 of the above embodiment, the floor board movement control system 100 stops the movement of the first floor board 521 and then returns the first floor board 521 to a horizontal position in step S352 of the during-movement control step S35. However, this is not limited to this, and it is also possible to simply 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 sleep movement control performed by the bed board movement control system 100 of the above embodiment, whether or not the conditions (restriction conditions) for restricting the movement of the first bed board 521, the third bed board 523, and the fourth bed board 524 are satisfied is determined taking into consideration the position of the user U on the bed 500 (bed board 520) and the presence or absence of body movement of the user U. However, this is not limited to this. In the sleep movement control, the bed board movement control system 100 may determine whether or not the conditions for restricting the movement of the first bed board 521, the third bed board 523, and the fourth bed board 524 are satisfied based on at least one of the position of the user U on the bed 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. The restriction conditions in the wake-up movement control can be used as appropriate as the restriction conditions.

[0102] In the sleep movement control executed by the bed board movement control system 100 of the above embodiment, the bed movement control unit 34 determines whether the user U is asleep in step S41, but this is not limited to this. The bed movement control unit 34 may also determine whether the current time has reached the set time in step S41.

[0103] In the sleep movement control performed by the bed board movement control system 100 of the above embodiment, the bed board movement control system 100 moves the first bed board 521, the third bed board 523, and the fourth bed board 524 to a horizontal position. However, this is not limited to this. In the sleep movement control performed by the bed board movement control system 100, only the first bed board 521, or only the third bed board 523 and the fourth bed board 524 may be moved to a horizontal position. In this case, the bed boards that are not moved may be in a horizontal position from the beginning. The positions of the bed boards before movement in the sleep movement control may be arbitrarily set by the user U. Furthermore, the bed board movement control system 100 does not need to perform the repetitive control including step S43 in the sleep movement control. In this case, the sleep movement control may be terminated when it is determined in step S42 that the user U is located in the bed end area BE (step S42: YES) or after the movement of the bed board 520 is stopped in step S47. It should be noted that step S43 of waiting for a predetermined period of time may be omitted and control may be performed repeatedly.

[0104] In the bed board movement control system 100 of the above embodiment, the bed movement control unit 34 automatically starts movement control of the bed board 520. In this specification and the present invention, the control unit "automatically starts movement control" means that the control unit autonomously starts movement control based on a condition determination, etc. The control unit "automatically starts movement control" when it starts movement control of the bed board based on a determination of whether a preset condition has been met (e.g., a determination of whether a set time has arrived, or a determination of whether the user's physical information and / or biometric information has met a predetermined condition). On the other hand, the control unit "automatically starts movement control" when it starts movement of the bed board in response to a manual start instruction from the user, etc. (e.g., a start instruction input via key input, voice input, touch panel input, etc.). Note that the bed movement control unit 34 is not limited to automatically starting movement control of the bed board 520.

[0105] The bed board movement control system 100 of the above embodiment may be configured so that a user U or the like can input desired restriction conditions via an input unit 70 or the like, and set control conditions to be followed by the bed movement control unit 34.

[0106] In each of the wake-up movement control and sleep movement control performed by the floor board movement control system 100 of the above embodiment, it may be determined whether or not to restrict the movement of the floor board 520 based on the temporal history of at least one of the user U's position on the floor board 520, the presence or absence of body movement of the user U, the user U's posture, and the user U's sleeping posture.

[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 edge region BE in step S332 of the wake-up movement control and / or step S42 of the sleep movement control, it further determines whether the center of gravity G was stable over a predetermined period immediately prior to the time of the determination. Specifically, for example, the bed movement control unit 34 determines whether the total amount of movement of the center of gravity G over the predetermined period immediately prior to the time when it was determined that the center of gravity G was in the bed edge region BE is less than a predetermined distance. If the total amount of movement of the center of gravity G over the predetermined period is less than the predetermined distance, the position of the user U is deemed not to be in the bed edge region BE. In other words, even if the center of gravity G of the user U is in the bed edge region BE, if the position of the center of gravity G is stable, it is deemed that the risk of falling is low, and movement of the bed board 520 is permitted.

[0108] As another example, when the bed movement control unit 34 determines that the user U's sleeping position is prone in step S334 of the wake-up movement control, it further determines whether the user U has been in a prone position for a predetermined period of time immediately before the determination. If the user U has been in a prone position for a predetermined period of time, the bed movement control unit 34 considers the user U not to be in a prone position. In other words, if the user U has been in a prone position for a predetermined period of time, encouraging the user U to wake up takes priority over avoiding strain on the user U's body.

[0109] In the floor board movement control system 100 of the above embodiment, the restriction on the movement of the floor board 520 is, but is not limited to, stopping the movement of the floor board 520. The restriction on the movement of the floor board 520 may be restricting 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 wake-up movement control and sleep-going movement control performed by the floor board movement control system 100 of the above embodiment, the movement of the floor board 520 may be restricted in a first manner if at least one of the user U's position on the floor board 520, the presence or absence of body movement of the user U, the user U's posture, and the user U's sleeping posture satisfies a first condition, and the movement of the floor board 520 may be restricted in a second manner different from the first manner if at least one of the user U's position on the floor board 520, the presence or absence of body movement of the user U, the user U's posture, and the user U's sleeping posture satisfies a second condition different from the first condition.

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

[0112] As another example, the "restriction" may be "stop" when the user U is located in the bed end area BE and is experiencing body movement, and the "restriction" may be "speed regulation" when the user U is located in the bed end area BE and is not experiencing body movement.

[0113] In the floor board movement control system 100 of the above embodiment, when restricting the movement of the floor board 520, it is possible to restrict only the movement of the first floor board 521 when the center of gravity G of the user U is located in the head end region, which is a region within a predetermined distance from the end of the head side (positive side in the Y direction) of the floor board 520, and restrict only the movement of the third floor board 523 and the fourth floor board 524 when the center of gravity G of the user U is located in the leg end region, which is a region within a predetermined distance from the end of the leg side (negative side in the Y direction) of the floor board 520. This makes it possible to restrict the movement of the floor board 520 only in the region where the user U is located.

[0114] In the floorboard movement control system 100 of the above 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 images captured by an imaging device.

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

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

[0117] In the above embodiment, the bed board movement control system 100 has been described as an example in which it is used for the bed 500, but the use of the bed board movement control system 100 is not limited to the bed 500. The bed board movement control system 100 can be used as a support surface movement control system for controlling the movement of a support surface of any support device configured to move a support surface that supports a human body, such as a bed, sofa, chair, or wheelchair. In this case, the support surface movement control system may be capable of performing upward movement control to move a portion of the support surface (such as a backrest or leg rest) in a direction to increase the inclination angle of that portion with respect to a horizontal plane and / or downward movement control to move that portion in a direction to decrease the inclination angle of that portion with respect to a horizontal plane.

[0118] As long as the characteristics of the present invention are maintained, the present invention is not limited to the above-described embodiments, and other forms that can be conceived within the scope of the technical idea of ​​the present invention are also included within the scope of the present invention.

[0119] 11, 12, 13, 14 Load detector; 30 Control unit; 31 Center of gravity position calculation unit; 32 Body information acquisition unit; 321 Bed exit determination unit; 322 Body movement determination unit; 323 Posture determination unit; 324 Sleeping posture determination unit; 33 Biometric information acquisition unit; 34 Bed movement control unit; 500 Bed; 520 Bed board

Claims

1. A support surface movement control device that controls the movement of a support surface that supports a user's body, comprising: 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 to move the support surface, wherein the movement control unit restricts the movement of the support surface when the physical information satisfies a restriction condition in the movement control.

2. A support surface movement control device as described in claim 1, wherein the physical information includes at least one of the user's position on the support surface, the presence or absence of body movement, posture, and sleeping posture.

3. A support surface movement control device as described in claim 1 or 2, wherein the movement control unit, in the movement control, limits the movement of the support surface when the position of the user is within an edge region on the support surface.

4. A support surface movement control device as described in any one of claims 1 to 3, wherein the movement control unit, in the movement control, limits the movement of the support surface when the position of the user is within an edge area on the support surface and the user on the support surface is experiencing body movement.

5. A support surface movement control device as described in any one of claims 1 to 4, wherein the movement control includes an upward movement control for moving a portion of the support surface in a direction that increases the inclination angle of the portion relative to a horizontal plane, and the movement control unit, in the upward movement control, limits the movement of the support surface when the user's sleeping position on the support surface is in a prone position.

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

7. A support surface movement control device as described in any one of claims 1 to 6, wherein the movement control unit, in the movement control, restricts the movement of the support surface in a first manner when the physical information satisfies a first condition, and restricts the movement of the support surface in a second manner different from the first manner when the physical information satisfies a second condition different from the first condition.

8. A support surface movement control device as described in any one of claims 1 to 7, wherein the movement control includes upward movement control for moving a portion of the support surface from an initial position in a direction in which the inclination angle of the portion with respect to the horizontal plane increases, and the movement control unit stops the movement of the portion and returns the portion to the initial position when the physical information satisfies the restriction condition in the upward movement control.

9. A support surface movement control device as described in claim 8, wherein, in the upward movement control, the movement control unit, after returning the portion to the initial position, determines whether the physical information satisfies the restriction condition, and if the physical information does not satisfy the restriction condition, moves the portion in a direction that increases the inclination angle of the portion with respect to the horizontal plane.

10. A support surface movement control device as described in any one of claims 1 to 9, wherein the movement control includes a downward movement control for moving a portion of the support surface in a direction that reduces an inclination angle of the portion with respect to a horizontal plane, and wherein the control device, in the downward movement control, stops the movement of the portion when the physical information satisfies the limiting condition, determines whether the physical information satisfies the limiting condition after stopping the movement of the portion, and moves the portion in a direction that reduces an inclination angle of the portion with respect to a horizontal plane when the physical information does not satisfy the limiting condition.

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

Images