JP2021518797A - Bedding and how to adjust it - Google Patents

Abstract

PROBLEM TO BE SOLVED: To measure a three-dimensional surface morphology of a human body, at least one of adjustment units (310) whose height can be adjusted independently and which is arranged next to each other and has an arrangement distribution, and a point cloud and / Or the spatial position and / or posture of the human body measurement module (10), head, neck, body and limbs that determine the spatial position and / or posture of the head, neck, body and limbs by a three-dimensional model of the human body. Controls the sleeping posture determination module (15), the sleeping posture and / or the adjustment unit (310) according to the morphology of the spine, hip bones and limbs, and adjusts the morphology of the surface of the bedding for human comfort. A method of adjusting the surface morphology of bedding and bedding that accurately determines the sleeping posture of the human body and adjusts the surface morphology, including a morphology adjustment module (17) that enables sleeping in a comfortable sleeping posture. [Selection diagram] Fig. 3

Description

The present invention relates to bedding and a method for adjusting its height and surface morphology, particularly a pillow or a bed.

Pillows and beds are the bedding you need to sleep. Since the distance between the head and the bed of a human is bent according to the sleeping posture, a pillow whose height can be adjusted according to the sleeping posture and a mattress whose shape of the bed surface can be adjusted are useful for comfortable sleep. Published patent application 201310717094.X states, "The airbag is used as the pillow body, and the pressure sensor detects the pressure that the head acts on the airbag and compares it with the preset value. The means of "adjusting the height of the pillow" was disclosed. Published patent application 201110057436.0 disclosed a means of "using an infrared photoelectric sensor to detect the height of the human body with respect to the bed surface to determine the sleeping posture and adjust the pillow height". .. Published patent application 201610871087.9 disclosed a means of "detecting the user's head orientation with audio signals collected by multiple sound collectors placed around the head." Published patent application 201210212803.4 Disclosed the means of "sleeping posture judgment based on far-infrared face recognition technology". Published patent application 201510990242.4 recognizes user body information with each sensor and generates a user's covering contour map on the mattress according to each recognition information, thereby adjusting the user's sleeping posture and mattress tilt. Disclosed a sleeping posture adjustment method and a device characterized by the above. Published patent application 201610798088.5 includes multiple fixed components and adjustment rods, the fixed components include movable components and sensors, and a mattress characterized by adjusting the length of the adjustment rods to adjust the morphology of the bed surface. Disclosed.

Conventional techniques such as those described above may not be able to accurately determine the sleeping posture. For example, the demand for pillow height and bed surface morphology depends on the supine face-side orientation and the prone-face-side orientation, but these sleeping postures cannot be distinguished by conventional techniques.

The present invention provides bedding that includes pillows and / or mattresses and can accurately determine the sleeping posture and adjust the surface morphology.

The bedding according to the present invention includes at least one of the adjustable units whose height can be adjusted independently, and the plurality of adjusting units are arranged side by side in an array distribution, the seat is on the top of the adjusting units, and the bedding. There is at least one sheet on the surface of the sheet, and the sheet has a heating / cooling module that can adjust the temperature of the sheet. Desirably, the cooling module is a semiconductor cooling module. The seat and / or adjustment unit has a massage vibration and / or other form of massage module.

The bedding according to the present invention measures the three-dimensional surface morphology of the duvet covering the head, neck, torso, limbs and / or the human body, acquires a three-dimensional point cloud, and creates a three-dimensional model of the human body by the point cloud. Includes at least one of the anthropometric modules that can determine the spatial position and orientation of the head, neck, torso and limbs by a 3D model of the point cloud and / or human body.

The bedding according to the present invention can determine the sleeping posture based on the three-dimensional spatial positions and / or postures of the head, torso, neck and limbs, and can calculate the morphology of the cervical spine, thoracic spine, lumbar spine, hip bone and limbs of the human body. Includes at least one of the attitude determination modules.

The bedding according to the present invention is unit-adjusted according to the sleeping posture and / or the morphology of the spine, hip joint bones and limbs. include.

The morphology adjustment module can control the arrangement of adjustment units so that it operates according to preset operation rules. The operating rules include information on the ascending / descending height, speed, time and positional relationship of each adjustment unit. The array of control units can undulate like waves. The adjustment unit that comes into contact with the human body and the adjustment unit that is adjacent to the human body can move up and down in order to support body turnover. It is possible to push / massage the human body periodically by the selected adjustment unit and / or by the periodic cross-up and down of the adjacent adjustment units.

The human body measurement module can detect whether the sleeping posture changes by continuous measurement of the human body morphology. As the sleeping posture changes, the morphological adjustment module can control the descent of the adjustment unit that comes into contact with the human body in the direction in which the human body is turned, and can reduce the resistance when turning. For example, when a human turns from the supine position to the left, the adjustment unit on the left side of the body that contacts the body lowers to form a low zone for the human to turn conveniently. When the adjustment of the sleeping posture is completed, the adjustment unit that comes into contact with the human body is controlled by the morphological adjustment module to adjust the posture of the human body to the most comfortable state. When the human body remains stationary, the morphological adjustment module improves each adjustment unit, the adjustment unit that does not contact the human body is the longest, and the adjustment unit that contacts the human body is also the most comfortable when the human body is in the most comfortable state. Allows the adjustment unit to lower to assist in flipping when flipping over for long periods of time.

The bedding according to the invention includes at least one step of initialization. For initialization, keep each adjustment unit at the same height. The human body lies on the bedding on its back, lying down, and abdomen, and the human body is measured in different postures by the human body measurement module, and the point cloud on the surface of the human body in different postures is acquired to obtain multiple points in different postures. Create a three-dimensional model of the human body. In the case of initialization, the surface point cloud of the human body when a human is standing is measured to create a three-dimensional model of the standing human. The human body measurement module can calculate characteristic dimensions of various parts of the human body, including volume, length and circumference, such as shoulder width, waist circumference, arm length and leg length, using a three-dimensional model of the human body.

When the bedding works, the morphology module adjusts the surface morphology that the bedding should have and the various parts of the human body to reach the most comfortable state in the current sleeping position due to the characteristic dimensions of the human body. The height that the unit should have can be calculated and compared with the real-time height of each adjustment unit to determine the direction and length that each adjustment unit should adjust. Thereby, the adjustment accuracy and speed of each adjustment unit can be improved.

When the bedding works, it compares the human body data by initialization including the volume and waist circumference of each part with the human body data by real-time measurement, predicts the surface morphology that the bedding should have in the optimum sleeping posture, and adjusts accordingly. The height of the unit can be adjusted.

When the bedding works, the morphology module controls the adjustment unit to maintain a morphology that is closest to when the torso, spine, head and neck are most standing, especially when the spine is most standing. Can be done.

The human body measurement module is a three-dimensional laser scan method and / or TOF method and / or a double-sided stereoscopic visual method and / or a constituent optical method and / or an ultrasonic measurement method and / or other known methods. / Or it is possible to measure the posture and acquire the 3D data of the human body to acquire the 3D model of the human body.

The bedding according to the present invention solves the problem that the sleeping postures of the face-side-facing supine and the face-side-facing abdomen cannot be distinguished by the conventional technique. You can always be in a comfortable state.

The figure which shows the structure of the adjustment unit of the bedding by this invention. The figure which shows the distribution of the adjustment unit of the bedding by this invention The figure which shows the principle of the bedding by this invention FIG. 1 showing the principle of the embodiment of the present invention. The figure which shows the principle of another Example of this invention. Side view of human body supine face sideways sleeping posture Top view of supine face sideways sleeping posture Side view of prone face sideways sleeping posture Top view of prone face sideways sleeping position Bedding adjustment method process chart Bedding adjustment method process chart

The same numbers in the attached figures indicate parts of the same or similar configuration.

The adjustment unit of FIG. 1 is cylindrical and includes a base 311 and a telescopic rod 312. The base can be attached to the bottom plate. The telescopic rod can be expanded and contracted with respect to the base. The height of the telescopic rod can be adjusted by various methods such as atmospheric pressure, hydraulic pressure and machinery. The unit configuration and height adjustment method are based on known techniques. There is a sheet 313 on the top of the telescopic rod. The sheet is circular or polygonal and has a radius of 5 cm or less, preferably 2 cm or less. The seat and the telescopic rod may be fixedly connected or movablely connected. Desirably, the seat is connected to the top of the telescopic bar by a hinge 314 or a spring so that it can swing against the telescopic bar. Desirably, the seat is perpendicular to the telescopic bar when not under external force. The height difference of the adjustment unit should be at least 5 cm, preferably 10 cm or more. A displacement measuring device for measuring the displacement of the telescopic rod with respect to the base and acquiring the height of the adjusting unit is arranged in the adjusting unit. The adjustment unit may be a polygonal prism shape. The adjustment unit may include one or more sheets, and two or more adjustment units may share the same sheet.

In FIG. 2, the plurality of adjustment units 310 are vertically located on the bottom plate 320 and have an array distribution. The arrangement may be a rectangular arrangement or another arrangement method. The surface of the bedding (for example, the surface of the pillow or the surface of the bed contains a plurality of adjustment unit telescopic bar sheets. Adjusting the height of the adjustment unit at different locations adjusts the height and shape of the surface of the pillow or the surface of the bed. Adjacent sheets can be connected by an elastic element, and if the heights of adjacent adjustment units are different, the adjacent sheets will attract each other to adjust the inclination, and the curved surface of the pillow surface or bed surface will be smooth. If the bedding is a pillow, you only need one of the adjustment units and one of the sheets.

The bedding in FIG. 3 is a mattress and contains at least one of the anthropometric modules 10. The human body measurement module includes at least one measurement control module 11 and at least one measurement execution module. The measurement execution module includes at least one of each of the camera 13 and the line laser 12, and the necessary servo mechanism and auxiliary circuit. The laser 12 and the camera 13 are connected to the measurement control module 11. The measurement execution module is located on the top or side of the bedding. A linear laser from a laser can scan the human body and the camera can take spot images. The measurement control module 11 and the measurement execution module can measure each part including the head 21, neck 23, torso 26 and limbs of the human body by three-dimensional laser scanning. The measurement control module can recognize the point cloud of the light spot from the image. The measurement execution module is driven by the servo mechanism to scan different parts of the body, and the measurement control module acquires the human body surface point cloud of different parts from the images of different parts and generates the point cloud of the whole body surface, and the point cloud of Depending on the characteristics, various parts including the head, neck, torso and limbs of the human body, spatial positions and postures can be recognized. Point cloud features include, but are not limited to, point cloud range, curvature, gradient, density and spatial shape. The measurement control module generates a three-dimensional human body model by the point cloud, and can recognize various parts, spatial positions and postures of the human body by the three-dimensional human body model. The measurement control module can generate a three-dimensional model of the head, neck and torso by the point cloud by measurement.

The measurement control module can recognize the side and back of the face and head by the head point cloud and / or model, and can determine the three-dimensional spatial position and posture of the head by these parts and / or the head model. It recognizes the nose, pinna, eyes and lips as a method of recognition to determine the position and / or posture of the head, and features different curved surfaces of the point cloud and / or model (including size, curvature and shape). Includes (but not limited to) and recognizing the characteristics of the point distribution (including but not limited to the gradient, density and variation of the points). Since the reflection of the skin and the part with hair to the linear laser is different, the point cloud of the different part also has a different distribution form. Since a lot of hair absorbs the laser, the point cloud is sparse and uneven in the part with hair. The point cloud can judge the hair part and the skin according to the characteristics.

The measurement control module recognizes the three-dimensional form and / or posture and / or position of the torso and the position and posture of the shoulder by the point cloud and / or model of the torso, and can determine the posture of the torso by the shoulder, and the futon on the human body. When covered, the point cloud on the surface of the torso can be obtained, and the shape of the point cloud on the surface of the torso can be used to determine whether the torso is supine, abdominal, or lying down. In the case of lying down, the point cloud on the surface of the duvet, especially the point cloud on the shoulder, is high and narrow, and the height is more than the width. The point cloud of the department is more than wide. Here, the height is the vertical distance between the highest point of the point cloud and the bed surface. It is also possible to create a curved surface model or a three-dimensional model of the human body / futon surface by the point cloud and judge the posture of the body based on the characteristics of the curved surface or the three-dimensional model.

The measurement control module recognizes the three-dimensional morphology and / or posture of the neck by the point cloud and / or model of the neck, determines the position and posture of the cervical spine, and the tertiary of the limbs by the point cloud and / or model of the limb part. Can recognize the original form and / or posture and / or position.

Bedding includes at least one of the sleeping posture determination modules 15. The measurement control module can transmit information on the three-dimensional form, posture, and positional relationship of the human body to the sleeping posture determination module. Human sleeping postures include face-upward supine, face-side-facing supine, face-side-facing sideways, face-side-facing abdomen and face-downward-facing abdomen. The sleeping posture determination module can determine the sleeping posture based on the posture of each part of the body. If the face is facing up, the belly is facing up. In FIGS. 3 and 4, the posture of the human body is the lying posture of the face upward and supine. When the face is facing sideways, lying down (for example, the posture of the human body in FIG. 5), lying on the side of the face (for example, the posture of the human body in FIGS. 6 and 7) and lying on the side of the face (for example, in FIG. 8 and 9). Since it may be one of the sleeping postures (human body posture), the sleeping posture must be judged collectively in combination with the morphology of the body and / or the neck. If the human body is not covered with a futon, the morphology of the torso and shoulders can be used to determine whether it is lying down, supine, or abdominal. It is not possible to distinguish between supine and abdominal, and it is necessary to judge the posture of the torso in combination with the morphology of the neck. When the face is facing to the left of the body, the sternocleidomastoid muscle of the right neck is pulled, forming a raised zone in the neck that connects the clavicle of the torso to the back of the ear. As the face turns to the left, the raised zone is turned to a position facing the front of the torso. At the same time, the sternocleidomastoid muscle of the left neck contracts, the splenius capitis and splenius cervicis muscles after the left neck contract, and instead of the raised zone after the neck, from the back of the head to the front of the esophagus in the left mediastinum. At the same time, there is a slightly recessed zone that tilts, and at the same time, a highly tilted wrinkle is formed on the skin here from the back of the head to the front of the esophagus in the left mediastinum. When the face is facing to the right of the body, the left sternocleidomastoid muscle may be pulled, forming a raised zone in the anterior position of the neck, and forming a slightly recessed zone and skin wrinkles that tilt behind the neck. If it is not possible to determine whether it is supine or abdominal, the sleeping posture determination module can determine the orientation of the torso based on the morphology of the neck. If it is detected that the face is facing sideways but the torso is not lying down, when a raised zone connecting the torso and the back of the ear is detected in the neck, the front chest of the torso is facing upward, and the supine posture facing the face And without detecting the presence of a raised zone in the neck, and / or detecting a highly tilted skin wrinkle and / or a zone with a slight depression in the neck, the back of the torso points upwards and the face-side abdomen. It is a sleeping posture.

The morphological adjustment module 17 receives information on the body model, position, posture, and sleeping posture from the measurement control module and the sleeping posture judgment module, and projects each part of the human body on the surface of the bedding to adjust each part of the human body. The spatial correspondence with the units (ie, which adjustment unit each individual part of the body is supported by, and the height of each adjustment unit) can be determined. The morphological adjustment module can control each adjustment unit according to its correspondence and adjust the height to adjust the position and posture of each part of the body so that the human body achieves the optimum posture.

When the bedding is in pillow form, i.e. used as a pillow, the shape adjustment module controls the height of each adjustment unit that constitutes the surface of the pillow to control the height and / or spatial form and tilt of the pillow surface. Can be adjusted to adjust the head posture to achieve the most comfortable or preset posture, or to ensure that the cervical spine is in the most appropriate posture. Desirably, the surface of the pillow is adjusted so that the cervical spine most fills the natural curvature of the human cervical spine. In the case of lying down, the cervical spine is adjusted so that it is in the vertical central symmetry plane of the human body, that is, when the back of the human body faces the human body, the cervical spine overlaps the center line of the human body.

When the bedding is in mattress form, that is, when used as a bed, the form adjustment module controls each adjustment unit that comes into contact with the human body to adjust the height, and adjusts the curved shape and uneven state of the bed surface to adjust the head. The spatial positions and postures of the neck, torso and limbs can be adjusted to achieve a comfortable or preset posture, or the human spine can be in the most appropriate posture. If the abdomen is facing up or lying down, it is desirable to adjust each part of the body so that the spine is in a position that best fills the natural bending of the human spine. In the case of lying down, preferably, the spine is adjusted so that it is in the central symmetrical plane in the vertical direction of the human body, that is, when the spine faces the human body from directly behind the human body, the spine overlaps the center line of the human body.

The array of bedding adjustment units can be divided into one or more zones, each of which can operate independently. Desirably, the mattress has a pillow zone. Desirably, two single zones are assigned to the double bed and controlled respectively.

When used, the human body measurement module continuously detects changes in human body morphology, and the sleeping posture determination module continuously monitors changes in sleeping posture and / or human body posture, and detects changes in human body posture. , The morphology adjustment module adjusts the position and posture of each part of the human body until the human body is in the preset state or the most comfortable state.

In FIG. 4, the bedding includes at least one of the smart terminal device 5 and the drive control module 17, respectively. Here, smart terminal devices include smartphones and tablets. The smart terminal device includes at least one bedding APP, and the bedding APP includes at least one of a measurement control module, a sleeping posture determination module, and a form adjustment module. Bedding includes at least one measurement execution module that can perform three-dimensional measurements on the human body under the control of a measurement control module. The human body measurement module of the bedding includes a measurement execution module including at least one of the measurement control module and the drive control module 17, a linear laser 12, a camera of a smart terminal device and / or an external camera 13. The array 30 of the laser, the external camera and the adjustment unit is connected to the drive control module, and the drive control module is connected to the smart terminal device. The measurement control module can control a laser, a camera of a smart terminal device and / or an external camera by a drive control module to perform 3D scan measurement on the body, acquire a point cloud on the body surface, and generate a 3D human body model. The measurement control module can recognize each part of the human body and determine the spatial position and posture of the head, neck, torso and limbs. The measurement control module can transmit information on the human body model and the position and posture of each part to the sleeping posture determination module and the shape adjustment module. The sleeping posture determination module can determine the sleeping posture based on the above information and transmit the information to the morphological adjustment module. The shape adjustment module can determine the correspondence between each part of the human body and the adjustment unit, and the surface height and shape of the bedding that should be required when the human body is in a comfortable posture, depending on the position and posture of the human body. The morphological adjustment module controls the arrangement of the adjustment units by the drive control module. In FIG. 4, the bedding form is a pillow, and the form adjustment module can adjust the height of the surface of the pillow to adjust the head posture.

In FIG. 5, the bedding anthropometry module includes the smart terminal device 5. Smart terminal devices include at least one of the depth-sensing camera systems 56 according to known technology. The human body measurement module includes a measurement control module for smart terminal equipment and a depth camera system. The measurement control module can control the depth feeling camera system to perform three-dimensional measurement on the human body, acquire the human body point cloud, and generate a human body model. The measurement control module can recognize the three-dimensional posture of each part of the human body. The smart terminal device includes a sleeping posture determination module and a form adjustment module in which the adjustment unit is operated by the drive control module 17. In FIG. 5, the form of bedding is a pillow.

In FIG. 8, the bedding anthropometry module includes at least one of the ultrasonic exploration modules 14 and a servo mechanism. The ultrasonic exploration module can measure changes in the height of the human body surface. The servo mechanism drives the ultrasonic exploration module to scan the surface of the human body to capture changes in the height of the human body at different parts, and when the ultrasonic beam is very narrow, it acquires a clear three-dimensional morphology of the surface of the human body. can. The measurement control module 11 controls the ultrasonic exploration module to perform three-dimensional measurement on the human body, creates a three-dimensional human body model based on the measurement results, recognizes each part of the human body, and has a three-dimensional spatial posture / positional relationship of each part. Information can be transmitted to the sleeping posture determination module and the morphology adjustment module.

In FIG. 10, the bedding adjustment method includes the following steps.

a. Acquire measurement data by performing three-dimensional measurement on the human body.

b. Create a three-dimensional model of the human body.

c. Recognize each part of the human body from the data in step 1 and / or step 2.

d. The sleeping posture and / or the three-dimensional posture of the body is judged from the morphology and position of each part of the human body.

e. Adjust the bedding according to your sleeping posture and / or your physical posture.

In FIG. 11, the bedding adjustment method includes the following steps.

a. Perform three-dimensional measurement on the human body, acquire human body data, and create a human body model as a selectable step.

b. Recognize each part of the human body from the data in step 1.

c. If the face is facing up, it is judged to be supine.

d. If the face is facing down, it is judged to be prone.

e. If the face is facing sideways and the torso is standing sideways, it is judged to be lying down.

f. If the face is facing sideways, the torso is not standing sideways, and the sternocleidomastoid muscle is raised in the neck, it is judged to be a face-side-facing supine position, and vice versa.

g. The surface morphology of the bedding is adjusted based on the information related to the sleeping posture of the human body according to steps c, d, e, and f.

Repeat the above steps to continuously adjust the bedding.

1 step
2 steps
5 Smart terminal device
10 Human body measurement module
11 Measurement control module
12 laser
13 camera
14 Ultrasonic exploration module
15 Sleeping posture judgment module
17 Morphological adjustment module
21 heads
23 neck
26 torso
30 array
56 Depth camera system
310 adjustment unit
311 base
312 Telescopic rod
313 sheets
314 hinge
320 bottom plate

Claims (9)

A human body that can measure the three-dimensional surface morphology of the human body and / or the futon that covers the human body, generate a human body model, recognize each part of the human body, and determine the spatial position and / or posture of each part of the human body. A measurement module, a sleeping posture determination module that can determine the sleeping posture by the spatial position and / or posture of each part of the human body, and a sleeping posture and / or the spatial position and / or posture and / or form of each part of the human body. A bedding that includes at least one of the adjustment units that can adjust the shape and height of the bedding, characterized by including at least one of each of the morphology adjustment modules that can adjust the morphology of the surface of the bedding by the adjustment unit. The human body measurement module measures the three-dimensional morphology of the neck, and the ridge zone when the sternocleidomastoid muscle is pulled by the three-dimensional morphology of the neck can be recognized. The bedding according to claim 1, wherein the sleeping posture can be determined by the form of the above. Includes at least one of each of the measurement control module, the sleeping posture determination module, and the shape adjustment module. The smart terminal device and the measurement control module include at least one of the measurement execution modules that can perform three-dimensional measurement on the human body. A bedding that includes at least one of an adjustment unit that can adjust the height and shape of the bedding. The measurement control module can generate a human body model from three-dimensional measurement data of the human body by measurement, recognize each part of the human body, determine the spatial position and / or posture of each part of the human body, and can determine the above-mentioned sleeping posture. The determination module can determine the sleeping posture by the spatial position and / or posture of each part of the human body, and the morphological adjustment module can control the adjustment unit to adjust the morphology of the bedding. Depth-adjustable bedding, characterized by including at least one of a smart terminal device, including at least one each of a depth camera system, a measurement control module, a sleeping posture determination module and a morphology adjustment module. Bedding that includes at least one of the adjustable units that can be morphologically adjusted. The measurement control module can control the depth feeling camera system to perform three-dimensional measurement on the human body, and the measurement control module generates a human body model from the three-dimensional measurement data of the human body by the measurement, and the human body Each part can be recognized and the spatial position and / or posture of each part of the human body can be determined, and the sleeping posture determination module described above determines the sleeping posture according to the spatial position and / or posture of each part of the human body. It can be determined, and the form adjustment module can control the adjustment unit to adjust the form of the bedding. The bedding according to claim 1, 3 or 4, wherein the arrangement of the adjustment units can be controlled so that the shape adjustment module operates according to the preset operation rules. The bedding according to claim 1, 3 or 4, wherein the top of the adjustment unit has a sheet having a heating / cooling module. The bedding according to claim 1, 3 or 4, wherein the seat is on the top of the adjustment unit, and the seat and / or the adjustment unit has a massage module. The method for adjusting the shape of bedding according to claims 1 to 7, wherein the method comprises the following steps.
a. Acquire measurement data by performing three-dimensional measurement on the human body.
b. Create a three-dimensional model of the human body.
c. Recognize each part of the human body from the data in step 1 and / or step 2.
d. The sleeping posture and / or the three-dimensional posture of the body is judged from the morphology and position of each part of the human body.
e. Adjust the bedding according to the sleeping posture and body posture.
Among them, step b. Can be omitted. Repeat the above steps to continuously adjust the bedding. The method for adjusting the morphology of bedding according to claims 1 to 7, wherein the method comprises the following steps.
a. Perform three-dimensional measurement on the human body, acquire human body data, and create a human body model as a selectable step.
b. Recognize each part of the human body from the data in step 1.
c. If the face is facing up, it is judged to be supine.
d. If the face is facing down, it is judged to be prone.
e. If the face is facing sideways and the torso is standing sideways, it is judged to be lying down.
f. If the face is facing sideways, the torso is not standing sideways, and the sternocleidomastoid muscle is raised in the neck, it is judged to be a face-side-facing supine position, and conversely, a face-side-facing abdominal position.
g. Step c. d. e. f. The surface morphology of the bedding is adjusted based on the information related to the sleeping posture of the human body.
Repeat the above steps to continuously adjust the bedding.

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