Exit detection system with compensation

BACKGROUND

0001The present disclosure relates to person support apparatuses, such as beds, cots, stretchers, operating tables, recliners, or the like. More specifically, the present disclosure relates to person support apparatuses that include sensors for detecting when an occupant of the person support apparatus has exited therefrom, or may be about to exit therefrom.

0002Existing hospital beds and/or stretchers often include a bed exit system that is adapted to detect when a patient has exited the bed, or when a patient may be about to exit the bed. Typically, such beds include circuitry for providing an audio or visual alert when such an exit or pre-exit situation is detected. In many cases, the bed or stretchers include circuitry for transmitting a signal to a remote location, such as a nurses' station, so that the appropriate caregivers are notified of the exit, or pre-exit condition, and can respond appropriately. Existing exit detection systems often rely on an analysis of the outputs of multiple load cells. In some existing systems, the load cells outputs are monitored to compute a location of the occupant and if that location moves out of a defined area, an exit alert is issued. In other existing systems, the load cell outputs are monitored and one or more ratios of the forces detected by one or more of the load cells are computed. If the one or more ratios change by an amount greater than a threshold amount, an exit alert is issued.

0003Patent publication <patcit id="pcit0001" dnum="EP1975750A1"><text>EP1975750 (A1</text></patcit>) discloses a person support apparatus that detects both a bed exit and a head angle. It fails to disclose a link between both.

SUMMARY OF THE INVENTION

0004In accordance with the present invention there is provided a person support apparatus as recited in claim 1.

BRIEF DESCRIPTION OF THE DRAWINGS

0005<ul id="ul0001" list-style="none" compact="compact"><li><figref idref="f0001">FIG. 1</figref> is a perspective view of a person support apparatus into which one or more aspects of the present disclosure may be incorporated;</li><li><figref idref="f0002">FIG. 2</figref> is a perspective view of a litter frame of the person support apparatus of <figref idref="f0001">FIG. 1</figref>;</li><li><figref idref="f0002">FIG. 3</figref> is a perspective view of a base of the person support apparatus of <figref idref="f0001">FIG. 1</figref>;</li><li><figref idref="f0003">FIG. 4</figref> is a diagram one embodiment of an exit detection system that may be incorporated into a person support apparatus such as, but not limited to, the person support apparatus of <figref idref="f0001">FIG. 1</figref>;</li><li><figref idref="f0004">FIG. 5</figref> is a flowchart of one embodiment of an exit detection algorithm that is carried out by the exit detection system of <figref idref="f0003">FIG. 4</figref>;</li><li><figref idref="f0005">FIG. 6</figref> is a side elevation diagram of a person support apparatus that shows a center of gravity of a load when the support deck is flat;</li><li><figref idref="f0005">FIG. 6A</figref> is a side elevation diagram of the person support apparatus of <figref idref="f0005">FIG. 6</figref> that shows the center of gravity when a head section of the support deck has been raised;</li><li><figref idref="f0005">FIG. 6B</figref> is a perspective view of a planar coordinate system that may be used by the algorithm of <figref idref="f0004">FIG. 5</figref> to compute the load's center of gravity and that also illustrates changes to the center of gravity caused by the movement between <figref idref="f0005">FIGS. 6 and 6A</figref>;</li><li><figref idref="f0006">FIG. 7</figref> is a side elevation diagram of a person support apparatus that shows a center of gravity of a load when a pair of siderails are in a down position;</li><li><figref idref="f0006">FIG. 7A</figref> is a side elevation diagram of the person support apparatus of <figref idref="f0006">FIG. 7</figref> that shows the center of gravity when the pair of siderails are moved to an up position;</li><li><figref idref="f0006">FIG. 7B</figref> is a perspective view of a planar coordinate system that illustrates changes to the center of gravity caused by the siderail movement between <figref idref="f0006">FIGS. 7 and 7A</figref>;</li><li><figref idref="f0007">FIG. 8</figref> is a side elevation diagram of a person support apparatus that shows a center of gravity of a load when a litter frame of the person support apparatus is horizontal;</li><li><figref idref="f0007">FIG. 8A</figref> is a side elevation diagram of the person support apparatus of <figref idref="f0007">FIG. 8</figref> that shows the center of gravity when the litter frame has been tilted;</li><li><figref idref="f0007">FIG. 8B</figref> is a perspective view of a planar coordinate system that illustrates changes to the center of gravity caused by the tilting movement between <figref idref="f0007">FIGS. 8 and 8A</figref>;</li><li><figref idref="f0008">FIG. 9</figref> is an end elevation diagram of a powered mattress, support deck, and litter frame shown with the powered mattress in an flat orientation;</li><li><figref idref="f0008">FIG. 9A</figref> is an end elevation diagram of the powered mattress, support deck, and litter frame of <figref idref="f0008">FIG. 9</figref> shown with one side of the powered mattress inflated to a raised orientation;</li><li><figref idref="f0008">FIG. 9B</figref> is a perspective view of a planar coordinate system that illustrates changes to the center of gravity caused by the side-to-side turning movement between <figref idref="f0008">FIGS. 9 and 9A</figref>; and</li><li><figref idref="f0003">FIG. 10</figref> is a diagram of an exit detection system according to another embodiment of the disclosure.</li></ul>

DETAILED DESCRIPTION OF THE EMBODIMENTS

0006An illustrative person support apparatus 20 that may incorporate one or more aspects of the present disclosure is shown in <figref idref="f0001">FIG. 1</figref>. Although the particular form of person support apparatus 20 illustrated in <figref idref="f0001">FIG. 1</figref> is a bed adapted for use in a hospital or other medical setting, it will be understood that person support apparatus 20 could, in different embodiments, be a cot, a stretcher, a gurney, a recliner, an operating table, a residential bed, or any other structure capable of supporting a person, whether stationary or mobile and/or whether medical or residential.

0007In general, person support apparatus 20 includes a base 22 having a plurality of wheels 24, a pair of lifts 26 supported on the base, a litter frame 28 supported on the lifts 26, and a support deck 30 supported on the litter frame 28. Person support apparatus 20 further includes a headboard (not shown), a footboard 34, and a plurality of siderails 36. Siderails 36 are all shown in a raised position in <figref idref="f0001">FIG. 1</figref> but are each individually movable to a lower position in which ingress into, and egress out of, person support apparatus 20 is not obstructed by the lowered siderails 36.

0008Lifts 26 are adapted to raise and lower litter frame 28 with respect to base 22. Lifts 26 may be hydraulic actuators, electric actuators, or any other suitable device for raising and lowering litter frame 28 with respect to base 22. In the illustrated embodiment, lifts 26 are operable independently so that the tilting of litter frame 28 with respect to base 22 can also be adjusted. That is, litter frame 28 includes a head end 38 and a foot end 40, each of whose height can be independently adjusted by the nearest lift 26. Person support apparatus 20 is designed so that when an occupant lies thereon, his or her head will be positioned adjacent head end 38 and his or her feet will be positioned adjacent foot end 40.

0009Litter frame 28 provides a structure for supporting support deck 30, the headboard, footboard 34, and siderails 36. Support deck 30 provides a support surface for a mattress (not shown in <figref idref="f0001">FIG. 1</figref>), or other soft cushion, so that a person may lie and/or sit thereon. The top surface of the mattress or other cushion forms a support surface 31 for the occupant (see, e.g. <figref idref="f0008">FIGS. 9 and 9A</figref>). Support deck 30 is made of a plurality of sections, some of which are pivotable about generally horizontal pivot axes. In the embodiment shown in <figref idref="f0001">FIG. 1</figref>, support deck 30 includes a head section 42, a seat section 44, a thigh section 46, and a foot section 48. Head section 42, which is also sometimes referred to as a Fowler section, is pivotable about a generally horizontal pivot axis between a generally horizontal orientation (not shown in <figref idref="f0001">FIG. 1</figref>) and a plurality of raised positions (one of which is shown in <figref idref="f0001">FIG. 1</figref>). Thigh section 46 and foot section 48 may also be pivotable about generally horizontal pivot axes.

0010Support deck 30 is, in the embodiment shown in <figref idref="f0001">FIG. 1</figref>, movable on litter frame 28 in a longitudinal direction. That is, support deck 30 is adapted to move on litter frame 28 toward and away from head end 38 and foot end 40. In one embodiment, person support apparatus 20 is mechanically constructed such that pivoting of head section 42 about its associated horizontal pivot axis occurs simultaneously with longitudinal movement of support deck 30 along litter frame 28. More specifically, in this embodiment, support deck 30 moves longitudinally along litter frame 28 toward foot end 40 when head section 42 pivots downwardly toward a flat orientation, and support deck 30 moves longitudinally along litter frame 28 toward head end 38 when head section 42 pivots upwardly toward a raised orientation.

0011<figref idref="f0002">FIG. 2</figref> illustrates in greater detail litter frame 28 separated from lifts 26 and base 22. Litter frame 28 is also shown in <figref idref="f0002">FIG. 2</figref> with support deck 30 removed. Litter frame 28 is supported by two lift header assemblies 50. A first one of the lift header assemblies 50 is coupled to a top 52 (<figref idref="f0002">FIG. 3</figref>) of a first one of the lifts 26, and a second one of the lift header assemblies 50 is coupled to the top 52 of the second one of the lifts 26. Each lift header assembly 50 includes a pair of load cells 54. The illustrated embodiment of person support apparatus 20 therefore includes a total of four load cells 54, although it will be understood by those skilled in the art that different numbers of load cells may be used in accordance with the principles of the present disclosure. Load cells 54 are configured to support litter frame 28. More specifically, load cells 54 are configured such that they provide complete and exclusive mechanical support for litter frame 28 and all of the components that are supported on litter frame 28 (e.g. support deck 30, footboard 34, the headboard, siderails 36, etc.). Because of this construction, load cells 54 are adapted to detect the weight of not only those components of person support apparatus 20 that are supported by litter frame 28 (including litter frame 28 itself), but also any objects or persons who are wholly or partially being supported by support deck 30. The outputs of load cells 54 are fed into an exit detection system described in greater detail below.

0012As shown in <figref idref="f0001 f0002">FIGS. 1-3</figref>, the mechanical construction of person support apparatus 20 is the same as, or nearly the same as, the mechanical construction of the Model 3002 S3 bed manufactured and sold by Stryker Corporation of Kalamazoo, Michigan. This mechanical construction is described in greater detail in the <nplcit id="ncit0001" npl-type="b"><text>Stryker Maintenance Manual for the MedSurg Bed, Model 3002 S3, published in 2010 by Stryker Corporation of Kalamazoo, Michigan</text></nplcit>. It will be understood by those skilled in the art that person support apparatus 20 can be designed with other types of mechanical constructions, such as, but not limited to, those described in commonly assigned, <patcit id="pcit0002" dnum="US7690059B"><text>U.S. Pat. No. 7,690,059 issued to Lemire et al.</text></patcit>, and entitled HOSPITAL BED; and/or commonly assigned <patcit id="pcit0003" dnum="US20070163045A"><text>U.S. Pat. publication No. 2007/0163045 filed by Becker et al.</text></patcit> and entitled PATIENT HANDLING DEVICE INCLUDING LOCAL STATUS INDICATION, ONE-TOUCH FOWLER ANGLE ADJUSTMENT, AND POWER-ON ALARM CONFIGURATION. The mechanical construction of person support apparatus 20 may also take on forms different from what is disclosed in the aforementioned references.

0013As shown more clearly in <figref idref="f0003">FIG. 4</figref>, person support apparatus 20 includes an exit detection system 56 that is adapted to determine when an occupant, such as, but not limited to, a patient, of person support apparatus 20 is likely to exit person support apparatus 20. More specifically, exit detection system 56 is adapted to determine when an occupant is likely to leave prior to the occupant actually leaving, and to issue an alert and/or notification to appropriate personnel so that proper steps can be taken in response to the occupant's imminent departure in a timely fashion. The particular structural details of exit detection system 56 can vary widely. In the embodiment shown in <figref idref="f0003">FIG. 4</figref>, exit detection system 56 includes a controller 58, a plurality of force sensors 60, a user interface 62, an alert 64, and a plurality of sensors 66. More specifically, the sensors 66 include a pivot sensor 66a, a siderail sensor 66b, a tilt sensor 66c, a turn sensor 66d, a height sensor 66e, and a position sensors 66f.

0014Force sensors 60 are adapted to detect downward forces exerted by an occupant of support deck 30. Thus, when an occupant is positioned on support deck 30 and substantially still (i.e. not moving in a manner involving accelerations that cause forces to be exerted against support deck 30), force sensors 60 will detect the weight of the occupant (as well as the weight of any components of person support apparatus 20 that are supported-directly or indirectly-by force sensors 60). In at least one embodiment, force sensors 60 are the same as, and positioned in the same locations as, load cells 54, as shown in <figref idref="f0002">FIG. 2</figref>. It will be understood by those skilled in the art, however, that force sensors 60 may be implemented as other types of sensors, such as, but not limited to, linear variable displacement transducers and/or any one or more capacitive, inductive, and/or resistive transducers that are configured to produce a changing output in response to changes in the force exerted against them.

0015Pivot sensor 66a (<figref idref="f0003">FIG. 4</figref>), in one embodiment, detects a pivot angle 70 (<figref idref="f0005">FIG. 6A</figref>) between head section 42 a plane generally defined by litter frame 28. In some embodiments, pivot sensor 66a does not directly measure pivot angle 70 of head section 42, but instead indirectly measures angle 70 by measuring the angle of another component of person support apparatus 20 whose angular orientation has a known relationship with angle 70, or by measuring the position of another component of person support apparatus 20 whose position has a known relationship with angle 70.

0016Each siderail sensor 66b is adapted to detect whether the siderail 36 it is associated with is in an up position or a down position. Two of the siderails 36 are illustrated in <figref idref="f0006">FIG. 7</figref> in the down position (and two are illustrated in the up position in <figref idref="f0006">FIG. 7</figref>), while all of the siderails 36 are illustrated in the up position in <figref idref="f0006">FIG. 7A</figref>. In some embodiments, siderails 36 are also movable to one or more intermediate positions. In those embodiments, siderails sensors 66b are also adapted to detect if their associated siderail 36 is in an intermediate position. In the embodiment of person support apparatus 20 shown in <figref idref="f0001">FIG. 1</figref>, there are four siderails 36 and thus four siderail sensors 66b, each of which senses the position of one of the four siderails 36.

0017Tilt sensor 66c detects a tilt angle 72 (<figref idref="f0007">FIG. 8A</figref>) of litter frame 28 with respect to horizontal. In one embodiment, tilt sensor 66c measures this angle directly. In other embodiments, tilt sensor 66c comprises two sensors that detect the distance which each of lifts 26 are extended and circuitry that calculates the tilt angle of litter frame 28 with respect to horizontal from these two distances. In still other embodiments, tilt sensors 66c takes on other forms.

0018Although tilt angle 72 is illustrated in <figref idref="f0007">FIG. 8A</figref> as being defined with respect to tilting that occurs about a lateral pivot axis (i.e. head end 38 changes its height with respect to foot end 40), it will be understood that tilt angle 72, in some embodiments, is configured to measure a tilt angle 72 of litter frame 28 that changes as a result of tilting about a longitudinal axis (i.e. a first side of litter frame 28 changes its height with respect to the second side).

0019Turn sensor 66d detects a turn angle 74 (<figref idref="f0008">FIG. 9A</figref>) of a turning mechanism, such as a powered mattress 76 having one or more inflatable turning bladders, that is used to turn an occupant of person support apparatus 20. Turn sensor 66d is, in at least one embodiment, positioned inside of mattress 76 and measures turn angle 74 directly. In other embodiments, turn sensor 66d measures one or more inflation pressures of one or more bladders inside of mattress 76 and estimates turn angle 74 based upon the one or more measured inflation pressures.

0020Height sensor 66e detects either an absolute or relative height 78 (<figref idref="f0006">FIG. 7A</figref>) of litter frame 28. More specifically, in one embodiment, height sensor 66e detects how far each lift 26 has extended from its lowest position. In another embodiment, height sensor 66e detects how high one or more points on litter frame 28 (or any component of person support apparatus 20 non-movably coupled to litter frame 28) is with respect to a reference (e.g. a floor, base 22, etc.).

0021Position sensor 66f detects the longitudinal position of support deck 30 relative to litter frame 28. That is, as noted previously, support deck 30 is longitudinally movable, in some embodiments, with respect to litter frame 28 in a direction indicated by the arrow identifying distance D1 in <figref idref="f0005">FIG. 6A</figref>. In some embodiments, person support apparatus 20 is constructed such that the longitudinal position of support deck 30 relative to litter frame 28 is directly correlated to pivot angle 70. In such embodiments, position sensor 66f pivot angle sensor 66a may be one and the same. In still other embodiments, person support apparatus 20 may be constructed such that the longitudinal position of support deck 30 relative to litter frame 28 is directly correlated to the position and/or orientation of some other component of person support apparatus, in which case position sensor 66f may be configured to measure the position of support deck 30 indirectly by measuring the position or orientation of the other component.

0022All of the sensors 66 are in communication with controller 58 (<figref idref="f0003">FIG. 4</figref>). Controller 58 is constructed of any electrical component, or group of electrical components, that are capable of carrying out the functions described herein. In many embodiments, controller 58 is a conventional microcontroller, although not all such embodiments need include a microcontroller. In general, controller 58 includes any one or more microprocessors, microcontrollers, field programmable gate arrays, systems on a chip, volatile or nonvolatile memory, discrete circuitry, and/or other hardware, software, or firmware that is capable of carrying out the functions described herein, as would be known to one of ordinary skill in the art. Such components can be physically configured in any suitable manner, such as by mounting them to one or more circuit boards, or arranging them in other manners, whether combined into a single unit or distributed across multiple units. The instructions followed by controller 58 in carrying out the functions described herein, as well as the data necessary for carrying out these functions, are stored in a memory (not labeled) accessible to controller 58.

0023Controller 58 is also in communication with user interface 62. User interface 62 is implemented in the embodiment shown in <figref idref="f0001">FIG. 1</figref> as a control panel having a lid (flipped down in <figref idref="f0001">FIG. 1</figref>) underneath which is positioned a plurality of controls. The controls-which may be buttons, dials, switches, or other devices-allows a user to control various aspects of exit detection system 56. User interface 62 may also include a display for displaying information regarding exit detection system 56. Although <figref idref="f0001">FIG. 1</figref> illustrates user interface 62 mounted to footboard 34, it will be understood that user interface 62 can be positioned elsewhere, and/or that one or more additional user interfaces can be added to person support apparatus 20 in different locations, such as the siderails 36, for controlling various aspects of exit detection system 56.

0024In one embodiment, user interface 62 includes a control that enables a user to turn exit detection system 56 on and off, as well as allowing a user to select different sensitivity levels or zones which are used for triggering an exit alert, as will be discussed in greater detail below. In at least some embodiments, the controls also allow a user to configure the alerting features of exit detection system 56, including choosing from amongst the different types of alerts that can be issued by exit detection system 56. Such types include local alerts (issued at person support apparatus 20), remote alerts (issued at a remote location, such as a nurse's station, hallway light, or to mobile communication devices carried by personnel), audio alerts, visual alerts, and/or any combinations of these.

0025Controller 58 of exit detection system 56 is adapted to determine the center of gravity of whatever load is applied to force sensors 60. In other words, exit detection system 56 determines the center of gravity of the combined weight of an occupant, mattress, and/or any objects that are positioned on support deck 30 or litter frame 28, as well as those components of person support apparatus 20 whose weight is supported by force sensors 60 (e.g. litter frame 28, support deck 30, siderails 36, etc.) In one embodiment, exit detection system 56 determines this center of gravity using the system and method disclosed in commonly assigned <patcit id="pcit0004" dnum="US5276432A"><text>U.S. patent 5,276,432 issued to Travis </text></patcit>and entitled PATIENT EXIT DETECTION MECHANISM FOR HOSPITAL BED. In other embodiments, other algorithms may be used.

0026Exit detection system 56 differs from the exit detection system disclosed in the aforementioned 5,276,432 patent in multiple manners. According to the invention, one difference is that exit detection system 56 is configured to distinguish between detected changes in the center of gravity of the load that are due to the occupant moving with respect to support surface 31, and changes in the detected center of gravity of the load that are due to other factors. Such other factors include, but are not limited to, pivoting of one or more sections of deck 30; tilting of litter frame 28; longitudinal movement of support deck 30 relative to litter frame 28; movement of one or more siderails 36 from an up position to a down positions, or vice versa; changes in height of litter frame 28; and/or therapeutic turning of the occupant by a turning device built into mattress 76 or otherwise positioned on top of support deck 30. Stated alternatively, according to the invention, exit detection system 56 is configured to determine how much, if any, of the changes in the outputs of force sensors 60 is due to patient movement relative to support surface 31 and how much, if any, of the changes in the outputs of force sensors 60 is due to other factors. According to the invention, exit detection system 56 compensates the readings it obtains from force sensors 60 in order to account for these other factors. If the compensated outputs of the force sensors 60 meet one or more criteria, as will be discussed in greater detail below, system 56 issues an alert.

0027One example of an exit detection algorithm 68 that is carried out, in at least one embodiment, by controller 58 of exit detection system 56 is illustrated in <figref idref="f0004">FIG. 5</figref>. Exit detection algorithm 68 begins at an initial step 80 when exit detection system 56 is armed, such as by a user manipulating one or more controls on user interface 62. After being armed at step 80, controller 58 proceeds to step 84 where it calculates an initial center of gravity of the occupant of person support apparatus 20. This calculation is performed using known mathematical techniques for computing a center of gravity, as well as knowledge of the relative positions of the force sensors 60. Although other coordinate systems may be used, controller 58 computes the center of gravity using a planar coordinate system 86 (<figref idref="f0005">FIG. 6B</figref>) having an x-axis 88 that is generally parallel to the foot end 40 of support deck 30 and a y-axis 90 that is generally parallel to a side of support deck 30. Other coordinate systems can be used. Regardless of which coordinate system is used, controller 58 knows the location of force sensors 60 in the particular coordinate system that is used. In the example shown in <figref idref="f0005">FIG. 6B</figref>, force sensors 60 are shown in known locations 87.

0028After determining the occupant's center of gravity at step 84, controller 58 proceeds to step 92 where it determines the initial value of one or more parameters of person support apparatus 20. More specifically, in the embodiment illustrated in <figref idref="f0004">FIG. 5</figref>, controller 58 determines the following values at step 92: a current value of pivot angle 70; a current value of tilt angle 72, a current value of turn angle 74, a current value corresponding to the current relative longitudinal position of support deck 30 on litter frame 28, a current value of height 78, and a current value indicating the current position of each siderail 36 (up, down, or intermediate). It will be understood by those skilled in the art that, in other embodiments, algorithm 68 is modified to determine less than or more than all six of these values. Indeed, in other embodiments, controller 58 determines any one or more of these six values at step 92, or still other values.

0029After completing step 92, controller 58 moves onto step 94 (<figref idref="f0004">FIG. 5</figref>) where it determines whether the center of gravity of the occupant determined at step 84 is outside of a predefined zone. The predefined zone, in one embodiment, is defined in coordinate system 86 and is the trigger controller 58 uses to determine whether or not to issue an exit alert, in at least one embodiment. Although other types of zones may be used, in the illustrated embodiment, the zone is generally rectangular or square shaped. If the occupant's center of gravity it outside of the zone, controller 58 issues an alert at step 96. If the occupant's center of gravity is not outside of the zone, controller 58 proceeds to step 98.

0030It will be understood that, in at least some embodiments, exit detection system 56 is configured to allow a user to select which zone will be used by controller 58 when determining whether to issue an alert or not (such as at step 94). In some embodiments, person support apparatus 20 includes three predefined zones and is adapted to allow a user to select which one of these three zones is to be used at a given time via user interface 62. In other embodiments, different numbers of zones are used.

0031In still other embodiments, it will be understood that-when multiple zones are selectable by a user-the boundaries of the different zones may be defined in different manners. For example, in one embodiment, the zone having the smallest area (in coordinate system 86) has its boundaries defined using the patient's center of gravity reading taken at step 84. That is, the smallest zone is centered at whatever location the person's center of gravity is initially located, as determined at step 84. The zone having the largest area is defined, in at least one embodiment, without regard to the occupant's initial location, but instead has fixed values in coordinate system 86. For example, in one embodiment, the zone with the largest area has its edges located just inwardly from the outer edges of support deck 30. Other manners of defining the zone boundaries may also be used.

0032Also, in at least one embodiment, the definition of one or more zones is dynamic. For example, in at least one embodiment, the shape and/or boundaries of a zone change based upon whether or not a siderail is in the up position or the down position. If a siderails is in an up position, it is less likely that an occupant of person support apparatus 20 will exit therefrom by climbing over that siderail. Accordingly, controller 58 may use, in that situation, a zone that allows the occupant's center of gravity to approach more closely to the up siderail than if the siderail were in a down position before issuing an alarm. If the siderail is moved to a lower position, the zone is switched to include a more restricted boundary-the more restricted boundary representing the fact that, with the siderail lowered, it is easier for an occupant to exit support deck 30 in the area of the lowered siderail. Still other factors besides the status of the siderails may cause the zone used by controller 58 to dynamically change during monitoring of the movement of the occupant.

0033Regardless of the definition of the zone, and regardless of whether it is dynamic or not, controller 58 proceeds to step 98 if it determines at step 94 that the occupant's center of gravity (as determined at step 84) is not outside of the currently in-use zone. At step 98, controller 58 calculates the center of gravity of the load detected by force sensors 60. As will be discussed below, this center of gravity may or may not correspond to the center of gravity of the occupant, depending upon what movement may have occurred between the center of gravity calculation at step 84 and the center of gravity calculation at step 98. That is, it is possible that the center of gravity of the load sensed by force sensors 60 may have changed during the time between steps 84 and 98 without the occupant moving relative to support surface 31 due to, for example, one or more components of the person support apparatus 20 having moved. Alternatively, it is possible that the center of gravity of the load sensed by force sensors 60 at step 98 corresponds to the patient's center of gravity (whether it has moved or not). Controller 58 resolves whether the center of gravity reading taken at step 98 is the result of patient movement relative to support surface 31 or some other factors by following steps 100-106, as will now be discussed.

0034After calculating the center of gravity of the load sensed by force sensors 60 at step 98, controller 58 proceeds to step 100 (<figref idref="f0004">FIG. 5</figref>). At step 100, controller 58 determines whether any of the initial values acquired at step 92 have changed during the interim between step 92 and step 100. More specifically, in the illustrated embodiment, controller 58 determines at step 100 whether any of the following values have changed: the value of pivot angle 70, the position value (e.g. up, down, and/or intermediate) for each of the siderails 36, the value of tilt angle 72, the value of turn angle 74, the height value 78, and the position value corresponding to the current relative longitudinal position of support deck 30 on litter frame 28. Controller 58 determines these values at step 100 based upon readings from pivot sensor 66a, siderail sensor 66b, tilt sensor 66c, turn sensor 66d, height sensor 66e, and position sensor 66f, respectively.

0035If none of these values have changed since the values were initially taken at step 92, controller 58 proceeds to step 106. At step 106, controller 58 compares the center of gravity reading taken at step 98 to the zone. Because none of the values have changed at step 100, the center of gravity reading taken at step 98 corresponds to the center of gravity of the occupant (i.e. any changes in the center of gravity are due to occupant movement relative to support surface 31, and not due to movement of one or more components of person support apparatus 20). Controller 58 issues an exit alert at step 96 if it determines at step 106 that the center of gravity reading taken at step 98 is outside of the zone (the same zone examined in step 94). Controller 58 does not issue an exit alert if it determines at step 106 that the center of gravity reading taken at step 98 lies inside the zone. In this latter case, controller 58 then proceeds to step 108, where it checks to see if exit detection system 56 is still armed or not. If not, algorithm 68 ends. If so, however, controller 58 returns to step 98 where it takes new readings from force sensors 60 and calculates a new center of gravity reading based on those new readings. Control then follows in the same manner and sequence as described.

0036If controller 58 determines at step 100 that one or more of the initial values (from step 92) have changed, it proceeds to a step 102, where it determines one or more compensation factors that correspond to the changed values. That is, for every value that has changed, controller 58 computes a compensation factor at step 102. Thus, for example, if pivot angle 70 and height 78 are both different at step 100 than they were initially at step 92, controller 58 computes a pivot angle compensation factor and a height compensation factor. Further explanation of these compensation factors is provided below with respect to <figref idref="f0005 f0006 f0007 f0008">FIGS. 6-9B</figref>. In general, controller 58 calculates at step 102 one or more compensation factors that provide an estimate of how much the center of gravity reading taken at step 98 has been influenced by factors other than the occupant moving relative to support deck 30. Thus, as one example, if a siderail 36 has been moved to a new position (and that new position changes the overall distribution of weight sensed by force sensors 60), controller 58 calculates at step 102 an estimate of how much the weight distribution has been changed by the movement of that siderail. Similar calculations are made for any changes in pivot angle 70, tilt angle 72, turn angle 74, height 78, and/or the longitudinal position of support deck 30 relative to litter frame 28, as will be discussed in greater detail below.

0037After the one or more compensation factors are calculated at step 102, controller 58 moves to step 104 where it applies the compensation factor(s) to the center of gravity computed at step 98. The result is a center of gravity calculation that has substantially eliminated changes in the center of gravity due to movement of one or more components of person support apparatus 20, or other effects that are not the result of the occupant changing his or her weight distribution relative to support deck 30 or support surface 31. Consequently, the compensated center of gravity calculation made at step 104 corresponds substantially to the occupant's center of gravity. Controller 58 then proceeds to step 106 where it determines whether the occupant's center of gravity (i.e. the compensated center of gravity calculated at step 104) is inside or outside of the zone that defines the exit alert conditions. If it is outside the zone, an alert is issued at step 96. If it inside the zone, no alert is issued and-to the extent exit detection system 56 has not been shut off-control returns to step 98 where another center of gravity reading is taken.

0038The exit alert issued at step 96 may take on any suitable form. In one embodiment, the exit alert includes an aural alert issued from a speaker, buzzer, or other sound-generating device on person support apparatus 20 that is under the control of exit detection system 56, or in communication with exit detection system 56. In another embodiment, controller 58 also issues a remote alert, such as at a nurses' station, or other location, where one or more caregivers who may be assigned to care for the occupant of person support apparatus 20 are located. The remote alert is carried out via any suitable interface and/or communication link, such as, but not limited to, a nurse-call cable, a wireless communication channel (e.g. Wi-Fi, Bluetooth, and/or ZigBee). In still another embodiment, person support apparatus 20 is configured to allow a user to choose whether the exit alert is local and/or remote, as well as to choose characteristics of the exit alert (e.g. the volume and/or tone of an aural exit alert). After issuing the exit alert, controller 58 ends exit detection algorithm 68 until it is once again re-started in response to a user's command.

0039In the embodiment illustrated in <figref idref="f0004">FIG. 5</figref>, the compensation factors that may be computed at step 102 include the following: (1) a head section angle compensation factor, (2) a siderail compensation factor, (3) a tilt compensation factor, (4) a height compensation factor, (5) a support deck position compensation factor, and (6) a turn compensation factor. It will be understood by those skilled in the art that fewer or greater numbers of compensation factors may be computed at step 102 in different embodiments. In general, controller 58 calculates a compensation factor at step 102 for each of the values that have changed since step 92. However, it will be understood by those skilled in the art that some values may be combined to calculate a single compensation factor. Thus, for example, in some person support apparatuses, pivot angle 70 changes in unison with the longitudinal position of support deck 30 relative to litter frame 28, and controller 58 can be modified to calculate a single compensation factor that takes into account both of these changes with a single factor. Other variations may also be implemented.

0040<figref idref="f0005">FIGS. 6-6B</figref> illustrate in greater detail one manner in which a combined head section angle and support deck position compensation factor is computed. As shown in <figref idref="f0005">FIG. 6</figref>, occupant 82 is lying on support deck 30 in the same position relative to support deck 30 as in <figref idref="f0005">FIG. 6A</figref>. That is, the occupant 82 is lying on his or her back and has his or her torso, legs, head, and arms in contact with support deck 30 (or a mattress positioned on top of support deck 30). When person support apparatus 20 is in the flat orientation shown in <figref idref="f0005">FIG. 6</figref> (i.e. pivot angle 70 is substantially zero), exit detection system 56 detects a center of gravity 110a that is located in coordinate system 86 at location (X₁, Y₁). However, when head section 42 is pivoted upwardly to the orientation shown in <figref idref="f0005">FIG. 6A</figref>, exit detection system 56 detects a center of gravity 110b that has moved to location (X₂, Y₂). A vector 112 extends between these two points in <figref idref="f0005">FIG. 6B</figref> and corresponds to the compensation factor that is used by exit detection system 56 when head section 42 pivots upwardly the amount shown in <figref idref="f0005">FIG. 6A</figref> and support deck 30 changes its longitudinal position relative to litter frame 28.

0041The difference between centers of gravity 110a and 110b is due to several factors. One factor is the change in movement of support deck 30 relative to litter frame 28. Specifically, in the example shown in <figref idref="f0005">FIGS. 6 and 6A</figref>, person support apparatus 20 is constructed such that support deck 30 automatically changes its longitudinal position relative to litter frame 28 as head section 42 pivots. Thus, as shown in <figref idref="f0005">FIG. 6A</figref>, support deck 30 has moved toward head end 38 of person support apparatus 20 a distance D1 relative to its position in <figref idref="f0005">FIG. 6</figref>. This positional change shifts the center of gravity of the load detected by force sensors 60. Another factor that shifts the location of the center of gravity detected by force sensors 60 is the movement of the occupant's torso and head, as well as head section 42, upward. These combined factors are the primary reason for the difference between the two centers of gravity 110a and 110b shown in <figref idref="f0005">FIG. 6B</figref>.

0042The magnitude of vector 112, and thus the magnitude of the compensation factor, changes as pivot angle 70 changes. The direction of vector 112, and thus the magnitude of the compensation factor, may also change, in some cases, as pivot angle 70 changes, although this is not typical because there is substantially no change or movement in the x-direction of coordinate system 86 between the configurations of <figref idref="f0005">FIG. 6 and 6A</figref>. The amount by which vector 112 changes will typically vary for different occupants 82 who have different weights, or who are positioned differently on support deck 30. Vector 112 will also vary for differently constructed person support apparatuses that have different geometries, materials, and/or constructions of support deck 30 and/or litter frame 28. Exit detection system 56 takes into account these variations by relying upon, in at least one embodiment, empirical data that is gathered from multiple occupants of different weight. More specifically, empirical data is gathered for the particular person support apparatus 20 in which exit detection system 56 is implemented that shows the relationship between changes in the detected center of gravity when head section 42 pivots and the occupant does not move relative to support deck 30.

0043In at least one embodiment, the empirical data is gathered and categorized by weight classes of the multiple occupants. As an example, empirically gathered data may be classified into the following weight classes: occupants under 100 pounds, occupants between 100-150 pounds, occupants between 150 and 200 pounds; occupants between 200 and 300 pounds, and occupants between 300 and 500 pounds. Different numbers of weight classes can be used and/or different demarcations between the weight classes can be used. The empirically gathered data is averaged, or otherwise combined, for all occupants within each weight class. The result of the data is that, for each given weight class, an estimate is provided of the amount by which the detected center of gravity changes for each change in pivot angle 70. This data may be stored in a memory accessible to controller 58, or it may be further processed to define one or more formulas that enable controller 58 to calculate an estimate of the change in the center of gravity for a given occupant weight and a given pivot angle change 70. Regardless of whether or not the data is stored or a formula is used, controller 58 determines a compensation factor (e.g. vector 112) based upon the occupant's weight (e.g. which weight class he/she is in) and the amount by which pivot angle 70 has changed.

0044The occupant's weight is determined by a user entering this data into a memory accessible to controller 58 using user interface 62, in one embodiment. In another embodiment, exit detection system 56 is configured to detect the occupant's weight, either automatically or via one or more inputs from a user. One manner in which exit detection system 56 can be configured to automatically detect the occupant's weight is described in greater detail in commonly assigned <patcit id="pcit0005" dnum="US21236714" dnum-type="L"><text>U.S. patent application serial number 14/212,367 filed March 14, 2014 by inventors Michael Joseph Hayes et al.</text></patcit> and entitled PATIENT SUPPORT APPARATUS WITH PATIENT INFORMATION SENSORS. Exit detection system 56 can therefore utilize and/or combine algorithm 68, or any of its modifications, with any of the features and/or algorithms of the exit detection system disclosed in the aforementioned <patcit id="pcit0006" dnum="US14212367B"><text>14/212,367</text></patcit> patent application.

0045In the embodiment of person support apparatus 20 shown in <figref idref="f0005">FIGS. 6 and 6A</figref>, as noted previously, the movement of support deck 30 relative to litter frame 28 is tied to the pivoting of head section 42 in a fixed manner. Thus, exit detection system can use pivot angle 70 as a proxy for indicating both pivot angle 70 and the position of support deck 30 relative to litter frame 28, and it is not necessary to compute a separate compensation factor for the changing longitudinal position of support deck 30 relative to litter frame 28. Indeed, in this configuration of person support apparatus 20, it is not necessary to include position sensor 66f in exit detection system 56 because the position of support deck 30 relative to litter frame 28 is tied directly to pivot angle 70. A single vector 112 compensates for changes in the detected center of gravity due to both changes in the pivot angle 70 and changes in the relative position of support deck 30 to litter frame 28.

0046It will be understood, however, that exit detection system 56 can be incorporated into person support apparatuses 20 in which the longitudinal movement of support deck 30 relative to litter frame 28 can be carried out independently of any pivoting of head section 42. In such embodiments, exit detection algorithm 68 computes a separate compensation vector for changes in pivot angle 70 and a separate compensation vector for changes in the position of support deck 30 relative to litter frame 28. Each of the compensation vectors are based, in at least one embodiment, on empirically gathered data from multiple occupants of different weight. More specifically, two sets of empirical data are gathered. The first set indicates how much the center of gravity of the load detected by exit detection system 56 changes-for occupants of different weight-in response to only pivot angle 70 changing. The second set indicates how much the center of gravity of the load detected by exit detection system 56 changes-for occupants of different weight-in response to only the longitudinal position of support deck 30 changing relative to litter frame 28. In other words, the second set of data is gathered for different values of distance D1 (<figref idref="f0005">FIG. 6A</figref>).

0047Controller 58 then examines at step 100 whether pivot angle 70 has changed and whether or not the position of support deck 30 relative to litter frame 28 has changed. If only one of these has changed, controller 58 applies the appropriate compensation vector that was created from the corresponding set of empirical data. If both have changed, then controller 58 applies both compensation vector based on both sets of empirical data. Controller 58 determines the correct pivot angle compensation factor by using the first set of empirical data (or a formula based thereon) that corresponds to the change in pivot angle 70 (as detected by pivot sensor 66a) and the weight (or weight class) of the current occupant. Controller 58 determines the correct support deck longitudinal position compensation factor by using the second set of empirical data (or a formula based thereon) that corresponds to the change in longitudinal position of support deck 30 relative to litter frame 28 (as detected by position sensor 66f) and the weight (or weight class) of the current occupant. If any other values have changed at step 100, controller 58 also determines compensation factors for those other values, as discussed in greater detail below.

0048<figref idref="f0006">FIGS. 7-7B</figref> illustrate in greater detail one manner in which a siderail position compensation factor is computed. As shown in <figref idref="f0006">FIG. 7</figref>, occupant 82 is lying on support deck 30 in the same position relative to support deck 30 as in <figref idref="f0006">FIG. 7A</figref>. The difference between <figref idref="f0006">FIGS. 7 and 7A</figref> is that, in <figref idref="f0006">FIG. 7</figref>, a right head siderail 36a and a right foot siderail 36b are in a lowered position, while in <figref idref="f0006">FIG. 7A</figref> the siderails 36a and 36b are in the raised position. Further, as can be seen from a comparison of <figref idref="f0006">FIGS. 7 and 7A</figref>, siderails 36a and 36b are constructed such that they move a horizontal distance D2 and D3, respectively, when switching from their lowered position to their raised position. This horizontal change in their location changes the distribution of the load sensed by force sensors 60 because the siderails 36 are supported on litter frame 28 (which is, in turn, supported on load cells 54, or some other type of force sensors 60).

0049As a result of the horizontal movement of siderails 36 when changing between the raised and lowered positions, exit detection system 56 will detect a center of gravity 110c at location (X₃, Y₃) when siderails 36a and 36b are in their lowered position (<figref idref="f0006">FIG. 7</figref>), and will detect a center of gravity 110d at location (X₄, Y₄) when siderails 36a and 36b are in their raised position (<figref idref="f0006">FIG. 7A</figref>). A vector 114 extends between centers of gravity 110c and 110d in <figref idref="f0006">FIG. 7B</figref> and corresponds to the compensation factor that is used by exit detection system 56 when both siderails 36a and 36b change their position. Because each of the siderails 36 are movable independently of each other in person support apparatus 20, it will be understood by those skilled in the art that individual compensation factors are computed for each siderail and then added together. The vector 114 shown in <figref idref="f0006">FIG. 7B</figref> is thus the cumulative sum of a first compensation factor computed for siderail 36a and a second compensation factor computed for siderail 36b. Had any of the other siderails 36 beyond siderails 36a and 36b changed positioned between <figref idref="f0006">FIGS. 7 and 7A</figref>, controller 58 would have computed additional compensation factors for those changed siderails and added them to vector 114.

0050The magnitude and direction of the compensation vectors that are computed for each individual siderail can be determined either empirically or mathematically. When determined empirically, readings from force sensors 60 are taken when an individual siderail 36 is up and when it is down. The difference in the centers of gravity of the load detected by exit detection system between these two positions corresponds to the compensation vector for that individual siderail. Similar readings are taken for the other three siderails and stored in a memory accessible to controller 58. This empirical data is gathered without an occupant on support deck 30 because the change in the center of gravity due to changing positions of the siderails-unlike the changes due to pivot angle 70 changing-are substantially unaffected, or not affected at all, by different occupant weights.

0051When the compensation vectors are determined mathematically, controller 58 calculates them as a function of the following known parameters: (1) the weight of each siderail 36; and (2) the position of each siderail 36 in coordinate system 86 when in the up position, and the position of each siderail 36 in coordinate system 86 when in the down position. From this data, controller 58 determines how much the center of gravity shifts for each siderail when changing its position and compensates for this change in the center of gravity whenever one or more siderails change their position, as detected by siderails sensors 66b.

0052The amount by which the center of gravity of the load detected by exit detection system 56 is shifted due to a change in the position of a siderail will typically vary depending on additional factors. These additional factors include: (1) pivot angle 70 (at least for the head end siderails 36), (2) tilt angle 72, (3) turn angle 74, (4) and the longitudinal position of support deck 30 relative to litter frame 28. In order to account for these factors, exit detection system 56, in at least one embodiment, gathers empirical data regarding the change in center of gravity for each siderail in each of its different positions as each one of these factors is changed. This empirical data is then processed, stored, and made available to controller 58 so that it can select the appropriate compensation factor for each siderail based on current readings of each of these factors. In an alternative embodiment, the effect on the center of gravity due to these additional factors is computed mathematically by controller 58 using the known parameters discussed above. In still other embodiments, one or more of these additional factors is ignored, or its effect on the center of gravity is approximated, due to its relative insignificance on the center of gravity of the load.

0053The compensation factor computed by controller 58 for changing positions of the siderails 36 is added to the compensation factor computed by controller 58 for changes in pivot angle 70 (and any of the other compensation factors discussed herein). Thus, if pivot angle 70 changes from, say zero to 45 degrees, controller 58 will apply the appropriate compensation factor for this angular change and the corresponding weight, or weight class, of occupant 82. If, after changing pivot angle to 45 degrees, a user lowers one of the head end siderails, controller 58 will then apply the compensation factor for the lowered siderail at a pivot angle of 45 degrees. If pivot angle 70 changes from 0 degrees to 45 degrees substantially simultaneously with the lowering of one of the head end siderails, controller 58 will apply both compensation factors at substantially the same time, one for the change in pivot angle 70 and the other for the lowering of the siderail 36. The same is true for the other compensation factors discussed herein-they are added together with whatever other compensation factors are appropriate for the changed values (determined at step 100).

0054Although <figref idref="f0006">FIGS. 7-7B</figref> only illustrate siderails 36 that have moved from a lowered position to a raised position and vice versa, it is possible that person support apparatus 20 can be constructed to have siderails that are capable of being moved to an intermediate position. In such cases, controller 58 accounts for movement to these intermediate positions in the same manner discussed above. That is, controller 58 determines appropriate compensation factors for each of the types of siderail movement that are possible, i.e. from lowered to intermediate, and from intermediate to raised, and vice versa. These compensation factors may be determined empirically, or mathematically, or by a combination of the two. Controller 58 receives information about the current position of each siderail 36 (lowered, intermediate, or raised) from siderail sensors 66b and applies the corresponding compensation factor when any of these positions change.

0055<figref idref="f0007">FIGS. 8-8B</figref> illustrate in greater detail one manner in which a tilt angle compensation factor is computed. As shown in <figref idref="f0007">FIG. 8</figref>, occupant 82 is lying on support deck 30 in the same position relative to support deck 30 as in <figref idref="f0007">FIG. 8A</figref>. The difference between <figref idref="f0007">FIGS. 8 and 8A</figref> is that, in <figref idref="f0007">FIG. 8</figref>, litter frame 28 is substantially horizontal while in <figref idref="f0007">FIG. 8A</figref> litter frame 28 has tilted relative to horizontal by tilt angle 72. This tilting changes the distribution of the load sensed by force sensors 60. As a result, exit detection system 56 will detect a center of gravity 110e at location (X₅, Y₅) when litter frame 28 is horizontal (<figref idref="f0007">FIG. 8</figref>), and will detect a center of gravity 110f at location (X₆, Y₆) when litter frame 28 is tilted to tilt angle 72 (<figref idref="f0007">FIG. 8A</figref>). A vector 116 extends between centers of gravity 110e and 110f in <figref idref="f0007">FIG. 8B</figref> and corresponds to the compensation factor that is used by exit detection system 56 when litter frame 28 tilts from horizontal to the tilt angle 72 shown in <figref idref="f0006">FIG. 7A</figref>.

0056Different compensation factors, and thus different vectors 116, are used by controller 58 depending upon not only the change in tilt angle 72, but also the weight of the occupant. As with the compensation factors for changes in pivot angle 70, exit detection system 56 takes into account different occupant weights through the use of empirically gathered data from multiple occupants of different weight. More specifically, empirical data is gathered for the particular person support apparatus 20 in which exit detection system 56 is implemented that shows the relationship between changes in the detected center of gravity when litter frame 28 tilts and the occupant does not move relative to support deck 30.

0057In at least one embodiment, the empirical data is gathered and categorized by weight classes of the multiple occupants, such as the weight classes discussed above (e.g. less than 100 pounds, 100-150 pounds, 150- 200 pounds, 200-300 pounds, and 300-500 pounds), although other weight classes can be used and/or different demarcations between the weight classes can be used. The empirically gathered data is averaged, or otherwise combined, for all occupants within each weight class. The result of the data is that, for each given weight class, an estimate is provided of the amount by which the detected center of gravity changes for each change in tilt angle 72. This data may be stored in a memory accessible to controller 58, or it may be further processed to define one or more formulas that enable controller 58 to calculate an estimate of the change in the center of gravity for a given occupant weight and a given tilt change 72. Regardless of whether or not the data is stored or a formula is used, controller 58 determines a compensation factor (e.g. vector 116) based upon the occupant's weight (e.g. which weight class he/she is in) and the amount by which tilt angle 72 has changed.

0058The amount by which the center of gravity of the load detected by exit detection system 56 is shifted due to a change in the tilt angle 72 will also typically vary depending on additional factors, such as: (1) pivot angle 70, (2) the position of the head end siderails 36, and (3) and the longitudinal position of support deck 30 relative to litter frame 28. In at least one embodiment, person support apparatus 20 is constructed such that head section 42 is always parallel to litter frame 28 whenever tilt angle 72 changes from zero, thereby obviating any need to factor in pivot angle 70 when computing a tilt angle compensation. However, in other embodiments, pivot angle 70 can vary independently of tilt angle 72.

0059In order to account for one or more of the three factors identified above, exit detection system 56, in at least one embodiment, gathers empirical data regarding the change in center of gravity for each tilt angle 72 when head section 42 is pivoted through different pivot angles 70, when each siderail is moved through its different position, and when the longitudinal position of support deck 30 relative to litter frame 28 is moved through each of its positions. This empirical data is then processed, stored, and made available to controller 58 so that it can select the appropriate compensation factor for each tilt angle 72 based on current readings of each of these factors. In an alternative embodiment, the effect on the center of gravity due to these additional factors is computed or estimated mathematically by controller 58 using known parameters regarding the weight and location of each of the moving components (e.g. head section 42, siderails 36, litter frame 28, etc.) In still other embodiments, one or more of these additional factors is ignored, or its effect on the center of gravity is approximated, due to its relative insignificance on the center of gravity of the load.

0060The compensation factor computed by controller 58 for changing tilt angles 72 is added to the compensation factor(s) computed by controller 58 for any of the other changes that are detected by exit detection system 56 at step 100 of algorithm 68 (<figref idref="f0004">FIG. 5</figref>). Thus, if a head end siderail 36 is raised subsequent to the tilting of litter frame 28 to a different tilt angle 72, controller 58 will subsequently apply the appropriate compensation factor for this siderail change. If the head end siderail is raised substantially simultaneously with the tilting of litter frame 28, controller 58 will apply both compensation factors at substantially the same time, one for the change in the siderail and the other for the tilting of litter frame 28

0061<figref idref="f0008">FIGS. 9 and 9A</figref> illustrate in greater detail one manner in which a turn angle compensation factor is computed. As shown in <figref idref="f0008">FIG. 9</figref>, occupant 82 is lying on mattress 76 on top of support deck 30 in the same position relative to mattress 76 as in <figref idref="f0008">FIG. 9A</figref>. The difference between <figref idref="f0008">FIGS. 9 and 9A</figref> is that, in <figref idref="f0008">FIG. 9</figref>, mattress 76 is inflated in such a manner that its top surface is substantially horizontal while in <figref idref="f0008">FIG. 9A</figref> one or more internal side air bladders within mattress 76 have been inflated to cause the top surface of mattress 76 to be turned to a turn angle 74. The inflation of mattress 76 in the manner shown in <figref idref="f0008">FIG. 9A</figref> helps turn a patient so as to change the distribution of interface pressures between the top surface of mattress 76 and the skin of the patient, which is helpful in reducing the likelihood of bed sore development.

0062The turning of occupant 82 via the inflation of one side of mattress 76 changes the distribution of the load sensed by force sensors 60. As a result, exit detection system 56 will detect a center of gravity 110g at location (X₇, Y₇) when mattress 76 has its top substantially horizontal (<figref idref="f0008">FIG. 9</figref>), and will detect a center of gravity 110h at location (X₈, Y₈) when mattress 76 has its top surface turned to turn angle 74 (<figref idref="f0008">FIG. 9A</figref>). A vector 118 extends between centers of gravity 110g and 110h in <figref idref="f0008">FIG. 9B</figref> and corresponds to the compensation factor that is used by exit detection system 56 when mattress 76 turns an occupant from the horizontal orientation of <figref idref="f0008">FIG. 9</figref> to the turned orientation of <figref idref="f0008">FIG. 9A</figref>, or vice versa.

0063Different compensation factors, and thus different vectors 118, are used by controller 58 depending upon not only the change in turn angle 74, but also the weight of the occupant. As with the compensation factors for changes in pivot angle 70 and changes in tilt angle 72, exit detection system 56 takes into account different occupant weights through the use of empirically gathered data from multiple occupants of different weight. More specifically, empirical data is gathered for the particular person support apparatus 20 in which exit detection system 56 is implemented that shows the relationship between changes in the detected center of gravity when mattress76 is inflated to different turning angles 74 while the occupant does not move relative to support deck 30.

0064In at least one embodiment, the empirical data is gathered and categorized by weight classes of the multiple occupants, such as the weight classes discussed above (e.g. less than 100 pounds, 100-150 pounds, 150-200 pounds, 200-300 pounds, and 300-500 pounds), although other weight classes can be used and/or different demarcations between the weight classes can be used. The empirically gathered data is averaged, or otherwise combined, for all occupants within each weight class. The result of the data is that, for each given weight class, an estimate is provided of the amount by which the detected center of gravity changes for each turn angle 74. This data may be stored in a memory accessible to controller 58, or it may be further processed to define one or more formulas that enable controller 58 to calculate an estimate of the change in the center of gravity for a given occupant weight and a given turn angle 74. Regardless of whether or not the data is stored or a formula is used, controller 58 determines a compensation factor (e.g. vector 118) based upon the occupant's weight (e.g. which weight class he/she is in) and the amount by which turn angle 74 has changed.

0065The amount by which the center of gravity of the load detected by exit detection system 56 is shifted due to a change in the turn angle 74 will also typically vary depending on pivot angle 70. However, most person support apparatuses 20 are designed to prevent turning inflation of mattress 76 unless head section 42 is in the substantially horizontal orientation. For those person support apparatuses, exit detection system 56 therefore does not consider pivot angle 70, or any other additional factors when determining the turn angle compensation factor. If person support apparatus 20 is configured to allow mattress 76 to turn an occupant while head section 42 is in a non-horizontal orientation, then controller 58 also utilizes pivot angle 70 when determining the turn angle compensation factor.

0066In order to account for different pivot angles 70 when determining the turn angle compensation factor, exit detection system 56, in at least one embodiment, gathers empirical data regarding the change in center of gravity for each turn angle 74 when head section 42 is pivoted through different pivot angles 70. This empirical data is then processed, stored, and made available to controller 58 so that it can select the appropriate compensation factor for each turn angle 74 based on current readings of the turn angle 74 and the pivot angle 70.

0067Exit detection system 56 uses any or all of the aforementioned compensation factors to distinguish between that portion of the change in the center of gravity of the load that is due to patient movement relative to support deck 30 and that portion that is due to movement of one or more components of person support apparatus 20 (e.g. litter frame 28, siderails 36, head section 42, etc.) or that portion that is due to the patient moving in unison with the support surface 31 (e.g. pivoting of head section 42 and/or turning of the occupant via the inflation of a side of mattress 76). The compensation factor accounts for that portion of the movement that is estimated to be due to the latter two factors (component movement or movement in unison with the support surface 31). Any changes in the load's center of gravity beyond those corresponding to the compensation factors are the result of patient movement relative to support surface 31. Those changes are analyzed by controller 58 to determine if the compensated center of gravity has moved out of the currently active zone, which triggers an alert.

0068In addition to the compensation factors discussed above for pivot angle 70, tilt angle 72, turn angle 74, siderail position, and the longitudinal position of support deck 30, exit detection system 56 also includes, in at least some embodiments, a compensation factor for the height of support deck 30 relative to base 22 and/or a compensation factor for the addition or removal of one or more items-such as, but not limited to, a medical device-onto or from support deck 30.

0069With respect to changes in the height of support deck 30, it is often the case that lifts 26 cause some shifting of the center of gravity of the sensed load at different heights. In the case where lifts 26 move vertically up and down, it is often the case that lifts 26 will not remain perfectly vertical when extended. Thus, the rectangular shape defined by the vertical axes of each lift and the horizontal axes of base 22 and litter frame 28 will often shift to a more trapezoidal shape when litter frame 28 is raised. This can result in changes to the center of gravity of the load detected by exit detection system 56 that are not related to movement of the occupant relative to support surface 31. In the case where person support apparatus 20 has lifts 26 that include one or more legs whose angular relationship to litter frame 28 changes when the height of litter frame 28 is changed, this too can cause changes in the distribution of weight sensed by force sensors 60. Regardless of the physical construction of lifts 26, exit detection system 56 accounts for these height-dependent changes in the center of gravity in the same manner as has been discussed above with respect to pivot angle 70, tilt angle 72, turn angle 74, and/or changes in the siderail position. That is, controller 58 utilizes readings from height sensor 66e to calculate a compensation factor that is based on empirical data previously gathered, one or more mathematical formulas, or a combination of the two.

0070With respect to changes in the center of gravity due to the addition or subtraction of an object from litter frame 28, controller 58 determines the position of the added or removed object in coordinate frame of reference 86, as well as the weight of the added or removed object, and mathematically calculates a compensation factor that accounts for this added or removed weight. The detection of an added or removed object, as well as the location of its addition or removal, can be accomplished in multiple different manners. In one manner, the addition or removal of an object is detected in the manner disclosed in commonly assigned <patcit id="pcit0007" dnum="US62065242" dnum-type="L"><text>U.S. patent application serial number 62/065,242 filed October 17, 2014 by inventors Marko N. Kostic et al.</text></patcit> and entitled PERSON SUPPORT APPARATUS WITH MOTION MONITORING. The detection of an added or removed object may alternatively or additionally be determined by an image detection system such as that disclosed in commonly assigned <patcit id="pcit0008" dnum="US24202211" dnum-type="L"><text>U.S. patent application serial number 13/242,022 filed September 23, 2011 by inventors Richard Derenne et al.</text></patcit> and entitled VIDEO MONITORING SYSTEM. The detection and/or removal of an object can still further be determined by one or more thermal image sensors, such as those disclosed in commonly assigned <patcit id="pcit0009" dnum="US61989243" dnum-type="L"><text>U.S. patent application serial number 61/989,243 filed May 6, 2014 by inventors Marko N. Kostic et al.</text></patcit> and entitled PERSON SUPPORT APPARATUS WITH POSITION MONITORING. Exit detection system 56 can therefore utilize and/or combine algorithm 68, or any of its modifications, with any of the features and/or algorithms of the systems disclosed in the aforementioned<patcit id="pcit0010" dnum="US62065242B"><text> 62/065,242</text></patcit>;<patcit id="pcit0011" dnum="US13232022B"><text> 13/232,022</text></patcit>; <patcit id="pcit0012" dnum="US61989243B"><text>and/or 61/989,243</text></patcit> patent applications.

0071It will be understood by those skilled in the art that the tilt angle compensation factor discussed above and disclosed herein is separate and independent from the known correction factor that is applied when force sensors 60 are implemented as load cells that are only capable of detecting vertical forces applied against them. Correction of such load cell readings is accomplished by multiplying the outputs of the load cells by a known trigonometric factor, as described in more detail in column 17, line 25 through column 21, line 30 of commonly assigned <patcit id="pcit0013" dnum="US7702481B"><text>U.S. patent 7,702,481</text></patcit> entitled DIAGNOSTIC AND CONTROL SYSTEM FOR A PATIENT SUPPORT.

0072It will also be recognized by those skilled in the art that in any of the embodiments described herein, a shift in the center of gravity of the load detected by force sensors 60 that is due to changes in pivot angle 70 and/or tilt angle 72 is also influenced by how high the occupant 82, mattress 76, and/or other items on support deck 30 extend vertically above litter frame 28. Although variations in this height may influence the center of gravity by an insignificant amount, and thus are ignored in at least one embodiment, at least one other embodiment accounts for this height variation by including data regarding this height. More specifically, in at least one embodiment, exit detection system 56 is in communication with mattress 76. Mattress 76 forwards information to exit detection system 56 regarding any one or more of the following: a type of mattress supported on the support deck (including information indicative of the height of the mattress), an inflation pressure of the mattress, and/or a penetration depth of the occupant into the mattress. Controller 58 is programmed, in at least one embodiment, to use this height information when determining compensation factors for pivot angle 70 and/or tilt angle 72.

0073As was noted previously, exit detection system 56 can be modified from the embodiment shown in <figref idref="f0003">FIG. 4</figref> and described herein to include a different number of sensors 66 and/or to compute a different number of compensation factors. Thus, in one example, exit detection system 56 is modified to include only a pivot angle sensor 66a and to calculate only a compensation factor for pivot angle 70. Such a modified version of exit detection system 56 ignores changes in the center of gravity for siderail positions, tilt angle 72, and turn angle 74. Other combinations of compensation factors and sensors 66 are also possible.

0074<figref idref="f0003">FIG. 10</figref> illustrates one example of a modified exit detection system 156 that includes several components in common with exit detection system 56. Those components that are the same as those found in exit detection system 56 are labeled with the same reference number and operate in the same manner as previously described, except where otherwise noted. Those components that are different are provided with a new reference number.

0075Exit detection system 156 includes controller 58, force sensors 60, alert 64, and user interface 62. Exit detection system 156 also includes one or more actuators 200 and one or more actuator sensors 202. Actuators 200 are controlled by controller 58 and carry out any one or more of the movements described previously (e.g. the pivoting of head section 42, the tilting of litter frame 28, the turning movement of mattress 76, the longitudinal movement of support deck 30 relative to litter frame 28, and/or the movement of siderails 36 between their different positions). Actuator sensors 202 sense the position of the various components moved by actuators 200. Actuator sensors 202 therefore may be the same as sensors 66 described previously, depending upon the specific components that are moved by actuators 200 in a particular person support apparatus 20.

0076Exit detection system 156 operates generally in the same manner as exit detection system 56 previously described. That is, controller 58 determines compensation factors for the movement of the one or more components controlled by actuators 200 and applies these compensation factors to the measured center of gravity. Exit detection system 156 differs from exit detection system 56 in that it includes an automatic calibration feature controlled by one or more controls on user interface 62. When a user activates the automatic calibration feature, controller 58 moves each of components of person support apparatus that are powered by actuators 200 independently while recording the center of gravity changes that result from the movement of these components. Controller 58 analyzes this data to determine updated compensation factors for each of the moved components. The updated compensation factors are then applied to subsequent readings of the center of gravity taken when support deck 30 is occupied by an occupant. The readings taken during the automatic calibration procedure of exit detection system 156 are taken without an occupant on support deck 30, in at least one embodiment. In another embodiment, one or more known weights are used during the automatic calibration process.

0077It will also be understood by those skilled in the art that the aforementioned compensation factors can be applied to exit detection system that do not determine centers of gravity of the load sensed by the force sensors 60. For example, some conventional exit detection systems monitor the outputs of force sensors, such as load cells, and determine whether an occupant exit alert is to be issued based upon absolute changes in the outputs from individual force sensor readings. Other exit detection systems examine ratios of the sum of forces detected by groups of load cell readings and compare them to sums detected by other load cells. If the ratios change by more than a threshold, an exit alert is issued. Compensation factors such as those discussed herein can be applied to either type of exit detection system, or to still other types of exit detection systems, in order to reduce premature alerts caused by movement of the person support apparatus, and/or to enable changes in the physical configuration of the person support apparatus to be made without having to reset the exit detection system.

0078Indeed, in at least some embodiments, exit detection system 56 is modified to apply compensation factors directly to the outputs of the force sensors 62, or to some other parameter that is calculated based off of the force outputs other than a center of gravity. In such instances, the exit detection system uses outputs from any one or more of the sensors 66 discussed above to estimate what portion of the change(s) in the force sensors (or other non-center of gravity parameter) are due to the occupant moving relative to support surface 31, and what portion of the change(s) are due to other factors, such as the movement of one or more components of the person support apparatus. The compensation factors are carried out in the same manner as discussed previously. To the extent the compensation factors rely upon empirically gathered data, such empirically gathered data can be gathered from changes in individual force sensor readings (or changes in the non-center of gravity parameters) as the various components of the person support apparatus (e.g. litter frame 28, head section 42, siderails 36, etc.) are moved to their different positions and/or orientations while occupants of different weight classes are positioned on support surface 31 who do not change their position relative to support surface 31 during the gathering of such data.

0079It will also be understood by those skilled in the art that the principles of the present disclosure can be applied to the exit detection system disclosed in commonly assigned <patcit id="pcit0014" dnum="US62065242" dnum-type="L"><text>U.S. patent application serial number 62/065,242 filed October 17, 2014 by inventors Marko N. Kostic et al.</text></patcit> and entitled PERSON SUPPORT APPARATUS WITH MONITORING. In some of the embodiments of the system disclosed in the '242 application, the exit detection system determines a velocity (and/or kinetic energy) of the occupant based upon changes in the occupant's position and issues an exit alert if the velocity exceeds a threshold. The principles disclosed herein can be applied to filter out of the velocity and/or kinetic energy calculations movement that is due components of the person support apparatus 20 moving, rather than movement of the occupant relative to the support surface 31.

0080Various additional alterations and changes beyond those already mentioned herein can be made to the above-described embodiments without departing from broader aspects of the disclosure, which are to be interpreted in accordance with the principles of patent law including the doctrine of equivalents. This disclosure is presented for illustrative purposes. The invention is defined in the appended claims.