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Bed Occupancy Sensor?
(lemmy.ml)
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https://community.home-assistant.io/t/fsr-the-best-bed-occupancy-sensor/365795
This is the best write-up I've seen - essentially a force sensitive resistor on the bed slats and an ESP32 will get you the results you're after.
I’ve got parts on order for this very project, should arrive this week.
I previously tried using one of those large pressure mats but it didn’t work under the mattress.