Bed guard for 9 month old

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DD is 9 months and we do-sleep. She can crawl and roll and is not far off pulling herself up. We have a super bed and sleep in the middle and she goes from side to side as she feeds. I sleep with my arm around her and thought that I would stir if she went crawling but apparently not as last night I woke to hear a thud and a cry and there she was on the floor! :(
We are trying to transition her to her cot but she wakes so so frequently it is going to be a long process and she currently only manages a few (very broken) hours in it until I bring her into bed with me.
I've read that bed guards aren't safe for babies as they can get trapped. Is there anything that is suitable for this age that I can use, and if not what else can I do to stop her falling out of bed?? A floor bed isn't an option for us at the moment.

I think you can get special cots at the same level as your bed, and keep it next to your bed with the side down.

You can get a bed guard, but they aren't recommended due to infants getting caught in gap between them and the mattress.

Could you can put an old mattress on the floor so landing will be soft?

They learn pretty quickly, think my DD fell off the bed twice at a similar age and never did it again. She did however begin to purposefully climb out when she decided it was morning...often at 2am! If you're considering transitioning to a cot then this might be a good time to start.

We have no room for a side car cot unfortunately.
This is not the first time she's fallen and she doesn't appear to be learning!! 😂 she is also at that stage of compulsively practising crawling etc whenever she wakes which isn't helping. I might put an old cot mattress we have on the floor, and I have actually just ordered some foam things which go under the bedsheets which should help.
Will continue transitioning her to her cot but I think it's going to be a very slow process!!
She has a little bruise on her head poor love :(