JP2017189313A - Bed device and bed control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a bed device and the like not exerting discomfort and performing comfortable motion by prompting a natural rotation motion to a user when performing back lifting motion or knee lifting motion.SOLUTION: A bed device includes: a back lifting control section 130 controlling a back lifting motion section 135; a shoulder motion section 155 arranged near a right/left shoulder part of a user and performing motion lifting a shoulder of a user; and a fulcrum motion section 165 performing motion lifting a thigh part or hip part of a user. When back lifting motion is performed, motion sections of the shoulder motion section 155 and fulcrum motion section 165 operate so that a right shoulder part and left thigh part are lifted or so that a left shoulder part and right thigh part are lifted, thereby a rotation motion can be achieved.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a bed apparatus and a bed control method.

  Conventionally, in an electric bed, a back raising operation and a knee raising operation are possible. However, there has been a problem that the user himself / herself may experience pain or discomfort due to the displacement or pressure generated during the back-raising operation or the knee-raising operation, or the posture may be incorrect.

  In order to solve these problems, various bed mechanisms and mattress structures have been invented. For example, it can prevent slippage and turn over, change clothes, secure the airway when eating and drinking, raise the body, correct shoulder drop of caregivers of hemiplegia, etc., and has a high degree of freedom of tilting, An invention of a bed in which a care recipient can maintain a comfortable posture is disclosed.

JP 2002-85481 A

  As described above, various inventions have been made for the purpose of eliminating the displacement and pressure that occur during the operation of the bed, but since these are operations different from the natural rising operation, the user feels uncomfortable. Could not be resolved.

  In order for humans to get up naturally, a rotating operation is required. However, conventional bed apparatuses have not been constructed in the first place in consideration of the rotating operation. In other words, by combining back-up and knee-up, the entire bed device (bottom part) assists in getting up, but there is a problem that the user cannot support his body and is in an unreasonable posture. It was.

  In view of the above-described problems, the present invention aims to provide a more comfortable operation without causing discomfort by encouraging the user to perform a natural turning operation when performing a back raising operation or a knee raising operation. It is to provide a bed apparatus or the like.

In order to solve the above-described problems, the bed apparatus of the present invention includes:
A back raising control unit for controlling the operation of raising the back;
A first operation unit that is provided in the vicinity of the left and right shoulders of the user and performs an operation of lifting the user's shoulder, and a user's thigh or buttocks that is provided in the vicinity of the left and right thighs of the user A second operation unit that performs an operation of lifting the operation unit,
When performing the back raising operation, a control unit that controls the rotation operation by operating the operation unit at a symmetrical position among the operation units, and
It is provided with.

Moreover, the bed control method of the present invention includes:
A back-up operation unit that performs a back-up operation, a first operation unit that is provided in the vicinity of the left and right shoulders of the user, and that performs an operation of lifting the user's shoulder and in the vicinity of the left and right thighs of the user A bed control method in a bed apparatus, comprising: an operating unit having a second operating unit that performs an operation of lifting a user's thigh or buttocks;
When performing the back-up operation, the rotation operation is controlled by operating the operation unit at a symmetrical position among the operation units.

Moreover, the bed apparatus of the present invention comprises:
A back-up operation unit that performs the back-up operation;
A shoulder motion unit that is provided near the left and right shoulders of the user and that lifts the user's shoulder;
A fulcrum action unit that is provided in the vicinity of the left and right thighs of the user and performs an operation of lifting the thigh or buttocks of the user;
When performing the back raising operation, the shoulder operation unit is operated to lift the user's shoulder, and the shoulder operation unit operated in combination with the fulcrum operation unit at a symmetrical position is operated. A control unit for performing control for lifting the user's thigh;
It is provided with.

  According to the present invention, the first operation unit that is provided in the vicinity of the left and right shoulders of the user and performs the operation of lifting the shoulder of the user, and the user is provided in the vicinity of the left and right thighs of the user. A second operation unit that performs an operation of lifting the thigh or buttocks of the body, and when performing the back-up operation, the operation unit at a symmetrical position is operated among the operation units. Thus, the turning operation can be controlled. That is, when raising the user back, the user's shoulder and thigh are lifted symmetrically, and a rotating motion can be realized for the user.

  As a result, the user can perform a more natural rising operation with less pressure.

It is a figure for demonstrating the function structure in the bed apparatus of this embodiment. It is a figure for demonstrating the shoulder action part and fulcrum action part in this embodiment. It is a figure for demonstrating the shoulder action part and fulcrum action part in this embodiment. It is a flowchart explaining the main process in this embodiment. It is a timing chart of the 1st example in this embodiment. It is a figure for demonstrating the operation example in this embodiment. It is a flowchart for demonstrating an example of the process of 1st Example in this embodiment. It is a flowchart for demonstrating an example of the process of 2nd Example in this embodiment. It is a timing chart of the 2nd example in this embodiment. It is a timing chart of the 3rd example in this embodiment. It is a timing chart of the 3rd example in this embodiment. It is a timing chart of the 3rd example in this embodiment. It is a timing chart of the 3rd example in this embodiment. It is a timing chart of the 4th example in this embodiment. It is a timing chart of the 4th example in this embodiment. It is a timing chart of the 5th example in this embodiment. It is a timing chart of the 5th example in this embodiment. It is a timing chart of the 6th example in this embodiment. It is a timing chart of the 6th example in this embodiment.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. Of course, the contents of the present invention are not limited to the contents of the following embodiments.

[1. Functional configuration]
First, the functional configuration of the bed apparatus 1 to which the present invention is applied will be described with reference to FIG.

  As shown in FIG. 1, the bed apparatus 1 includes a control unit 100, a state detection unit 110, a storage unit 120, an operation input unit 125, a back raising control unit 130, a knee raising control unit 140, and a shoulder control. It has the part 150 and the fulcrum control part 160, and is comprised.

  The control unit 100 is a functional unit for controlling the entire bed apparatus 1. The control unit 100 implements various functions by reading and executing various programs stored in the storage unit 120, and is configured by, for example, a CPU (Central Process Unit).

  The state detection unit 110 is a functional unit for detecting each state of the bed apparatus 1. For example, it is a functional unit for detecting and outputting the state of the bed apparatus 1 such as the state of the actuator and the state of the air cell. In addition, it is good also as detecting a user's state, such as a user's weight, a body pressure, and a heart rate.

  The storage unit 120 is a functional unit that stores various programs and various data necessary for the operation of the bed apparatus 1. The storage unit 120 includes, for example, a semiconductor memory, an HDD (Hard Disk Drive), or the like.

  The operation input unit 125 is a functional unit for performing operation input so as to perform various operations on the bed apparatus 1. For example, it may be provided in the bed apparatus 1 such as an operation remote controller, or may be an external apparatus such as a linked smartphone. Further, the means for performing operation input is not limited to the hardware key, and various means such as a software key and voice input are conceivable.

  The back raising control unit 130 is a functional unit that controls the back raising operation unit 135, and the knee raising control unit 140 is a functional unit that controls the knee raising operation unit 145. That is, when the back raising control unit 130 controls the back raising operation unit 135, the back raising operation and the back lowering operation are performed. Similarly, when the knee-lifting control unit 140 controls the knee-raising operation unit 145, the knee-raising operation and the knee-lowering operation are performed.

  Here, the back raising operation and the knee raising operation may be performed independently or in conjunction with each other. The simple back raising operation and knee lowering operation itself are also realized in a conventional bed apparatus, and may be realized by any method. For example, as an example of the back raising operation unit 135, it may be realized by moving the back bottom via a link mechanism from a driving device such as an actuator, or by relatively tilting the bed frame, It may be realized.

  The shoulder control unit 150 is a functional unit for controlling the shoulder operation unit 155. Here, the shoulder operation unit 155 is provided in the vicinity of the user's shoulder, and is an operation unit intended to lift the shoulder and / or neck (on one side). The shoulder motion part 155 is on the left side (the user's left hand side when facing up) as viewed from the user, and on the right side (the user's right hand side when lying on the back) when viewed from the opposite user. R shoulder operating portion 155R.

  The fulcrum control unit 160 is a functional unit for controlling the fulcrum operation unit 165. Here, the fulcrum control unit creates a portion that comes into contact with the user so that the fulcrum of movement of the user's body is created in a part of the lower leg when the upper body turns. Is provided. That is, the fulcrum action part 165 lifts the patient's thigh or buttocks.

  The fulcrum operation part 165 is on the left fulcrum operation part 165L when viewed from the user (on the left hand side of the user when facing up) and on the right side (when viewed from the user with the right hand side of the user). R fulcrum operating unit 165R.

[2. Shoulder motion part and fulcrum motion part]
Here, the shoulder operating unit 155 and the fulcrum operating unit 165 will be specifically described with reference to FIGS. 2A is a perspective view of the bed apparatus 1 schematically shown, and FIG. 3 is a top view. Further, assuming that the head side of the bed apparatus 1 is H and the foot side is F, the right side is R and the left side is L.

  Here, the shoulder operation unit 155 includes an L shoulder operation unit 155L provided on the left side and an R shoulder operation unit 155R provided on the right side, and the fulcrum operation unit 165 includes an L fulcrum operation provided on the left side. The unit 165L includes an L fulcrum operation unit 165L provided on the right side.

  As a method for realizing the shoulder operation unit 155 and the fulcrum operation unit 165, for example, the following cases can be considered.

(1) When the floor of the bed is divided (when configured with a movable floor)
For example, the floor part 10 which comprises a bottom is each divided | segmented, and it is set as the structure (it consists of a movable floor) where each floor moves. And it is the method of providing a power source (for example, actuator) in a movable floor. in this case,
(A) A power source is provided for each of the divided movable floors.
(B) One power source is provided on each of the movable floor on the shoulder side (shoulder operating section 155) and each of the movable floor on the thigh side (fulcrum operating section 165). In this case, left / right switching is performed by a left / right switching mechanism or a switch. In the present embodiment, the rotation operation is performed by operating the normal shoulder operation unit 155 and the fulcrum operation unit 165 at diagonal positions. That is, since it is sufficient to operate one of the left and right, such a configuration may be used.
(C) One power source is used, and the cam mechanism and the wire are connected to each operation unit to be operated. Normally, the shoulder motion unit 155 and the fulcrum motion unit 165 move together at the diagonal positions, and thus may be configured in such a way that the timing of the two motions is the same.

(2) When using a mechanism that can be partially operated on the floor 10 For example, by placing an air cell on the floor 10 (between the mattress 20) and inflating the air cell simultaneously with raising the back, The shoulder operating unit 155 and the fulcrum operating unit 165 may be realized. A mechanism for lifting the user's body may be placed instead of the air cell.

(3) When provided on or inside the mattress 20 For example, an object on a sheet composed of air cells may be placed on the mattress 20. That is, an air cell is provided between the mattress 20 and the user.

  Further, an air cell may be provided inside the mattress 20. This is realized by linking the control of the back raising operation and the mattress control and performing an interlocking operation between the back raising and the mattress.

  For example, FIG. 2B schematically shows a state in which an air cell is provided. An air cell is placed on the floor 10. In this figure, an air cell 156L and an air cell 156R that operate as shoulder operation portions are provided, and an air cell 166L and an air cell 166R that operate as a fulcrum operation portion 165 are provided. Similar operations and effects can be realized by expanding the air cell.

  Here, the shoulder operation unit 155 and the fulcrum operation unit 165 used during the rotation operation may be automatically selected or may be configured to be switchable by the user. In other words, the right shoulder and the left thigh (R shoulder operating portion 155R and L fulcrum operating portion 165L) may be set to operate. The thigh (the L shoulder operating unit 155L and the R fulcrum operating unit 165R) may be operated.

  For example, a hand switch may be provided as an operation button, and the switching may be freely set, or the staff may switch with a setting switch or the like. Moreover, it is good also as detecting a patient's gravity center and operating an appropriate operation | movement part.

[3. Main processing]
Next, the main process will be described. The main process is a process performed based on FIG. That is, in this embodiment, when a back raising operation is detected (step S102), a back raising operation process is executed (step S104). At this time, a turning operation process is also executed (step S106). Here, the timing of the process of performing the back raising operation and the timing of performing the process of the rotating operation will be described below as an example.

[4. Example]
[4.1 First Example]
First, the control of the shoulder operation unit 155 and the fulcrum operation unit 165 in the case of the first embodiment will be described with reference to FIG.

  FIG. 5 is a diagram for explaining operation timings of the back raising operation unit 135, the shoulder operation unit 155, and the fulcrum operation unit 165. The vertical axis represents angle and the horizontal axis represents time. Specifically, at time t100, the shoulder operation unit 155 and the fulcrum operation unit 165 on the diagonal side of the shoulder operation unit 155 start operation.

  When the shoulder operation unit 155 operates, an operation of lifting the user's shoulder or neck (or both) is performed. Further, when the fulcrum operation unit 165 is operated, a protrusion (bulge) is given to a part of the knee, the thigh, or the buttocks, so that the user's body partially comes into contact.

  As a result, when the upper body is turned, a fulcrum of movement of the user's body is created in a part of the lower leg, and natural movement can be realized.

  More specifically, the shoulder operation unit 155 and the fulcrum operation unit 165 operate in an operation unit at a position that is bilaterally symmetric and a diagonal part. When the L shoulder operation unit 155L located on the left side of the user operates, the R fulcrum operation unit 165R that supports the right thigh operates. On the other hand, when the R shoulder operation unit 155R located on the right side of the user operates, the L fulcrum operation unit 165L that supports the left thigh operates.

  In the present embodiment, when the back raising operation is detected, the shoulder operation unit 155 and the fulcrum operation unit 165 are lifted. In order to support the user, a part (operation part) of the bottom is lifted, and an angle is formed as compared with other parts. This angle increases from time t100 to time t102. In the following description, it is assumed that when the shoulder operating unit 155 and the fulcrum operating unit 165 are operating, the operating units at symmetrical positions are operating.

  Then, when the angle increases, the back raising operation is started (time t102). At this time, the angles (heights) of the shoulder operating unit 155 and the fulcrum operating unit 165 are constant. For example, at this timing, the shoulder operating unit 155 and the fulcrum operating unit 165 are raised by about 10 cm. When the back raising angle is gradually increased, the shoulder operation unit 155 and the fulcrum operation unit 165 are operated to be flat this time. That is, the angle decreases from time t104, and at time t106, the shoulder motion unit 155 and the fulcrum motion unit 165 are not raised, and a flat state is obtained.

  For example, at time t104, the back raising angle of the back bottom formed by the back raising operation unit 135 is approximately 45 degrees. Further, in the state at time t106, the back raising angle is about 50 degrees, which is an angle at which the patient can be sufficiently supported without support by the shoulder operating unit 155 and the fulcrum operating unit 165.

  In addition, these angles are an example and the angle which can support a patient will be included.

  In this figure, the back raising itself is performed until time t108, but since the user is sufficiently supported by the back bottom after time t106, the state of each operation unit becomes flat.

  FIG. 6 shows the state of the user in this case. As shown in FIG. 6, the right shoulder of the user is lifted, and a rotation operation is performed on the upper body of the patient. Moreover, a user is supported by making a fulcrum in the left thigh vicinity in the diagonal.

  Next, specific processing will be described with reference to FIG. First, when the back raising operation is detected (step S152; Yes), the turning operation starts (step S154). As described above, the rotation operation is performed by the shoulder operation unit 155 and the diagonal fulcrum operation unit 165 operating. Thereby, a part of bottom (floor part) will rise, and it becomes possible to support a user.

  After the rotation operation is started, the back raising operation is started (step S156). Here, when the back raising operation becomes equal to or larger than the predetermined angle (step S158; Yes), the rotation operation end processing is performed (step S160).

  Here, the turning operation end processing is processing for flattening a part of the bottom lifted for the current turning operation again.

  Here, the process is continuously executed until the back raising operation is completed (step S162; No → step S158). In other words, while the back raising operation is being performed, the back raising operation is being performed, but a rotating operation is also being performed. Then, when the back raising angle is equal to or larger than a predetermined angle, the turning operation is finished.

  When the back raising operation is finished, the back raising operation is finished (step S164). At this time, if the turning operation is not completed, a process for completing the turning operation is also executed.

  Thus, in the case of the present embodiment, the turning operation is started before the back raising operation is started. Therefore, a back-up operation with less burden on the patient can be performed by the rotation operation.

[4.2 Second Embodiment]
Subsequently, a second embodiment will be described. 2nd Example is an Example in case a knee bottom operate | moves in conjunction with back raising.

  That is, before the back raising control unit 130 operates the back raising operation unit 135 to perform the back raising process, the knee raising control unit 140 operates the knee raising operation unit 145 to perform the knee raising process. The flow of processing in this case is shown in FIG. FIG. 8 is obtained by replacing the operation flow of FIG. 7 of the first embodiment, and the same processes are denoted by the same reference numerals and description thereof is omitted.

  Before the back raising operation in step S156 is started, the knee raising operation is started (step S172). In this knee-lifting operation, the knee-lifting end process is executed when the back-raising angle is equal to or greater than a predetermined angle (step S174).

  Here, various timings can be considered as the timing for finishing the knee-lifting. For example, an example of timing is shown in FIG. In FIG. 9, the knee-lifting operation is started from time t154 after time t152 when the shoulder operation unit 155 and the fulcrum operation unit 165 are rotated. The timing for starting the knee-lifting operation is performed at a timing before the back-lifting operation is started.

  Also, the end point is performed from time t158 to time t160, which is the end timing of the turning operation. That is, after time t160, the knee bottom and the waist bottom are flat. Therefore, it is flat except for raising the back at time t162.

  In addition, the timing of this knee raising operation part 145 is an example, and a different timing may be sufficient as it. That is, the patient can be supported at the timing when the back raising operation is performed if the knee raising operation is performed.

  For example, the knee-lifting operation unit 145 may not perform the end operation at the above timing. That is, the knee bottom may be raised as it is without making the knee bottom flat.

[4.3 Third Example]
Next, an embodiment in which the timing is changed will be described below with respect to the timing of the back-up operation processing and the rotation operation processing. The timing chart of the first embodiment is replaced with each embodiment.

  Further, although not shown again for each embodiment, the processing shown in FIG. 7 may be appropriately changed according to the operation timing based on the timing chart.

  The second embodiment will be described with reference to the timing chart of FIG. In the third embodiment, the back raising operation unit 135, the shoulder operation unit 155, and the fulcrum operation unit 165 start operation at substantially the same timing.

  That is, the back raising operation unit 135, the shoulder operation unit 155, and the fulcrum operation unit 165 are simultaneously executed at time t200 (note that it is not necessarily the same time, and the same effect can be expected even if there is some error. ).

  Then, the shoulder operating unit 155 and the fulcrum operating unit 165 operate until time t202. In addition, the shoulder operation unit 155 and the fulcrum operation unit 165 start operation from time t204 so that the end timing is flat at time t206 when the back raising operation is completed.

  As described above, there are various cases in which the operation start timings of the back raising operation unit 135, the shoulder operation unit 155, and the fulcrum operation unit 165 are considered.

  For example, as shown in FIG. 11, after the back raising operation of the back raising operation unit 135 is completed (time t222), the shoulder operation unit 155 and the fulcrum operation unit 165 may be lowered. That is, the back-up operation process ends first, and then the rotation operation process ends. Therefore, during the time t222 to the time t224, the back-up operation is not performed while the shoulder operation unit 155 and the fulcrum operation unit 165 are performing the flattening operation.

  Also, as shown in FIG. 12, the back-up operation process may be executed while the rotation operation process is being executed. That is, the back-up operation process is not executed at the timing when the rotation operation process is started at time t242. Then, the back-up operation process is started in the middle of the rotation operation process (time t244).

  At the timing when the operations of the shoulder operation unit 155 and the fulcrum operation unit 165 are once finished (time t246), the back raising operation unit 135 is at the timing when the back raising operation is performed.

  Further, as shown in FIG. 13, the back-up operation processing may be started first, and the rotation operation processing may be executed while the back-up operation processing is being executed. For example, the back-up operation process (back-up operation of the back-up operation unit 135) is executed first at time t262, and the rotation operation process is executed at time t264 thereafter. In this case, it is preferable to perform the rotation operation at the timing when the back-up operation is performed. Therefore, the effect can be expected more when the time t262 and the time t264 are not too large.

  At this time, the turning operation may be performed after the back raising operation is temporarily stopped. For example, when the back raising angle formed by the back raising operation unit 135 reaches approximately 5 degrees (time t264), the operation is stopped once and the turning operation is performed. Control may be performed such that the back lifting operation is performed again at a timing when the shoulder motion unit 155 and the fulcrum motion unit 165 are raised to some extent.

  As described above, in this embodiment, the back-up operation processing (back-up operation unit 135) and the rotation operation processing (shoulder operation unit 155, fulcrum operation unit 165) can be processed at different timings.

[4.4 Fourth Example]
Next, a fourth embodiment will be described using the timing chart of FIG. The fourth example is an example in which the operation timings of the shoulder operation unit 155 and the fulcrum operation unit 165 are different in the rotation operation process.

  First, the fulcrum operation unit 165 starts operation at time t300. Then, at the time t302 after the operation of the fulcrum operation unit 165 is started, the operations of the shoulder operation unit 155 and the back raising operation unit 135 are started.

  The fulcrum operation unit 165 stops operating at time t304, but the shoulder operation unit 155 stops operating at time t306. Therefore, the operation starts again and all the operations are completed at time t308 for the fulcrum operation unit 165 and at time t310 for the shoulder operation unit 155.

  In addition, what is necessary is just to operate | move at the timing different from the fulcrum operation | movement part 165 and the shoulder operation | movement part 155. Accordingly, in FIG. 13, the back raising operation unit 135 and the shoulder operation unit 155 operate at the same timing at time t302 and time t310, but may be at different timings.

  Further, the fulcrum operation unit 165 and the shoulder operation unit 155 may end at the same timing. For example, the fulcrum operation unit 165 may also operate so as to end at time t310.

  In addition, when performing a rotation operation | movement, it is preferable to perform a rotation operation | movement, after making the fulcrum for supporting a user's body first. Therefore, a higher effect can be expected when the fulcrum operation unit 165 operates first.

  Since it is only necessary to support the user's body, for example, the same effect can be expected in the case of the operation as shown in FIG. In other words, the shoulder motion unit 155 is operated at time t350, but is stopped once at an angle at which the user does not feel a burden (time t352). Then, by operating the fulcrum operation unit 165 from time t354, the shoulder operation unit 155 is operated in earnest from the time when the fulcrum of the user is created (time t356).

  As described above, the shoulder operation unit 155 and the fulcrum operation unit 165 can be expected to have the same effect even if the timing is changed.

[4.5 Fifth Example]
Next, a fifth embodiment will be described with reference to the timing chart of FIG. The fifth embodiment is an embodiment in the case where the back-up operation process is terminated in the middle.

  First, at time t402, a back-up operation process (back-up operation unit 135) and a rotation operation process (shoulder operation unit 155, fulcrum operation unit 165) are executed. Thereafter, for example, when the back raising operation is completed at time t404, control is performed so that the rotating operation is also completed.

  That is, when the operation of the back raising operation unit 135 stops at time t404, the shoulder operation unit 155 and the fulcrum operation unit 165 are controlled to be flat from time t404 to time t406. That is, the turning operation process is controlled to end.

  In FIG. 16, for convenience of explanation, the turning operation process ends from time t <b> 404, but may end after a predetermined time elapses. For example, as shown in FIG. 17, the shoulder operation unit 155 and the fulcrum operation unit 165 are stopped from time t404, but the operation is performed so as to be flat from time t410. This is because it is determined based on the time whether the operation of the back raising operation unit 135 is merely a temporary stop or an end.

  In this case, it is needless to say that not the time but a method such as an operation instruction by a user may be used.

[4.6 Sixth Embodiment]
Next, the sixth embodiment will be described with reference to the timing chart of FIG. The sixth embodiment is an embodiment for explaining the case of the reverse operation, that is, the back-lowering operation, as the back raising operation processing.

  As shown in FIG. 18, the back-lowering operation is first executed from time t502. That is, the back angle is reduced by operating the back raising operation unit 135. At this time, the rotation operation process is also executed.

  Specifically, the shoulder operation unit 155 and the fulcrum operation unit 165 operate from time t502 to time t504, and the rotation operation is performed. Then, at time t508, which is the timing when the operation of the back raising operation unit 135 ends (the back angle is approximately 0 degrees), the rotation operation process is also ended. That is, an operation of flattening is performed from time t506 to time t508.

  As shown in the present embodiment, in the case of the back-lowering operation, the rotation operation is performed by the movement of the shoulder operation unit 155 and the fulcrum operation unit 165 at the timing when the back-lowering operation is completed (the back angle becomes approximately 0 degrees). It is preferred that this be done.

  In the back-lowering operation described in the sixth embodiment, the operation timings of the back-up operation unit 135, the shoulder operation unit 155, and the fulcrum operation unit 165 are appropriately combined with the operations from the first example to the fifth example. May be.

  For example, as shown in FIG. 19, the timing of the back-lowering operation and the timing of the rotating operation may be shifted. For example, the back-lowering operation is performed at time t522, but the timing at which the rotation operation is performed is time t524.

  In addition, at the time t526 when the back-lowering operation is completed, the turning operation is not completed, and the operation is completed at the subsequent time t528.

[5. Modified example]
The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and the design and the like within the scope of the present invention are also within the scope of the claims. include.

  Further, the embodiments described above may be executed in combination as appropriate. For example, in FIG. 16, the back raising operation unit 135, the shoulder operation unit 155, and the fulcrum operation unit 165 start operating at time t402, but the timing at the start of operation is shifted in combination with, for example, FIG. Of course, this is applicable.

DESCRIPTION OF SYMBOLS 1 Bed apparatus 10 Floor part 20 Mattress 100 Control part 110 State detection part 120 Storage part 125 Operation input part 130 Back raising control part 135 Back raising operation part 140 Knee raising control part 145 Knee raising operation part 150 Shoulder control part 155 Shoulder action part 155L L shoulder motion part 155R R shoulder motion part 160 fulcrum control part 165 fulcrum motion part 165L L fulcrum motion part 165R R fulcrum motion part

Claims (10)

A back raising control unit for controlling the operation of raising the back;
A first operation unit that is provided in the vicinity of the left and right shoulders of the user and performs an operation of lifting the user's shoulder, and a user's thigh or buttocks that is provided in the vicinity of the left and right thighs of the user A second operation unit that performs an operation of lifting the operation unit,
When performing the back lifting operation, the rotating operation is performed by operating the operation unit that lifts the right shoulder and the left thigh or the left shoulder and the right thigh of the operation unit. A control unit to control;
A bed apparatus comprising: The controller is
The bed apparatus according to claim 1, wherein the operation unit is operated before the back raising operation is started. The controller is
The bed apparatus according to claim 1, wherein operation timings of the first operation unit and the second operation unit are different.   The bed device according to claim 3, wherein the control unit performs an operation of lifting the first operation unit after performing an operation of lifting the second operation unit.   5. The bed apparatus according to claim 1, wherein the back raising control unit controls the back raising operation after a rotating operation is started by the operation unit. 6.   The bed according to any one of claims 1 to 4, wherein the control unit controls the rotation operation to be terminated when the back raising operation unit is completed by the back raising control unit. apparatus.   The bed apparatus according to any one of claims 1 to 6, wherein the back raising control unit controls a back-lowering operation.   The bed device according to claim 1 or 2, wherein the control unit has the same operation timing of the first operation unit and the second operation unit. A back-up operation unit that performs a back-up operation, a first operation unit that is provided in the vicinity of the left and right shoulders of the user, and that performs an operation of lifting the user's shoulder and in the vicinity of the left and right thighs of the user A bed control method in a bed apparatus, comprising: an operating unit having a second operating unit that performs an operation of lifting a user's thigh or buttocks;
When performing the back lifting operation, the rotating operation is performed by operating the operation unit that lifts the right shoulder and the left thigh or the left shoulder and the right thigh of the operation unit. A bed control method characterized by controlling. A back-up operation unit that performs the back-up operation;
A shoulder motion unit that is provided near the left and right shoulders of the user and that lifts the user's shoulder;
A fulcrum action unit that is provided in the vicinity of the left and right thighs of the user and performs an operation of lifting the thigh or buttocks of the user;
When performing the back raising operation, the shoulder operation unit is operated to lift the user's shoulder, and the shoulder operation unit operated in combination with the fulcrum operation unit at a symmetrical position is operated. A control unit for performing control for lifting the user's thigh;
A bed apparatus comprising: