JP2006110212A - Intelligent bed robot with pressure sensor-attached mattress and supporting robot arm - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an intelligent bed robot having a system monitoring an active patient through a pressure sensor in real time, in particular, and executing a substantially assisting role using a robot arm therethrough in the intelligent bed robot with a pressure sensor-attached mattress and the supporting robot arm. <P>SOLUTION: This intelligent bed robot includes; the pressure sensor attached mattress monitoring the position, attitude and movement of a person in the bed in real time and assisting the person; the supporting robot arm supporting the person in the bed based on information obtained from the monitoring of the mattress; a rack used by attaching to the supporting robot arm and, when being unused, being hid by moving it to a lower-side space of the intelligent bed robot; and a moving rail for moving the whole area of the bed for providing services to the person in the bed. The bed robot can provide the user with friendly, convenient and diversified services. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

The present invention relates to a bed type intelligent robot equipped with a pressure sensor mattress and a support type robot arm. In particular, the present invention has an active real-time monitoring of a patient through a pressure sensor and a substantial auxiliary role using the robot arm. This is related to bed-type intelligent robots equipped with systems that can be used.

Hereinafter, a technique related to a conventional artificial intelligence bed robot will be described in detail with reference to FIGS.

A conventional artificial intelligence bed robot includes transfer means, a first acupressure member, a second acupressure member, a whole body motion member, a third acupressure member, and a control means.

The transfer means is for supporting the first acupressure member and the third acupressure member and transferring each member to a position desired by the user, and is provided on both ends of one side of the main body (1) formed in a conventional bed shape. A fixed plate (2) is provided, and a guide tube (3) is provided between the fixed plates (2), and a transfer section (6) is connected to the guide tube (3) in a transferable manner.

In order to fix separate transfer ropes (5) on both sides of the transfer part (6), the ropes (5) are wound around rollers (4) respectively fixed to the fixing plate (2). The rope (5) is pulled by the rotation of (4), and the transfer section (6) is interlocked while stagnating, and the rotating shaft of the first motor (8) is attached to the roller (4) on one side. When the first motor (8) is driven in combination, the roller (4) is interlocked. The first motor (8) is driven under the control of a control means to be described later.

On the other hand, on the upper side of the transfer part (6), there is installed a main support (7) formed in a '┐' pattern and having a horizontal part (7a) at the upper end. The main support base (7) is provided with first and third acupressure members.

The first acupressure member is used to widely acuate a relatively wide area together with the human body and the spine.
A hinge shaft (11) is formed on one side of the horizontal portion (7a), and an intermediate portion of the center support base (12) is coupled to the hinge shaft (11) so that the center support base (12) is a hinge shaft ( 11) The elastic body in which the seesaw is operated around the center, and a shiatsu part (13) having a relatively wide area is formed at one end of the center support base (12) at the lower end of the center support base (12). (14) is coupled, and the other end of the central support (12) is hinged between the first operation (15), and a rack gio (15a) is formed below the first operation (15). . The acupressure part (13) is preferably formed of acupressure rubber having a rectangular air bag and a magnet.

The rack gear (15a) is configured to mesh with a separate drive gear (16), and the drive gear (16) is interlocked with the forward / reverse rotation of the second motor (15). The first operation period (15) in which the rack gear (15a) is formed can be raised and lowered according to the rotation direction of (16).

When the first operation period (15) is moved up and down, the center support base (12) connected thereto is operated as a seesaw, so that the acupressure part (13) is moved up and down to acupressure the human body.

It is desirable to form a soft material on the bottom surface of the acupressure part (13) so that the human body can be gently pressed. 14a) is installed internally.

The second acupressure member is to selectively acuate a specific part of the human body, i.e., a Chinese menstrual blood site, and is provided with a horizontal case (32) on one side of the horizontal portion (7a). (32) A second operating gear (31) having a rack gear (31a) formed at one end is formed in the inside so as to be able to come out, and a second driving gear (33) supported on the rotating shaft of the third motor (34) is formed. ) Is engaged with the rack gear (31a), so that the third operation (31) can be moved forward and backward by the forward and reverse rotation of the third motor (34).

Then, a vertical case (36) is provided in the vertical direction at the end of the second operation period (31), and the acupressure rod (35) having a rack gear (35a) formed at one end inside the vertical case (36). And the third drive gear (37) pivotally supported by the rotation shaft of the fourth motor (38) is configured to mesh with the rack gear (35a). When the forward / reverse rotation is performed, the acupressure rod (35) is configured to be lifted and lowered to push the human body.

In the middle part of the acupressure rod (35), a bottle-shaped elastic body (35b) is formed to prevent the acupressure rod (35) from pushing the human body excessively. In order to obtain a good effect, a fan (35c) and a heat wire (35d) may be provided in the internal space of the acupressure rod (35).

The whole body movement member is to activate the body rhythm by appropriately exercising the whole autonomic nerve of the human body, and a board-shaped underlay board on which a person can lie on the upper center of the body (1) (41) is provided, and the base plate (41) is connected to the main body (1) using a plurality of links (42), and the base plate (41) is connected to the main body (1) in the front-rear position. Configure as you can.

Then, a pair of links (42) are interconnected by using a separate connecting rod (43), and one end of the third operating period (46) is connected to the intermediate portion of the connecting rod (43). When the rotating plate (44) rotates when the rotating plate (44) rotates while the other end of the rotating plate (44) is connected to the coupling protrusion (44a) formed on one surface of the rotating plate (44) during the third operating period (46). The connecting rod (43) is moved forward and backward while the space (46) is interlocked, and the base plate (41) is interlocked and configured to move forward and backward.

The rotating plate (44) is configured such that the rotating plate (44) rotates in conjunction with the rotation of the fifth motor (45) while being supported by the rotating shaft of the fifth motor (45).

As shown in FIGS. 8 and 9, the third acupressure member forms a support case (51) at one upper end of the support base (7), and a sixth motor is provided inside the support case (51). When driving (52), a screw (53) that rotates interlockingly is formed, and this screw (53) forms a left-handed screw on one side and a right-handed screw on the other side around the center, and the screw (53 ) Is provided with a separate transfer body (54) (55), and the two transfer bodies (54) (55) are moved in opposite directions to each other depending on the rotation direction of the screw (53). To do.

Then, under each of the transfer bodies (54) and (55), a finger-pressure hand (60) for pressing the user's foot is formed, and the acupressure hand (60) is connected to each of the transfer bodies (54). (55) A separate guide plate having a fixed pipe (61) formed on the lower side and a guide home (62) inclined diagonally upward on both ends of the fixed pipe (61) at the center. 63).

Inside the fixed pipe (61), a rack gear (64) is formed on the upper side thereof, and a movable pipe (66) having coupling protrusions (65) formed on both sides of the lower end thereof is provided inside the rack gear (64). The moving pipe (66) is moved upward and downward depending on the rotation direction of the driving gear (69) so that the driving gear (69) coupled and interlocked with the rotating shaft of the motor (54a) (55a) is engaged. Was linked to

On the other hand, at the lower end of the moving tube (66), a bark (67) for acupressure of the user's foot is formed, and the end of the barb (67) is hinged to the connecting protrusion (65), and the middle When the moving pipe (66) is moved upward and downward by inserting a guide protrusion (68) into the guide home (62), the guide protrusion (68) is moved to the guide home (62). As it was moved along (62), finally it was opened and closed (67) so that the person's foot is shiatsued like a person's hand massaging the foot.

On the other hand, the control means is for driving the transfer means, the first and second acupressure members, the whole body motion member, the third acupressure member, and the like, which are configured as described above, for on / off, mode selection, and operation time setting. A key part (21) provided with a large number of function keys, a timer (22) for coefficient of real time, a center support base (12) of the first acupressure member and an elastic body (14), the acupressure part (13) is equipped with a pressure sensor (23) for detecting the pressure pushing the human body, and the pressure sensor is configured to set on / off of the apparatus, operation mode selection and operation time by the user's key part (21) input. The control unit (24) is configured to control the first motor (8) to the eighth motor (55a) to be normally driven by the finger pressure sensed in (23).

The motor drive unit (25) that substantially drives each motor by the control signal of the control unit (24) is further configured to constitute a control means.

However, the conventional artificial intelligence bed robot has a function that can freely adjust the height angle of the upper body and the foot part as an electric bed for patients, elderly people and inconvenient people, There is a problem with only the basic functions that have only the upper and lower folding functions.

Therefore, the present invention is to solve the above-mentioned problems, and the present invention provides an artificial intelligence bed robot that can provide various services that are more familiar to the user and convenient than the simple electric bed. Is to provide.

The present invention relates to a bed type intelligent robot equipped with a mattress with a pressure sensor and a supporting robot arm, and more particularly, an active real-time monitoring of a patient through a pressure sensor and a substantial auxiliary role using the robot arm through the monitoring. This is related to bed-type intelligent robots equipped with systems that can be used.

The bed type intelligent robot equipped with a mattress with a pressure sensor and a support type robot arm according to the present invention provides an artificial intelligence bed robot that can provide various services that are more familiar and convenient to the user, and is a human friendly system. As a result, the expected effect that can be applied to other robot systems is born.

Hereinafter, a configuration and an operation of an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 11 is a front view showing a bed type intelligent robot according to the present invention, and FIG. 12 is a perspective view showing the bed type intelligent robot according to the present invention. A bed type intelligent robot equipped with a mattress with a pressure sensor and a supporting robot arm according to the present invention monitors and assists in real time the position, posture and movement of a person on the bed; the mattress with a pressure sensor; A supporting robot arm that supports a person on the bed based on information obtained from monitoring; it is attached to the supporting robot arm and moves to the lower space of the bed type intelligent robot when not used. A shelf that can be concealed; and a moving rail that travels through the entire area of the bed to serve the person on the bed.

FIG. 13 is a view showing a bed mattress to which a pressure sensor according to the present invention is attached. When the user wakes up from the bed, it is necessary to grasp the user's intention and assist this by using the intelligent folding bed robot. In addition, when a user uses an active guide system, it is necessary to grasp the position of the user. For this purpose, 14 × 24 pressure sensors are attached to the mattress part of the bed. In the case of a pressure sensor, it has a great advantage over other temperature sensors from the aspect of having a fast reaction speed and high resolution.

In order to understand the position and movement of the user, 336 sensors attached on the bed are sensed in real time. In addition, since the bed structure can be bent in three stages, a processor should be attached to each bend so that the hardware is not damaged even if the bed shape is changed. Therefore, we attached three sensing processors and sent them to the main computer.

An algorithm that can recognize user information must be applied to the mattress. The PCA (Principal Component Analysis) algorithm was used as an information processing algorithm for real-time signal processing based on probability theory. The PCA algorithm performs a filtering technique that generally performs image processing by viewing sensor information from a bed as an image and a stochastic approach at the same time. Not only does the data value given by the sensor increase in noise, but it also requires an algorithm with a small amount of computation because the robot arm is set and controlled in real time. In order to apply this algorithm, the work to be performed first involves creating a database and classifying bed images that enter in real time. Therefore, a database having position and posture information on the patient's bed must be created. Let us now consider the method of applying the PCA algorithm to the present invention.

First, the sample pressure pattern of the mattress for pattern classification is determined. That is, pressure sensor data is extracted by determining recognition target patterns such as a posture where a person is lying down and a sitting posture.

Subsequently, the covariance of the pressure sensor data is calculated to extract feature points. The feature points are used as main information for distinguishing patterns of each posture.

Subsequently, the number of feature points is determined so that the information classification between the pattern data can be maximized.

Subsequently, pattern recognition is performed by comparing newly entered pressure sensor data with the predetermined feature points. Through this, the posture of the current user can be determined, and the motion information can be predicted through how the posture of the user changes based on the recognized result.

FIG. 14 shows a supported robot arm according to the present invention. The robot arm is designed as a robot arm that can be provided one by one on the left and right sides of the bed to service the entire area of the bed. Further, when the shelf is attached to the support type robot arm and is not used, the shelf can be moved and hidden in the lower space of the bed type intelligent robot. Initially, it consisted of 4 motors on the left and right and 2 talk sensors, but the size of the system became larger and problems such as complexity of configuration to operate this and excessive consumption of power occurred. It was designed by changing to a system that has the same functions but can minimize power consumption. Therefore, the user's intention information is recognized using the two left and right motors and the two talk sensors, and the movement path and direction of the robot arm are combined by combining the recognized result and the user position information coming out of the bed mattress. Will come to decide. Since each robot arm requires two-degree-of-freedom movement and two-degree-of-freedom movement grasp, the functions required with the minimum system configuration as described above can be solved. The whole system uses AC, and only 24 V voltage is converted for this robot arm, so the power efficiency of the system is also high.

FIG. 15 shows a moving rail for a robot arm according to the present invention. The moving rail for the robot arm must move through the entire area of the bed in order to provide patient support and services such as meals and reading table transport. Therefore, the rail should be made of a material that can withstand heavy forces because it can move a distance of about 2500 mm from the food plate installed at the bottom of the bed to the reading table. The reason is that the patient supports this by supporting the weight on the robot arm. In addition, since the rail is long, noise caused by mechanical vibration may occur, and a mechanical shock absorber is included to prevent this.

It is a perspective view which shows the conventional artificial intelligence bed robot. It is a side view which shows the conventional artificial intelligence bed robot. It is a top view which shows the conventional bed robot. (a)-(c) is a figure which shows the operating state of the conventional whole body motion member. It is a figure which shows the conventional 1st acupressure member. It is a figure which shows the operating state of the conventional 1st acupressure member. It is a figure which shows the conventional 2nd acupressure member. It is a figure which shows the conventional 3rd acupressure member by sectional drawing. (a)-(b) is a figure which shows the operating state of the conventional 3rd acupressure member. It is a block diagram which shows the conventional control means. 1 is a front view showing a bed type intelligent robot according to the present invention. FIG. 1 is a perspective view showing a bed type intelligent robot according to the present invention. It is a figure which shows the bed mattress with the pressure sensor by this invention. It is a figure which shows the support type robot arm by this invention. It is a figure which shows the moving rail for robot arms by this invention.

Claims (7)

Mattress with pressure sensor to monitor and assist in real time the position, posture and movement of people on the bed;
A supporting robot arm that supports a person on the bed based on information obtained from the monitoring of the mattress;
A shelf that can be attached to the support robot arm and moved to the lower space of the bed-type intelligent robot when it is not in use; and to provide services to persons on the bed. Moving rail to move the entire area of the bed;
Bed type intelligent robot equipped with mattress with pressure sensor and supporting robot arm. In claim 1,
The above-mentioned mattress with pressure sensor is a bed type intelligent robot equipped with a mattress with pressure sensor and a supporting robot arm. In claim 1,
The mattress with pressure sensor is a bed type intelligent robot equipped with a mattress with pressure sensor and a supporting robot arm, wherein the pressure sensor is attached to the entire surface of the mattress. In claim 2,
A bed type intelligent robot equipped with a mattress with a pressure sensor and a supporting robot arm, which is equipped with three sensing processors for each bend so that it can be folded in three steps. In claim 1,
For pattern classification, the first step to determine the pressure sensor data by deciding the human recognition target pattern; the second step to extract the feature points by calculating the covariance of the pressure sensor data; each pattern data A third stage in which the number of feature points is determined so that the information classification can be maximized; and pattern recognition is performed by comparing newly entered pressure sensor data with the predetermined feature points. A bed type intelligent robot equipped with a pressure sensor mattress and a supporting robot arm, using a PCA (Principal Component Analysis) algorithm. 2. The support type robot arm according to claim 1, wherein the support type robot arm is composed of two left and right motors and two talk sensors, and minimizes power consumption. Bed type intelligent robot. The bed type intelligence equipped with a mattress with a pressure sensor and a support type robot arm according to claim 1, wherein the moving rail includes a mechanical shock absorber to prevent noise caused by mechanical vibration caused by movement. robot.

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