JP2007289289A - Bathing assisting apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To help washing the back while bathing and to reduce burdens on a person to be washed himself/herself or a helper. <P>SOLUTION: An analysis part 70 calculates a distance to which a brush should be moved so that each brush of a washing device 50 have a pressurizing force given to the back of the person to be washed becomes a target value by using an image transmitted from a camera 68, and outputs it to the washing device 50. The controller of the washing device 50 moves the brush just for the distance to move transmitted from the analysis part 70. By the movement, each brush abuts on the back of the person 10 to be washed. Further, the washing device 50 finely adjusts the position of the brush according to the measured value of a touch sensor provided in the washing device 50, and performs washing by rotating the brush after the adjustment. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a bathing assisting device used in bathing.

  Elderly and physically disabled people have difficulty bathing alone, especially washing their backs. For this reason, close relatives enter the bathroom together and have their close relatives wash their backs, or use a welfare service to have their helper help them wash their backs.

  However, if there are no close relatives to bathe together, the elderly, etc. may have unsafe or unsanitary problems, such as forcing them to wash their backs or give up washing their backs when bathing. Can occur. In addition, when using public welfare services, there is a problem that the system cannot be used every day. Furthermore, in the case of mild disabilities, they are not eligible for public welfare services. Even when using private welfare services, frequent use is unrealistic due to economic reasons.

  In addition, with the improvement of the constitution and the advancement of medical technology, the elderly have a desire to become independent in daily life, and there is a tendency to do it by themselves such as bathing. In addition, bathing assistance is a heavy labor for the caregiver and is a heavy burden.

Therefore, various proposals regarding back cleaning using instruments have been made. For example, the apparatus described in Patent Document 1 is provided with a brush roll on the back of a chair, and can automatically wash the back by moving up and down while rotating.
JP 2003-265577 A

  However, the physique and shape of the back of the person being washed vary. Also, the posture during cleaning varies. In particular, it is often difficult for the elderly to stretch the back. In such a case, the brush roll may not properly hit the back of the person to be washed, or the brush roll may hit the back more strongly than necessary. As a result, there has been a problem that sufficient washing may not be performed, or the person to be washed may be uncomfortable at the time of washing.

  The present invention has been made in view of the above circumstances, and its purpose is to assist in washing the back when taking a bath, to reduce the burden on the bather himself or his / her assistant, and to ensure sufficient washing comfortably. An object of the present invention is to provide a bathing assistance device that can be used.

  An embodiment of the present invention relates to a bathing assistance device for washing the back of a person to be washed. This apparatus cleans the back of the person to be cleaned by moving a plurality of cleaning members and a plurality of cleaning members that are used in contact with different parts of the back at the time of cleaning. An operating mechanism for individually moving back and forth with respect to the back of the person to be cleaned, a cleaning table on which a plurality of cleaning members are attached via the operating mechanism, and an individual distance between the back of the person to be cleaned and each of the plurality of cleaning members Each of the plurality of cleaning members moves back and forth according to the distance represented by the aiming data so that the pressing force applied to the back through the plurality of cleaning members becomes a predetermined value. An operation control unit that acquires the power and controls the operation mechanism.

  In addition, what expressed this invention as a system and a method is effective as an aspect of this invention.

  According to the bathing assistance device of the present invention, it is possible to comfortably wash the back while helping to wash the back when taking a bath and reducing the burden on the person to be washed or the caregiver.

  FIG. 1 is a diagram showing a schematic configuration of a bathing assistance device (bathing assistance system) 100 according to an embodiment of the present invention, and a positional relationship between a person to be washed 10 and the bathing assistance system 100 during use.

  This bathing assistance system 100 is for washing the back of the person to be washed, and is installed, for example, in a bathroom. In addition, although the installation location in the bathroom of the bathing assistance system 100 is not specifically limited, the vicinity of a shower or a bathtub is desirable in consideration of washing away after washing the back.

  The bathing assistance system 100 includes a cleaning device 50, a camera 68, an analysis unit 70, and an operation plate 90.

  The cleaning device 50 includes, for example, a wall hanging mechanism and can be attached to a bathroom wall (installation wall surface). Specifically, the wall hanging mechanism includes a rail 80 (see FIG. 2) fixedly contacted with a fixed wall surface, and a pulley unit including, for example, a roller that moves the cleaning table 52 at least in the vertical direction along the rail 80. 53 (see FIG. 5), and the vertical position of the cleaning can be adjusted. With this mechanism, the position of the cleaning device 50 can be easily adjusted according to the height of the person to be cleaned 10. In addition, it is possible to easily select whether to wash in a standing position or in a sitting position on a chair or the like, and it is possible to appropriately adjust the cleaning position.

  The operation plate 90 is used to start and stop use, adjust the vertical position of the cleaning device 50, and the like, and may be mounted on the wall in the same manner as the cleaning device 50. The operation plate 90 may be a remote control type, and is preferably installed near the cleaning device 50 so that the person to be cleaned 10 can easily operate.

  The camera 68 functioning as a data acquisition unit is installed so that both the side surface of the back of the person to be cleaned 10 and the side surface of the cleaning device 50 can be captured in the same image. In the example illustrated in FIG. 1, the cleaning device 50 and the person to be cleaned 10 are installed in a direction from the side, and the installation location is, for example, a wall perpendicular to the wall on which the cleaning device 50 is provided. 2 and 3 show examples of the field of view of the camera 68 when the bathing assistance system 100 is used. FIG. 2 shows an example of washing the back in a posture where the person to be washed 10 stands, and FIG. 3 shows an example of washing the back in a position where the person to be washed 10 is sitting. 2 and 3 exemplify that the cleaning device 50 is mounted on the fixed wall surface via the rail 80, and the position of the entire cleaning device 50 can be adjusted in the vertical direction.

  The analysis unit 70 analyzes the image data captured by the camera 68 and can represent an approximate distance between the person to be washed 10 and the washing apparatus 50, a back inclination of the person to be washed 10 or a degree of bending. And the distance between each part of the back and the cleaning member provided in the cleaning device 50 or the amount of movement of the cleaning member (details of which will be described later) are obtained based on the shape of the back. . Note that the analysis unit 70 is, for example, a computer on which an analysis program is installed, and details of processing performed thereby will be described later.

  FIG. 4 shows the cleaning device 50 as viewed from the person to be cleaned 10, and FIG. 5 shows a part of the side surface of the cleaning device 50. As shown in the drawing, in the cleaning device 50, a plurality of cleaning members, here, as an example, a brush 54 is provided on a cleaning table 52. The brush 54 is mounted on the cleaning table 52 by the mounting portion 56. The brush 54 is movably provided. In this example, the brush 54 is rotatably provided, and the mounting portion 56 also serves as a rotation shaft of the brush 54. Further, in the cleaning device 50, a touch sensor 58 is provided for each brush 54, and these touch sensors 58 can measure the pressure received by the tip of the brush 54. The mounting portion 56 has a mechanism that can be expanded and contracted, and the distance between the brush 54 and the cleaning table 52 is adjusted by the expansion and contraction. The brush 54 may vibrate with a width of several centimeters, for example, instead of rotating. Further, both rotation and vibration may be performed simultaneously or selectively.

  The cleaning device 50 includes a controller that controls each of the above-described components of the cleaning device 50, and this controller is provided in the cleaning table 52, for example. FIG. 6 shows the connection relationship between the controller 60, the cleaning table 52, the mounting portion 56, the brush 54, and the touch sensor 58.

  The controller 60 performs the following processing: The cleaning table 52 is moved along the rail 80 in accordance with the instruction of the operation plate 90 operated by the person to be cleaned 10 or the assistant, and the vertical position thereof is adjusted. 2. The analysis result of the analysis unit 70 is acquired, and the mounting unit 56 is expanded and contracted based on the result. 3. Based on the measurement result of the touch sensor 58, the mounting portion 56 is expanded and contracted. 4). The brush 54 is rotated by rotating the mounting portion 56 during cleaning.

  The cleaning device 50 includes a drive unit (not shown) for performing the above processing, for example, a DC motor, and the controller 60 realizes the above processing via the drive unit.

  Here, the above processing 2 and processing 3, that is, the processing for expanding / contracting the mounting portion 56 based on the analysis result of the analyzing portion 70 and the processing for expanding / contracting the mounting portion 56 based on the measurement result of the touch sensor 58 are performed. This will be described together with the process.

  First, the analysis unit 70 obtains an average distance Dav between the person to be cleaned 10 and the cleaning apparatus 50 using an image including the side surface of the person to be cleaned 10 and the side surface of the cleaning apparatus 50 acquired by the camera 68. Then, the average distance Dav is compared with a predetermined threshold value D0, and processing corresponding to the comparison result is performed.

  When the average distance Dav is larger than the threshold value D0, the analysis unit 70 provides the cleaning device 50 with a signal indicating that the person to be cleaned 10 is too far from the cleaning device 50.

  When, for example, the start button on the operation panel 90 is pressed again after the person to be cleaned 10 moves, the camera 68 captures an image again and provides the image to the analysis unit 70. The analysis unit 70 obtains the average distance Dav again using this image.

  On the other hand, when the average distance Dav is equal to or less than the threshold value D0, the analysis unit 70 further obtains a distance ΔDi (i: the number of the brush 54) to which each brush 54 of the cleaning device 50 should move, and the cleaning device 50. Output to. Since the brush 54 is used in contact with the back of the person to be washed 10, the pressure applied by the brush 54 to the back of the person to be washed 10 can be adjusted by adjusting the position of the brush 54. Here, the analysis part 70 calculates | requires moving distance (DELTA) Di of the brush 54 so that the pressure which each brush 54 gives to the back of the to-be-washed person 10 becomes uniform to a predetermined target value. The target value is a preset value and may be a fixed value, but it is preferable that the user 10 can set the target value according to his / her preference.

  The controller 60 of the cleaning device 50 adjusts the position of the brush 54 by extending and retracting the mounting unit 56 in each ΔDi transmitted from the analysis unit 70.

  After this adjustment, the brush 54 comes into contact with the back of the person to be cleaned 10. Here, the controller 60 further finely adjusts the position of the brush 54. This fine adjustment is performed according to the measurement value of the touch sensor 58 provided at the tip of the brush 54. The force measured by the touch sensor 58 is the reaction force received by the brush 54, and the magnitude thereof is the same as the pressure applied to the back by the brush 54. The controller 60 finely adjusts the position of the brush 54 by expanding and contracting the mounting portion 56 so that each measurement value becomes a target value according to the measurement value of the touch sensor 58.

  After these adjustments, the controller 60 rotates the brush 54 by rotating the mounting portion 56 that also functions as a rotation shaft, and starts cleaning.

  Next, the analysis process of the analysis unit 70 will be specifically described. First, a process for obtaining the average distance Dav will be described.

  The process for obtaining the average distance Dav is performed according to the following procedure. Here, a case where the person to be cleaned 10 is in a standing posture is taken as an example.

1. The contour line of the person to be washed 10 is extracted from the image.
Here, the extraction of the contour line is performed by, for example, detecting a skin color region and setting the detected contour line of the skin color region as the contour line of the person to be washed 10.

  2. A circumscribed rectangular region (rectangular region B shown in FIG. 7; hereinafter referred to as a whole human body region) of the region surrounded by the extracted contour line is obtained, and edge detection is performed on an image included in the whole human body region B to obtain a binary value. Process. Thereby, a binary image of the whole human body region B is obtained.

  3. In the binary image of the whole human body region B, the whole human body region B is divided into two upper and lower parts by the vertical center line m to obtain an upper body region and a lower body region.

  4). An eigenvector that can indicate the inclination of the upper body is extracted from the upper body region to obtain an upper body posture vector Vup. An eigenvector that can indicate the inclination of the lower body is extracted from the lower body region to obtain a lower body posture vector Vdown.

  5. The intersection at the center line m of the upper body posture vector Vup and the lower body posture vector Vdown is acquired as the gravity center position P of the person to be washed 10.

  6). As the average distance Dav between the person to be cleaned 10 and the cleaning apparatus 50, the distance from the gravity center position P to the cleaning table 52 is calculated.

  Next, a process for obtaining the distance ΔDi that each brush 54 should move will be described. This process is performed when the average distance Dav is equal to or smaller than the threshold D0. The upper body posture vector Vup and the lower body posture vector Vdown, the gravity center position P, and the height Hi of the brush 54 obtained when the average distance Dav is obtained. The following procedure is used.

  1. Using the height Hi of the i-th brush 54 and the height in the vertical direction of the gravity center position P, a distance Dhi between the brush 54 and the gravity center position P is obtained.

2. The average distance Dav, Vup, Dhi is used for the brush 54 above the center of gravity position P, and the distance to the back part having the same height as the brush 54 is obtained. Based on this distance, a distance ΔDi to be moved is obtained. Here, the process for obtaining the distance and the process for obtaining ΔDi based on the distance are integrated, and ΔDi is obtained by the following equation (1).
ΔDi = f1 (Dav, Vup, Dhi) (1)
3. Using the average distances Dav, Vdown, and Dhi for the brush 54 below the center of gravity position P, the distance to the back part having the same height as the brush 54 is obtained. Based on this distance, a distance ΔDi to be moved is obtained. Also here, the process for obtaining the distance and the process for obtaining ΔDi based on the distance are integrated, and ΔDi is obtained by the following equation (2).

ΔDi = f2 (Dav, Vdown, Dhi) (2)
Hereinafter, with reference to the flowchart shown in FIG. 8, the flow of processing when using the bathing assistance system 100 shown in FIG. 1 will be described.

  The bathing assistance system 100 starts an operation in response to a start instruction such as the person to be washed 10 or an assistant pressing the “start” button on the operation panel 90. First, the camera 68 performs imaging and transmits an image obtained thereby to the analysis unit 70 (S10). The analysis unit 70 obtains the average distance Dav between the person to be cleaned 10 and the cleaning apparatus 50 using the image transmitted from the camera 68, and compares the average distance Dav with the threshold value D0 (S14). When the average distance Dav is larger than the threshold D0 (S14: Yes), the analysis unit 70 transmits a signal indicating that the person to be cleaned 10 is too far from the cleaning device 50 to the cleaning device 50, and the controller 60 of the cleaning device 50. In response to this signal, the person to be cleaned 10 is guided closer to the cleaning device 50 (S16). Thereafter, the processing from the imaging (S10) by the camera 68 is performed again according to the start instruction performed again after the person to be cleaned 10 moves.

  On the other hand, when the average distance Dav is equal to or less than the threshold value D0 (S14: No), the analysis unit 70 moves the brushes 54 so that the pressure that each brush 54 applies to the back of the person to be cleaned 10 becomes the target value. The power distance ΔDi is calculated and output to the cleaning device 50 (S20).

  The controller 60 of the cleaning device 50 moves the brush 54 by expanding and contracting the mounting portion 56 in accordance with ΔDi transmitted from the analysis portion 70 (S30). By this movement, each brush 54 comes into contact with the back of the person to be cleaned 10.

  The cleaning device 50 further finely adjusts the position of the brush 54 according to the measurement value of the touch sensor 58 (S40), and after the adjustment, rotates the mounting portion 56 to rotate the brush 54 to perform cleaning. (S50).

  The cleaning continues until an instruction such as “end” is given via the operation panel 90 (S60: Yes).

  Thus, according to the bathing assistance system 100 shown in FIG. 1, since the back of the person to be washed is washed by rotating the brush 54 serving as a washing member, the person to be washed turns his hand to the back. There is no need to do. Therefore, even those who are difficult to bathe alone, such as elderly people, can wash their backs safely on their own. In addition, even when an assistant is required, the assistant need only be aware of the operation of the operation panel 90 and the safety of the person being washed, and the burden of assistance can be reduced.

  Moreover, since this bathing assistance system 100 moves the brush 54 according to the shape of the back so that the pressure which the brush 54 gives to a back becomes a target value, it can wash | clean a back reliably and comfortably.

  Moreover, space-saving can be achieved by making the washing | cleaning apparatus 50 into a wall-hanging type, and it can be installed even when the bathroom is small.

  The present invention has been described above based on the embodiment. The embodiment is an exemplification, and various modifications can be made to the combination of each component and each processing process without departing from the gist of the present invention, and such modifications are also within the scope of the present invention. Will be understood by those skilled in the art.

  For example, it is possible to make the washing table 52a curved as shown in FIG. By doing so, the initial position of each brush 54 is closer to the back than when it is provided on a flat washing table, and the movement distance can be reduced when adjusting the position of the brush 54.

  Further, in the bathing assistance system 100 shown in FIG. 1, the posture vector (Vup, Vdown) of the person to be washed is obtained, the distance between each brush 54 and the corresponding part of the back, and the movement of the brush 54 using the posture vector. Although the distance to be calculated is calculated, the distance may be directly detected using the contour line of the back. And the distance which each brush should move should just be calculated | required using the detected distance.

  Moreover, in the bathing assistance system 100 shown in FIG. 1, first, the amount of movement of each brush is calculated from the image acquired by the camera, and then fine adjustment is performed according to the measured value of the touch sensor. The touch sensor 58 can be omitted. When the touch sensor 58 is omitted, the image data acquired by the camera 68 is analyzed, the distance between the back of the person to be cleaned 10 and the brush 54 is acquired, and the pressure received by the tip of the brush 54 is estimated from the distance. The position of the brush 54 can be finely adjusted based on the estimated pressure. By omitting the touch sensor 58, the brush 54 has a configuration that does not include any member other than the hair, so that the touch when the brush 54 comes into contact with the back of the person to be cleaned 10 is improved. . Note that fine adjustment may be performed based on the measurement value obtained only from the touch sensor 58 without performing image processing. In this case, since image processing is not performed, it can contribute to the simplification of the entire system.

  The analysis unit 70 and the controller 60 are provided separately, but the analysis unit 70 may be built in the controller 60.

  In addition, the buttons provided on the operation panel and the printed characters may be designed in consideration of the elderly, such as making them large for easy operation or visual recognition, or dividing them by shape and color.

  Further, the cleaning member is not limited to a brush but may be a sponge, for example.

  In addition, it is preferable to consider the shape and material of the cleaning table, the material of the cleaning member, and the like in terms of safety and hygiene.

  Furthermore, it is preferable that the brush mounting mechanism can be removed or washed with water.

It is a figure which shows the bathing assistance system concerning embodiment of this invention. It is a figure which shows the example of the visual field of the camera in the bathing assistance system shown in FIG. It is a figure which shows the example of another visual field of the camera in the bathing assistance system shown in FIG. It is a figure which shows the washing | cleaning apparatus seen from the to-be-washed person side. It is a figure which shows a part of side surface of a washing | cleaning apparatus. It is a figure which shows the connection relation of the controller of a washing | cleaning apparatus, and the other structure of a washing | cleaning apparatus. It is a figure explaining the process by an analysis part. It is a flowchart which shows the flow of the process performed in the bathing assistance system shown in FIG. It is a figure which shows the other aspect of a washing | cleaning apparatus.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 Washing person, 50 washing | cleaning apparatus, 52 Washing stand, 54 Brush, 56 Mounting part, 58 Touch sensor, 60 Controller, 68 Camera, 70 Analysis part, 80 rail, 90 Operation board, 100 Bathing assistance system.

Claims (5)

A bathing assistance device for washing a person's back,
A plurality of cleaning members used in contact with different parts of the back during cleaning,
An operation mechanism for cleaning the back of the person to be washed by moving the plurality of washing members and moving each of the plurality of washing members individually back and forth with respect to the back of the person to be washed;
A cleaning table to which the plurality of cleaning members are attached via the operating mechanism;
A data acquisition unit for acquiring aiming data representing individual distances between the back of the person to be cleaned and each of the plurality of cleaning members;
The operation is performed by acquiring the amount of each of the plurality of cleaning members to move back and forth according to the distance represented by the aiming data so that the pressing force applied to the back through the plurality of cleaning members becomes a predetermined value. An operation control unit for controlling the mechanism;
A bathing assistance device comprising: An analysis unit for obtaining the distance from the aiming data;
The data acquisition unit acquires, as the aiming data, image data indicating an image taken from a side direction so that each of the back of the person to be cleaned and the plurality of cleaning members is included,
The analysis unit obtains the distance from the image data,
The bathing assistance device according to claim 1, wherein the operation control unit performs the control according to a distance obtained by the analysis unit. A touch sensor for measuring pressure when the cleaning member contacts the back;
The bathing assisting device according to claim 1 or 2, wherein the operation control unit finely adjusts a moving amount of the cleaning member according to a measurement value by the touch sensor.   The bathing assistance device according to any one of claims 1 to 3, wherein the cleaning table includes a wall hanging mechanism.   5. The bathing assistance apparatus according to claim 4, wherein the wall hanging mechanism includes a rail attached to an installation wall surface, and a sliding portion that moves the cleaning table at least in the vertical direction along the rail.

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