JP2010220743A - Transfer support device and method for controlling operation of the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a transfer support device which brings a body holding implement into satisfactory contact with a care recipient. <P>SOLUTION: The transfer support device 10 includes: a movable truck 1; an arm 2 the one end of which is attached freely tiltably to the truck 1; the body holding implement 3 which is provided at the other end of the arm 2 and holds the care recipient; a plurality of driving parts 61, 62, 63, 64, 65, and 16 which drive the truck 1 and the arm 2; a control part 17 which controls the driving parts; and a detection part 19 which detects the contact of the body holding implement 3 with the trunk of the care recipient. The control part 17 controls the driving parts 61, 62, 63, 64, 65, and 16 on the basis of a detection result made by the detection part 19. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention provides a transfer support apparatus and an operation control method for a transfer support apparatus that support the transfer operation when a person who has difficulty in walking independently performs an operation of transferring from a bed to a wheelchair or from a wheelchair to a toilet seat or the like. About.

  It is not easy for a cared person who is difficult to walk independently to perform a transfer operation such as transfer from a bed to a wheelchair alone. For this reason, the caregiver's help is usually required. However, the help of the transfer is a physical burden for the caregiver and also a mental burden for the care recipient. For this reason, in recent years, many devices have been developed that support transfer operations of people who are difficult to walk independently.

  For example, Patent Document 1 discloses a transfer support device in which a backrest member is supported on an trolley in an upright state by an electric operation mechanism and tilted, and a lift belt for lifting and supporting a patient is attached to the backrest member. . In this transfer support apparatus, while being on the lift belt, a cared person clinging to the backrest member is lifted by tilting the backrest member with an electric operation mechanism so that a stable transfer operation can be performed.

Japanese Patent Publication No. 7-8287

The transfer support device of Patent Document 1 is configured such that a caregiver pushes a cart unit including front wheels and rear wheels to approach a cared person. Therefore, how to move the transfer support device closer to the cared person is left to the caregiver's subjective judgment, and it is possible to push the body holder against the cared person more than necessary and push the cared person backwards. There is sex.
That is, in the conventional transfer support device, the caregiver cannot quantitatively recognize the contact degree between the body holder and the care receiver.

  An object of the present invention is to provide a transfer support apparatus and a movement control method for the transfer support apparatus that can make a body holder in a good contact state with a care recipient.

A transfer assist device according to the present invention is provided at a movable carriage part, an arm part with one end tiltably attached to the carriage part, and the other end part of the arm part, and holds a cared person A body holding device, a plurality of drive units for driving the cart unit and the arm unit, a control unit for controlling the drive unit, and a degree of contact of the body holder with the body of the care recipient A detection unit, and the control unit controls the drive unit based on a detection result of the detection unit.
This makes it possible to objectively determine whether or not the degree of contact between the body holder and the cared person is good when the body holder is brought close to the cared person, and based on the determination result, the drive unit is Can be controlled. Therefore, when bringing the body holding tool close to the cared person, the body holding tool can be brought into a good contact state with the cared person.

  It is preferable that the detection unit includes a contact sensor on a surface of the body holder that holds the cared person's torso, and the control unit controls the driving unit based on a detection value of the contact sensor. .

The control unit compares the detection value of the contact sensor with a first threshold value. When the detection value of the contact sensor is greater than the first threshold value, the control unit controls the driving unit, and the body holding tool is It is preferable to decelerate the operation of pressing against the cared person's torso.
Further, the control unit compares the detection value of the contact sensor with a second threshold value, and if the detection value of the contact sensor is greater than the second threshold value, the control unit controls the driving unit to control the body holding device. It is preferable that the operation of pressing against the cared person's body is stopped.
Thereby, the caregiver can recognize the contact degree of a body holder and a care receiver step by step.

  The detection unit includes a sensor that detects a drive characteristic of the drive unit, and the control unit determines a degree of contact of the body holder with the body of the care recipient based on a detection value of the sensor. It is preferable to control the drive unit.

  As the detection unit, a sensor that detects a load acting on the arm unit or the body holding tool is provided, and the control unit moves the body of the cared person in the body holding tool based on a detection value of the sensor. It is preferable to control the drive unit by judging the degree of contact.

An image pickup unit is provided as the detection unit, and the control unit determines a degree of contact of the body holder with the body of the cared person based on image information of the image pickup unit and controls the drive unit. Are preferred.
The imaging unit images the vicinity of the surface of the body holder that holds the cared person's torso, and the control unit holds the body of the cared person in the body holder that is reflected in the image information. It is preferable to determine the degree of contact of the body holder with the cared person's torso based on a change in the distance between the surface and the cared person's torso.
The imaging unit images a region in front of the surface of the body holder that holds the cared person's torso, and the control unit changes the brightness of the image information when the imaging unit approaches the cared person It is preferable to determine the degree of contact of the body holder with the body of the cared person based on the above.

  The detection unit includes a distance measuring sensor, and the control unit determines the degree of contact of the body holder with the body of the cared person based on the measurement value of the distance measuring sensor and controls the driving unit. It is preferable to do.

An operation control method for a transfer support apparatus according to the present invention includes a movable carriage part, an arm part with one end tiltably attached to the carriage part, and the other end part of the arm part. A body holding tool for holding a caregiver, a plurality of driving units for driving the cart unit and the arm unit, a control unit for controlling the driving unit, and contact of the body of the cared person with the body holding device And a detection unit that detects the degree of movement. The control unit controls the drive unit based on a detection result of the detection unit.
This makes it possible to objectively determine whether or not the degree of contact between the body holder and the cared person is good when the body holder is brought close to the cared person, and based on the determination result, the drive unit is Can be controlled. Therefore, when bringing the body holding tool close to the cared person, the body holding tool can be brought into a good contact state with the cared person.

The control unit compares the detection value of the contact sensor, which is the detection unit, with a first threshold value. If the detection value of the contact sensor is greater than the first threshold value, the control unit controls the driving unit, and the body It is preferable to decelerate the operation of pressing the holder against the cared person's torso.
Further, the control unit compares the detection value of the contact sensor, which is the detection unit, with a second threshold value, and controls the driving unit when the detection value of the contact sensor is greater than the second threshold value, It is preferable to stop the operation of pressing the body holder against the cared person's torso.
Thereby, the caregiver can recognize the contact degree of a body holder and a care receiver step by step.

  The control unit determines a degree of contact of the body holder with the body of the care receiver based on a detection value of a sensor that detects a drive characteristic of the drive unit that is the detection unit, and determines the drive unit. It is preferable to control.

  The control unit determines a degree of contact of the body holder with the body of the care recipient based on a detection value of a sensor that detects a load acting on the arm unit or the body holder as the detection unit. It is preferable to control the drive unit.

  The control unit preferably controls the driving unit by determining a degree of contact of the body holder with the body of the care receiver based on image information of the imaging unit serving as the detection unit.

The imaging unit images the vicinity of the surface of the body holder that holds the cared person, and the control unit is a surface that holds the trunk of the cared person of the body holder reflected in the image information. It is preferable that the degree of contact of the body holder with the cared person's torso is determined based on a change in the distance from the cared person's torso.
The imaging unit images a region in front of the surface of the body holder that holds the cared person's torso, and the control unit changes the brightness of the image information when the imaging unit approaches the cared person It is preferable to determine the degree of contact of the body holder with the body of the cared person based on the above.
It is preferable that the control unit determines the degree of contact of the body holder with the body of the cared person based on the measurement value of the distance measuring sensor that is the detection unit, and controls the driving unit.

  As described above, according to the present invention, it is possible to provide a transfer support device and a transfer control device operation control method capable of bringing the body holder into a good contact state with respect to the cared person.

It is a figure which shows the transfer assistance apparatus which concerns on this invention, and is a figure which shows the state which hold | maintained the care receiver by the body holder. It is a figure which shows the trolley | bogie part of the transfer assistance apparatus which concerns on this invention, and is the figure seen from the downward direction. It is a schematic diagram which shows the trolley | bogie part and robot arm part of the transfer assistance apparatus which concern on this invention. It is a block diagram which shows the system configuration | structure of the transfer assistance apparatus which concerns on 1st Embodiment of this invention. (A) It is a figure which shows the state by which the operation part is provided in the attachment part of the robot arm part. (B) It is a figure which shows the operation handle of an operation part, an operation switch, and a force sensor. It is a figure which shows the body holder of the transfer assistance apparatus which concerns on this invention. It is a schematic diagram which shows a state until the body holder of a transfer assistance apparatus contacts a cared person. It is a figure which shows the relationship between the detected value of a contact sensor and time until the body holder of a transfer assistance apparatus contacts a cared person. It is a figure which shows the relationship between the operation speed and time to the care receiver side of a cart part, a robot arm part, and a body holder until the body holding tool of a transfer assistance apparatus contacts a cared person. It is a schematic diagram which shows the state in which the pressure at the time of the body holding tool of a transfer assistance apparatus contacting a cared person became larger than the 1st threshold value. It is a figure which shows the relationship between the detection value of a contact sensor, and time in the state in which the pressure at the time of the body holder of a transfer assistance apparatus contacting a cared person became larger than a 1st threshold value. The operation speed and time of the carriage unit, the robot arm unit, and the body holding device toward the cared person when the pressure when the body holding tool of the transfer assisting device comes into contact with the cared person is larger than the first threshold value. It is a figure which shows the relationship. It is a schematic diagram which shows the state when the pressure at the time of the body holder of a transfer assistance apparatus contacting a cared person became larger than a 2nd threshold value. It is a figure which shows the relationship between the detected value of a contact sensor, and time in the state in which the pressure at the time of the body holder of a transfer assistance apparatus contacting a cared person became larger than a 2nd threshold value. The operation speed and time of the carriage unit, the robot arm unit, and the body holding device on the care receiver side when the pressure when the body holding device of the transfer assisting device comes into contact with the care receiver is larger than the second threshold value. It is a figure which shows the relationship. It is a flowchart which shows the operation | movement control method of the transfer assistance apparatus which concerns on this invention. It is a block diagram which shows the system configuration | structure of the transfer assistance apparatus which concerns on 2nd Embodiment of this invention. It is a block diagram which shows the system configuration | structure of the transfer assistance apparatus which concerns on 3rd Embodiment of this invention. It is a block diagram which shows the system configuration | structure of the transfer assistance apparatus which concerns on 4th Embodiment of this invention. It is a block diagram which shows the system configuration | structure of the transfer assistance apparatus which concerns on 6th Embodiment of this invention.

  The best mode for carrying out the present invention will be described below with reference to the accompanying drawings. However, the present invention is not limited to the following embodiments. In addition, for clarity of explanation, the following description and drawings are simplified as appropriate.

<First Embodiment>
A first embodiment of the present invention will be described.
As shown in FIG. 1, the transfer support device 10 includes a cart unit 1, a robot arm unit 2 connected to the cart unit 1, a body holder 3 attached to the robot arm unit 2, a cart unit 1, and a robot. And a control device 17 that controls the driving of the arm unit 2.

  The carriage unit 1 is attached to the carriage body 11, a handle part 12 for pushing and moving the carriage part 1, a pair of left and right front auxiliary wheels 13 attached to the front of the carriage body 11, and the carriage body 11. A pair of left and right rear auxiliary wheels 14 and a pair of left and right drive wheels 15 that are attached to a substantially central portion of the cart body 11 and drive the cart unit 1 (FIG. 2).

  The front auxiliary wheel 13 and the rear auxiliary wheel 14 are attached so as to be rotatable with respect to the carriage main body 11 so that the direction of the carriage main body 11 can be changed. In addition, although the pair of front auxiliary wheels 13 and the pair of rear auxiliary wheels 14 are respectively attached to the cart body 11, the number of auxiliary wheels to be attached may be arbitrary.

  A pair of left and right sixth motors 16 that drive each drive wheel 15 are connected to the pair of left and right drive wheels 15, respectively. Each sixth motor 16 can independently drive the left and right drive wheels 15 to rotate.

  Therefore, for example, the sixth motor 16 causes the rotation difference between the left and right drive wheels 15 to turn the carriage unit 1 in an arbitrary direction, and forwardly or reversely move the carriage unit 1 forward or backward. Can be made. In this way, the transfer assist device 10 can be moved forward, backward, or turned to an arbitrary position.

  The robot arm section (arm section) 2 is an articulated arm having a first arm section 21, a second arm section 22, a third arm section 23, and an attachment section 24 (FIG. 3). The first arm portion 21 is connected to the base portion 11a of the carriage main body 11 via the first joint portion 51 so as to be able to rotate around the yaw axis and the pitch axis. The second arm portion 22 is connected to the first arm portion 21 via the second joint portion 52 so as to be able to rotate around the pitch axis.

  One end of the third arm portion 23 is connected to the second arm portion 22 via the third joint portion 53 so as to be rotatable around the pitch axis. Further, an attachment portion 24 for attaching the body holder 3 is connected to the other end of the third arm portion 23 via a fourth joint portion 54 so as to be able to rotate around the roll axis.

  The attachment portion 24 has a well-known attachment structure (for example, a fastening structure using a bolt and a nut, a fitting structure) in which the body holder 3 can be attached / detached. With the attachment structure of the attachment portion 24, the caregiver can easily attach, remove, and change the appropriate body holder 3.

  The yaw axis is a rotation axis of the first arm portion 21 and is a vertical axis. The pitch axis is a rotation axis when the first to third arm portions 21, 22, and 23 are rotated in the vertical direction. Further, the roll axis is a rotation axis when the attachment portion 24 and the body holding tool 3 are rotated with respect to the third arm portion 23, and corresponds to the axis of the third arm portion 23.

  The base portion 11 a of the carriage body 11 is provided with a first motor 61 that rotationally drives the first arm portion 21 around the yaw axis. The first joint portion 51 is provided with a second motor 62 that rotationally drives the first arm portion 21 around the pitch axis. Further, the second joint portion 52 is provided with a third motor 63 that rotationally drives the second arm portion 22 around the pitch axis. The third joint portion 53 is provided with a fourth motor 64 that rotationally drives the third arm portion 23 around the pitch axis. The fourth joint portion 54 is provided with a fifth motor 65 that rotationally drives the attachment portion 24 and the body holder 3 around the roll axis.

The first to sixth motors 61, 62, 63, 64, 65, 16 are connected to the control device 17 via the drive circuit 18 and are driven to rotate based on a control signal from the control device 17.
Further, in the base portion 11a and the first to fourth joint portions 51, 52, 53, 54, the rotation of a potentiometer or the like that detects the rotational drive amount of the first to fifth motors 61, 62, 63, 64, 65 is detected. Sensors 71, 72, 73, 74, and 75 are provided, respectively. The rotation sensors 71, 72, 73, 74, and 75 are connected to the control device 17 and output the detected rotational drive amount to the control device 17.

  FIG. 4 is a block diagram showing an example of the system configuration of the transfer support apparatus according to the embodiment of the present invention. The cart unit 1 is provided with a control device (control unit) 17 that controls the rotational drive of the first to sixth motors 61, 62, 63, 64, 65, 16.

  The control device 17 includes a CPU (Central Processing Unit) 17a that performs control processing, arithmetic processing, and the like, a ROM (Read Only Memory) 17b that stores control programs, arithmetic programs, and the like executed by the CPU 17a, and processing data. And the like, and a RAM (Random Access Memory) 17c for temporarily storing the memory and the like.

  The attachment part 24 of the robot arm part 2 is provided with an operation part 25 for a caregiver (operator) to operate the transfer support device 10 (FIG. 5A). The operation unit 25 includes, for example, an operation handle 25a and an operation switch 25b provided on the operation handle 25a (FIG. 5B).

  The operation handle 25a is connected to the attachment part 24 of the robot arm part 2 through a force sensor 25c. The force sensor 25c can detect operation information such as the magnitude, direction, and moment of the operation force applied to the operation handle 25a. The force sensor 25 c outputs an operation signal corresponding to the detected operation information to the control device 17.

  For example, when the caregiver holds the operation handle 25a and applies an operation force in a direction in which the robot arm unit 2 is desired to move, the force sensor 25c controls an operation signal corresponding to the magnitude and direction of the operation force. Output to the device 17.

  Based on the operation signal from the force sensor 25c and the rotational drive amount from the rotation sensors 71, 72, 73, 74, 75, the control device 17 performs the first to fifth motors 61, 62, 63, 64, 65 feedback control is performed. Thereby, the caregiver can move the body holder 3 of the robot arm unit 2 to a desired position easily and accurately.

  The operation switch 25 b is a switch that can be switched on / off by pressing, and is connected to the control device 17. When the operation switch 25b is pressed and turned on, the operation switch 25b continuously outputs an on signal to the control device 17.

The control device 17 receives an operation signal corresponding to the operation force from the force sensor 25c only while the ON signal is input from the operation switch 25b, and based on the operation signal, the first to sixth motors 61 and 62 are received. , 63, 64, 65, 16 are controlled. In this way, by operating the operation handle 25a while operating the operation switch 25b, it is possible to appropriately suppress erroneous operation and malfunction of the transfer assist device 10.
The operation unit 25 is attached to the attachment unit 24 of the robot arm unit 2, but is not limited thereto, and may be attached to the handle unit 12 of the carriage unit 1 and can be operated by a caregiver. If there is, it can be installed at any position.

  The body holder 3 is attached to the attachment part 24 of the robot arm part 2 and can hold a cared person. Moreover, the body holder 3 has the trunk | drum support part 31 hold | maintained so that a to-be-cared person's torso may be held, and the leg support part 32 which supports a to-be-cared person's leg part (FIG. 6).

  The lower limb support part 32 is formed in a substantially inverted T shape and is connected to the lower part of the trunk support part 31. In addition, although the trunk | body support part 31 and the lower limb support part 32 are comprised integrally, you may each comprise separately.

  The torso support unit 31 includes a chest support unit 31a that contacts the chest of the cared person, a pair of side support units 31b that support side surfaces of the chest, a head support unit 31c that supports the jaws of the head, have.

  The pair of side support portions 31b are formed so as to face each other, and extend from both side edges of the chest support portion 31a in a substantially vertical direction. The head support portion 31c is formed in a convex shape on the upper portion of the chest support portion 31a. In addition, although the chest support part 31a, the side surface support part 31b, and the head support part 31c are integrally configured, they may be configured separately.

  The chest support part 31a and the side support part 31b are formed so as to wrap around the body of the care recipient. Further, among the chest support part 31a, the side surface support part 31b, the head support part 31c, and the lower limb support part 32, an elastic cushion member is provided at a portion where the care receiver contacts. With this cushion member, the burden on the cared person when the cared person is held by the body holder 3 can be further reduced.

  The body holder 3 is configured as described above, and the cared person can naturally sit on the lower limb support part 32 while holding the body support part 3 by simply attaching both hands to the body support part 31. The body holder 3 is held in a proper posture. Therefore, the burden on the care recipient at the time of transfer can be reduced.

  In such a transfer support device 10, the caregiver operates the operation unit 25 to approach the cared person. At this time, as described above, the caregiver's cart unit 1, the robot arm unit 2, the body Depending on the operation of the holder 3, the body holder 3 may be too close to the cared person and the body holder 3 may be pressed against the cared person more than necessary.

  Therefore, in the transfer support device 10 according to the present embodiment, a detection unit 19 that detects the degree of contact with the cared person's torso is embedded in the surface of the body holder 3 that holds the cared person's body. That is, in the present embodiment, the detection unit 19 that detects the degree of contact between the chest support unit 31a and the cared person's chest is embedded in the chest support unit 31a. As the detection unit 19, when the body holder 3 and the cared person come into contact with each other, a contact sensor such as a pressure sensor (for example, a strain gauge) that is capable of quantitatively measuring the degree of contact (hereinafter, detection) The same reference numeral 19 as that of the part is attached.). The contact sensor 19 detects a pressure when the chest support part 31 a contacts the cared person's chest and outputs a detection signal to the control device 17. The control device 17 receives the detection signal from the contact sensor 19, and recognizes the magnitude of the pressure (the detection value of the contact sensor 19) when the body holder 3 is in contact with the cared person's chest. it can.

  The control device 17 includes a sixth motor 16 for driving the cart unit 1 and a first for driving the robot arm unit 2 based on the degree of contact of the body holder 3 indicated by the input detection signal with the chest of the cared person. Thru | or the 4th motor 61, 62, 63, 64, the 5th motor 65 which drives the body holder 3 is controlled, and the operation | movement which presses the body holder 3 to a cared person's chest is restrict | limited.

  That is, as shown in FIG. 7, the transfer support device 10 is operated at a predetermined operation speed, in particular, based on the operation of the operation unit 25 of the caregiver until the body holder 3 comes into contact with the chest of the care receiver. Without being restricted, the cart unit 1, the robot arm unit 2, and the body holder 3 can be operated toward the care recipient. The detected value of the contact sensor 19 at this time is 0 as shown in FIG. And as shown in FIG. 9, the operation speed to the care receiver side of the cart part 1, the robot arm part 2, and the body holder 3 is substantially constant at a predetermined speed.

  As shown in FIG. 10, when the body support 3 comes into contact with the cared person's chest based on the operation of the caregiver's operation unit 25, the transfer support device 10 detects the contact sensor 19 and the chest support part 31 a. The pressure when the person's chest is in contact is detected, and the detection signal is output to the control device 17.

  A first threshold value is set in the control device 17. As the first threshold value, for example, a pressure immediately after the body holder 3 contacts the cared person's chest is derived in advance, and is set to the pressure. As shown in FIG. 11, the control device 17 compares the pressure indicated by the input detection signal with the first threshold value. Then, as shown in FIG. 12, when the pressure is greater than the first threshold, the control device 17 causes the sixth motor 16 that drives the carriage unit 1 and the first to fourth motors 61 that drive the robot arm unit 2. 62, 63, 64, the fifth motor 65 for driving the body holder 3 is controlled to decelerate the operation of pressing the body holder 3 against the chest of the cared person. That is, the control device 17 operates such that the body holder 3 moves to the care receiver side by the operation of the carriage 1, the robot arm unit 2, and the body holder 3 among the operation signals input from the operation unit 25. Add restrictions to the signal.

  As shown in FIG. 13, when the body supporter 3 comes into stronger contact with the cared person's chest based on the operation of the caregiver's operation unit 25, the transfer support device 10, as shown in FIG. 14, In addition, the pressure indicated by the input detection signal is compared with the second threshold value. As the second threshold value, for example, a pressure when the body holder 3 pushes the cared person backward is derived in advance, and is set to the pressure. Then, as shown in FIG. 15, when the pressure is greater than the second threshold, the control device 17 causes the sixth motor 16 that drives the carriage unit 1 and the first to fourth motors 61 that drive the robot arm unit 2. , 62, 63, 64, the fifth motor 65 for driving the body holder 3 is controlled to stop the operation of pressing the body holder 3 against the chest of the cared person. That is, the control device 17 operates such that the body holder 3 moves to the care receiver side by the operation of the carriage 1, the robot arm unit 2, and the body holder 3 among the operation signals input from the operation unit 25. Disable the signal.

  Such a transfer support device 10 detects the degree of contact when the chest support part 31a and the cared person's chest are in contact with each other, and based on the degree of contact between the body holder 3 and the cared person, The body holder is controlled by controlling the sixth motor 16 for driving the part 1, the first to fourth motors 61, 62, 63, 64 for driving the robot arm part 2, and the fifth motor 65 for driving the body holder 3. The movement of pressing 3 against the cared person's chest is limited. That is, when the body holder 3 is brought close to the cared person, it is objectively determined whether or not the contact degree between the body holder 3 and the cared person is good, and based on the determination result, The first to sixth motors 61, 62, 63, 64, 65, and 16 can be controlled. Therefore, when the body holder 3 is brought close to the cared person, the body holder 3 can be brought into a good contact state with the cared person. Therefore, the body holder 3 is not brought too close to the cared person, and the body holder 3 is not pressed against the cared person more than necessary.

  In addition, the caregiver can recognize that the body holder 3 is approaching the care receiver when the operation of the operation unit 25 is restricted. Therefore, the caregiver can quickly bring the body holder 3 close to the cared person at a predetermined operation speed until the operation of the operation unit 25 is restricted, and the transfer time of the cared person can be shortened. it can.

  Moreover, the control apparatus 17 judges the contact degree of the body holder 3 and a cared person using a 1st threshold value and a 2nd threshold value. That is, the caregiver can recognize that the body holder 3 is in contact with the cared person when the operation of the carriage unit 1, the robot arm unit 2, and the body holder 3 is decelerated. Therefore, the caregiver can carefully operate the cart unit 1, the robot arm unit 2, and the body holder 3 after the operations of the cart unit 1, the robot arm unit 2, and the body holder 3 are decelerated. And if a caregiver brings the body holder 3 too close to a cared person, operation | movement of the trolley | bogie part 1, the robot arm part 2, and the body holder 3 will stop automatically. Therefore, the body holder 3 is not brought too close to the cared person and the body holder 3 is not pressed against the cared person more than necessary. Thus, the caregiver can recognize the contact degree between the body holder 3 and the care receiver step by step. Incidentally, the control device 17 may control the output of the motor so as to be inversely proportional to the magnitude of the pressure. The caregiver can more clearly recognize the degree of contact between the body holder 3 and the care recipient.

Using such a transfer support apparatus 10, an operation control method is performed as shown in FIG.
First, the control device 17 controls the first to sixth motors 61, 62, 63, 64, 65, 16 via the drive circuit 18 based on the operation signal from the operation unit 25, thereby holding the body. The tool 3 is brought close to the care recipient at a normal speed.

  When the body holder 3 approaches the cared person and the body holder 3 comes into contact with the cared person's chest, the contact sensor 19 detects pressure (step S1). The contact sensor 19 outputs the detection signal to the control device 17 (step S2).

  The control device 17 compares the pressure indicated by the input detection signal with the first threshold value (step S3). Then, when the pressure indicated by the input detection signal is equal to or lower than the first threshold value, the control device 17 normally moves the cart unit 1, the robot arm unit 2, and the body holder 3 based on the operation signal from the operation unit 25. In order to operate at a speed, control signals for the first to sixth motors 61, 62, 63, 64, 65, and 16 are generated (step S4). Then, it returns to step S3 repeatedly.

  When the pressure indicated by the input detection signal is greater than the first threshold value, the control device 17 further compares the pressure indicated by the input detection signal with the second threshold value (step S5). Then, when the pressure indicated by the input detection signal is equal to or lower than the second threshold value, the control device 17 performs an operation from the operation unit 25 to decelerate the operation of pressing the body holder 3 against the cared person's chest. Among the signals, the first to sixth motors 61 are limited by restricting an operation signal such that the body holder 3 moves to the care receiver side by the operation of the carriage unit 1, the robot arm unit 2, and the body holder 3. , 62, 63, 64, 65, 16 are generated (step S6). Then, it returns to step S5 repeatedly.

  When the pressure indicated by the input detection signal is greater than the second threshold, the control device 17 includes an operation signal from the operation unit 25 to stop the operation of pressing the body holder 3 against the chest of the care receiver. The operation signal that causes the body holder 3 to move to the care receiver side by the operation of the cart unit 1, the robot arm unit 2, and the body holder 3 is invalidated (step S7).

  Such an operation control method detects the degree of contact when the chest support part 31a and the cared person's chest are in contact with each other, and based on the degree of contact between the body holder 3 and the cared person, Thru | or 6th motor 61,62,63,64,65,16 is controlled. That is, when the body holder 3 is brought close to the cared person, it is objectively determined whether or not the contact degree between the body holder 3 and the cared person is good, and based on the determination result, The first to sixth motors 61, 62, 63, 64, 65, and 16 can be controlled. Therefore, when the body holder 3 is brought close to the cared person, the body holder 3 can be brought into a good contact state with the cared person. Therefore, the body holder 3 is not brought too close to the cared person, and the body holder 3 is not pressed against the cared person more than necessary.

  In addition, the caregiver can recognize that the body holder 3 is approaching the care receiver when the operation of the operation unit 25 is restricted. Therefore, the caregiver can quickly bring the body holder 3 close to the cared person at a predetermined operation speed until the operation of the operation unit 25 is restricted, and the transfer time of the cared person can be shortened. it can.

  Moreover, the control apparatus 17 judges the contact degree of the body holder 3 and a cared person using a 1st threshold value and a 2nd threshold value. That is, the caregiver can recognize that the body holder 3 is in contact with the cared person when the operation of the carriage unit 1, the robot arm unit 2, and the body holder 3 is decelerated. Therefore, the caregiver can carefully operate the cart unit 1, the robot arm unit 2, and the body holder 3 after the operations of the cart unit 1, the robot arm unit 2, and the body holder 3 are decelerated. And if a caregiver brings the body holder 3 too close to a cared person, operation | movement of the trolley | bogie part 1, the robot arm part 2, and the body holder 3 will stop automatically. Therefore, the body holder 3 is not brought too close to the cared person and the body holder 3 is not pressed against the cared person more than necessary. Thus, the caregiver can recognize the contact degree between the body holder 3 and the care receiver step by step.

<Second Embodiment>
A second embodiment of the present invention will be described.
The transfer support apparatus according to the present embodiment has substantially the same configuration as the transfer support apparatus 10 according to the first embodiment. However, as shown in FIG. Drive characteristic detection sensors 191, 192, 193, 194, 195, and 196 that detect the drive characteristics of the motors 61, 62, 63, 64, 65, and 16 are provided.

  That is, when the body holder 3 comes close to and comes into contact with the cared person, a load is applied to the cart unit 1, the robot arm unit 2, and the body holder 3. At this time, the cart unit 1, the robot arm unit 2, and the body holder 3 try to perform an operation of releasing the load, but the control device 17 controls the first to sixth motors 61, 62, 63, 64, 65 and 16 are controlled. At this time, the torque values and drive voltages of the first to sixth motors 61, 62, 63, 64, 65, and 16 are increased. The torque values and drive voltages of the first to sixth motors 61, 62, 63, 64, 65, 16 vary depending on the degree of contact of the body holder 3 with the cared person's chest.

  Therefore, in the present embodiment, the torque values and drive voltages of the first to sixth motors 61, 62, 63, 64, 65, and 16 are used as drive characteristic detection sensors 191, 192, and 193 including torque sensors and voltage sensors. , 194, 195, 196. Then, the first to sixth motors 61, 62, 63, 64, 65, 16 are controlled based on the detection values of the drive characteristic detection sensors 191, 192, 193, 194, 195, 196.

  Thereby, when the body holder 3 is brought close to the cared person, it is objectively determined whether or not the degree of contact between the body holder 3 and the cared person is good, and based on the determination result, The first to sixth motors 61, 62, 63, 64, 65, and 16 can be controlled. Therefore, when the body holder 3 is brought close to the cared person, the body holder 3 can be brought into a good contact state with the cared person. Therefore, the body holder 3 is not brought too close to the cared person, and the body holder 3 is not pressed against the cared person more than necessary.

  In addition, the caregiver can recognize that the body holder 3 is approaching the care receiver when the operation of the operation unit 25 is restricted. Therefore, the caregiver can quickly bring the body holder 3 close to the cared person at a predetermined operation speed until the operation of the operation unit 25 is restricted, and the transfer time of the cared person can be shortened. it can.

  Incidentally, the present embodiment also derives the torque values and drive voltages of the first to sixth motors 61, 62, 63, 64, 65, 16 immediately after the body holder 3 contacts the cared person's chest in advance, The torque value, the driving voltage, etc. may be set as the first threshold value. Further, the torque values and driving voltages of the first to sixth motors 61, 62, 63, 64, 65, 16 when the body holder 3 pushes the care receiver backward are derived, and the torque values and A drive voltage or the like may be set as the second threshold value. Thereby, similarly to 1st Embodiment, the caregiver can recognize the contact degree of the body holder 3 and a care receiver in steps.

<Third Embodiment>
A third embodiment of the present invention will be described.
The transfer support device of the present embodiment has substantially the same configuration as the transfer support device 10 of the first embodiment. However, as shown in FIG. 18, instead of the contact sensor, the robot arm unit 2 or Load detection sensors 291, 292, 293, 294 that detect loads acting on the body holder 3 are provided.

  That is, when the body holder 3 comes close to and comes into contact with the cared person, a load is applied to the robot arm unit 2 and the body holder 3. Therefore, in the present embodiment, the first to fourth joint portions 51, 52, 53, 54 are provided with load detection sensors 291, 292, 293, 293 including load sensors, torque sensors, etc., and the first to fourth joints are provided. Loads and torques acting on the units 51, 52, 53, 54 are detected by load detection sensors 291, 292, 293, 294. Then, the first to sixth motors 61, 62, 63, 64, 65, 16 are controlled based on the detection values of the load detection sensors 291, 292, 293, 294.

  Thereby, when the body holder 3 is brought close to the cared person, it is objectively determined whether or not the degree of contact between the body holder 3 and the cared person is good, and based on the determination result, The first to sixth motors 61, 62, 63, 64, 65, and 16 can be controlled. Therefore, when the body holder 3 is brought close to the cared person, the body holder 3 can be brought into a good contact state with the cared person. Therefore, the body holder 3 is not brought too close to the cared person, and the body holder 3 is not pressed against the cared person more than necessary.

  In addition, the caregiver can recognize that the body holder 3 is approaching the care receiver when the operation of the operation unit 25 is restricted. Therefore, the caregiver can quickly bring the body holder 3 close to the cared person at a predetermined operation speed until the operation of the operation unit 25 is restricted, and the transfer time of the cared person can be shortened. it can.

  Incidentally, this embodiment also derives loads and torques acting on the first to fourth joint parts 51, 52, 53, and 54 immediately after the body holder 3 comes into contact with the cared person's chest in advance. Torque or the like may be set as the first threshold value. In addition, a load or torque acting on the first to fourth joint portions 51, 52, 53, and 54 when the body holder 3 pushes the care receiver backward is derived, and the load and torque or the like are derived. It may be set as a threshold value of 2. Thereby, similarly to 1st Embodiment, the caregiver can recognize the contact degree of the body holder 3 and a care receiver in steps.

<Fourth embodiment>
A fourth embodiment of the present invention will be described.
The transfer assist device of the present embodiment has substantially the same configuration as the transfer assist device 10 of the first embodiment, but as shown in FIG. 19, an image sensor is provided instead of a contact sensor as a detection unit. An imaging device (imaging unit) 391 is provided.

  That is, the imaging device 391 is arranged so that the vicinity of the surface of the chest support part 31a in the body holder 3 can be imaged from above or below. For example, the imaging device 391 is provided at the upper end portion or the lower end portion of the body support portion 31. The imaging device 391 outputs image information captured intermittently to the control device 17. The control device 17 determines the degree of contact between the body holder 3 and the care receiver from the image information. That is, since the imaging device 391 captures the vicinity of the surface of the chest support portion 31a of the body holder 3 from above or below, the image information captured by the imaging device 391 is that the surface of the chest support portion 31a is A reference line indicating contact with a person. When the body holder 3 approaches the cared person, the cared person approaching toward the reference line appears in the image information captured by the imaging device 391. The control device 17 determines the degree of contact of the body holder 3 with the chest of the cared person from the change in the distance between the reference line of the image information and the cared person, and the first to sixth motors 61, 62, 63, 64, 65 and 16 are controlled. That is, the degree of contact of the body holder 3 with the cared person's chest is 100% when the body holder 3 is in contact with the cared person's chest, and the body holder 3 is the cared person's chest. It is a degree until it touches the chest.

  Thereby, when the body holder 3 is brought close to the cared person, it is objectively determined whether or not the degree of contact between the body holder 3 and the cared person is good, and based on the determination result, The first to sixth motors 61, 62, 63, 64, 65, and 16 can be controlled. Therefore, when the body holder 3 is brought close to the cared person, the body holder 3 can be brought into a good contact state with the cared person. Therefore, the body holder 3 is not brought too close to the cared person, and the body holder 3 is not pressed against the cared person more than necessary.

  In addition, the caregiver can recognize that the body holder 3 is approaching the care receiver when the operation of the operation unit 25 is restricted. Therefore, the caregiver can quickly bring the body holder 3 close to the cared person at a predetermined operation speed until the operation of the operation unit 25 is restricted, and the transfer time of the cared person can be shortened. it can.

  Incidentally, in the present embodiment, it is preferable to derive a mutual interval that the care recipient can reasonably hold on the body holder 3 and set a value corresponding to the interval in the image information as the first threshold value. Further, when the body holder 3 and the chest of the cared person are in contact with each other, the interval between the reference line and the cared person reflected in the image information is 0, so 0 is set as the second threshold value. Good. Thereby, similarly to 1st Embodiment, the caregiver can recognize the contact degree of the body holder 3 and a care receiver in steps.

<Fifth Embodiment>
A fifth embodiment of the present invention will be described.
The transfer support apparatus according to the present embodiment has substantially the same configuration as that of the transfer support apparatus according to the fourth embodiment. However, the transfer support apparatus according to the fourth embodiment can capture an image of a region ahead (caregiver side) from the chest support portion 31a. The imaging device 391 is embedded in the chest support portion 31a.

  That is, the imaging device 391 intermittently captures an area in front of the chest support portion 31 a and outputs the captured image information to the control device 17. The control device 17 determines the degree of contact of the body holder 3 with the cared person's chest from the image information. That is, the imaging device 391 captures an area in front of the chest support part 31a. Therefore, as the body holder 3 approaches the cared person, the brightness of the area where the cared person is reflected in the image information decreases. Therefore, the control device 17 determines the degree of contact of the body holder 3 with the chest of the cared person based on the change in brightness of the image information, and first to sixth motors 61, 62, 63, 64. , 65 and 16 are controlled.

  Specifically, the control device 17 binarizes the image information into pixels having a predetermined brightness or higher and pixels darker than the predetermined brightness, and calculates the number of pixels having a predetermined brightness or higher. Based on the number of pixels, the degree of contact between the body holder 3 and the care recipient is determined. That is, if the calculated number of pixels is small, the control device 17 can determine that the interval between the body holder 3 and the care recipient is wide. On the other hand, if the calculated number of pixels is large, the control device 17 can determine that the interval between the body holder 3 and the care recipient is narrow. That is, the degree of contact of the body holder 3 with the cared person's chest is 100% when the body holder 3 is in contact with the cared person's chest, and the body holder 3 is the cared person's chest. It is a degree until it touches the chest

  Thereby, when the body holder 3 is brought close to the cared person, it is objectively determined whether or not the degree of contact between the body holder 3 and the cared person is good, and based on the determination result, The first to sixth motors 61, 62, 63, 64, 65, and 16 can be controlled. Therefore, when the body holder 3 is brought close to the cared person, the body holder 3 can be brought into a good contact state with the cared person. Therefore, the body holder 3 is not brought too close to the cared person, and the body holder 3 is not pressed against the cared person more than necessary.

  By the way, in the present embodiment, image information at mutual intervals that can be easily held by the cared person 3 can be obtained, and the number of pixels greater than or equal to a predetermined brightness in the image information is calculated and calculated. The number of pixels obtained may be set as the first threshold value. Further, when the body holder 3 and the care recipient are in contact with each other, all the pixels have a predetermined brightness or less, and therefore it is preferable to set all the numbers of pixels as the second threshold value. Thereby, similarly to 1st Embodiment, the caregiver can recognize the contact degree of the body holder 3 and a care receiver in steps.

<Sixth Embodiment>
A sixth embodiment of the present invention will be described.
The transfer support apparatus according to the present embodiment has substantially the same configuration as the transfer support apparatus 10 according to the first embodiment. However, as shown in FIG. 20, a distance measuring sensor 491 is used instead of a contact sensor as a detection unit. Prepare.

  In other words, the distance measuring sensor 491 is arranged so as to be able to measure the distance between the chest support part 31a in the body holder 3 and an object placed in a region in front of the chest support part 31a. For example, the distance measuring sensor 491 is provided in the body support unit 31. As the distance measuring sensor 491, a general distance measuring sensor can be used. For example, a laser or an ultrasonic wave is projected onto a care receiver in the area, and the reflected wave is received to Measure distance. The distance measuring sensor 491 outputs distance information to the care receiver to the control device 17. The control device 17 determines the degree of contact of the body holder 3 with the cared person's chest based on the input distance information with the cared person, and the first to sixth motors 61, 62, 63, 64. , 65 and 16 are controlled. That is, the degree of contact of the body holder 3 with the cared person's chest is 100% when the body holder 3 is in contact with the cared person's chest, and the body holder 3 is the cared person's chest. It is a degree until it touches the chest.

  Thereby, when the body holder 3 is brought close to the cared person, it is objectively determined whether or not the degree of contact between the body holder 3 and the cared person is good, and based on the determination result, The first to sixth motors 61, 62, 63, 64, 65, and 16 can be controlled. Therefore, when the body holder 3 is brought close to the cared person, the body holder 3 can be brought into a good contact state with the cared person. Therefore, the body holder 3 is not brought too close to the cared person, and the body holder 3 is not pressed against the cared person more than necessary.

  Incidentally, in the present embodiment, it is preferable to calculate a mutual interval that the care recipient can reasonably hold on the body holder 3 and set the calculated interval as the first threshold value. Moreover, since the mutual space | interval will be 0 when the body holder 3 and a cared person contact, it is good to set 0 as a 2nd threshold value. Thereby, similarly to 1st Embodiment, the caregiver can recognize the contact degree of the body holder 3 and a care receiver in steps.

  The embodiment of the transfer support device and the operation control method of the transfer support device according to the present invention has been described above. However, the present invention is not limited to the above-described configuration, and can be changed without departing from the technical idea of the present invention. is there.

  For example, in the above-described embodiment, the drive characteristic detection sensor that detects the drive characteristic of each motor is provided, but it is sufficient that at least the drive characteristic of the fifth motor 65 provided in the fourth joint portion 54 can be detected. . Moreover, in the said embodiment, although the load and torque which act on the robot arm part 2 and the body holder 3 are detected, the load and torque which act on the body holder 3, ie, the 4th joint part 54, are detected. I hope I can.

  In the above-described embodiment, the robot arm unit 2 includes the four first to fourth joint portions 51, 52, 53, and 54. However, the present invention is not limited to this. For example, the two second joint portions 52 and the third joint portion are provided. A configuration having only the joint portion 53 may be used, and an arbitrary configuration is possible.

  In the said embodiment, although the body holder 3 is the structure provided with the trunk | drum support part 31 and the leg support part 32, not only this but the body holder of arbitrary shapes is applied if it can hold | maintain a cared person optimally can do.

DESCRIPTION OF SYMBOLS 1 Carriage part 2 Robot arm part 3 Body holder 10 Transfer support apparatus 11 Carriage main body 11a Base part 12 Handle part 13 Front auxiliary wheel 14 Back auxiliary wheel 15 Driving wheel 16 6th motor (drive part)
17 Control device 18 Drive circuit 19 Contact sensor (detection unit)
21-23 First to third arm portions 24 Mounting portion 25 Operation portion, 25a Operation handle, 25b Operation switch, 25c Force sensor 31 Body support portion, 31a Chest support portion, 31b Side support portion, 31c Head support portion, 32 Lower limb support part 51-54 1st-4th joint part 61-65 1st-5th motor (drive part)
71-75 Rotation sensors 191-196 Drive characteristic detection sensor (detection unit)
291 to 294 Load detection sensor (detection unit)
391 Imaging device (imaging unit (detection unit))
491 Distance sensor (detection unit)

Claims (19)

A movable carriage section;
An arm part with one end tiltably attached to the carriage part;
A body holder that is provided at the other end of the arm portion and holds a cared person;
A plurality of drive units for driving the carriage unit and the arm unit;
A control unit for controlling the driving unit;
A detection unit that detects a degree of contact with the body of the cared person in the body holding tool,
The said control part is a transfer assistance apparatus which controls the said drive part based on the detection result of the said detection part. As the detection unit, a contact sensor is provided on a surface of the body holding tool that holds the cared person's torso,
The transfer support apparatus according to claim 1, wherein the control unit controls the driving unit based on a detection value of the contact sensor.   The control unit compares the detection value of the contact sensor with a first threshold value. When the detection value of the contact sensor is greater than the first threshold value, the control unit controls the driving unit, and the body holding tool is The transfer assisting device according to claim 1, wherein an operation of pressing the body of the cared person is decelerated.   The control unit compares the detection value of the contact sensor with a second threshold value, and when the detection value of the contact sensor is greater than the second threshold value, the control unit controls the driving unit, and the body holder is The transfer support device according to claim 1, wherein an operation of pressing the cared person's body against the torso is stopped. The detection unit includes a sensor that detects a drive characteristic of the drive unit,
2. The control unit according to claim 1, wherein the control unit controls the driving unit by determining a degree of contact of the body holder with the cared person's torso based on a detection value of the sensor. Transfer support device. As the detection unit, provided with a sensor for detecting a load acting on the arm unit or the body holder,
2. The control unit according to claim 1, wherein the control unit controls the driving unit by determining a degree of contact of the body holder with the cared person's torso based on a detection value of the sensor. Transfer support device. An imaging unit is provided as the detection unit,
2. The control unit according to claim 1, wherein the controller controls the drive unit by determining a degree of contact of the body holder with the cared person's torso based on image information of the imaging unit. Transfer support device. The imaging unit images the vicinity of the surface of the body holder that holds the body of the cared person,
The control unit is based on a change in the distance between the body of the cared person in the body holder and the body of the cared person, which is reflected in the image information. The transfer support apparatus according to claim 7, wherein the degree of contact of the cared person with the torso is determined. The imaging unit images an area in front of a surface of the body holding tool that holds a to-be-cared person's torso,
The control unit determines a degree of contact of the body holder with the cared person's trunk based on a change in brightness of the image information caused by the imaging unit approaching the cared person. The transfer support apparatus according to claim 7. A ranging sensor is provided as the detection unit,
2. The control unit according to claim 1, wherein the controller controls the drive unit based on a measurement value of the distance measuring sensor based on a degree of contact of the body holder with the cared person's torso. The transfer support device described. A movable carriage section;
An arm part with one end tiltably attached to the carriage part;
A body holder that is provided at the other end of the arm portion and holds a cared person;
A plurality of drive units for driving the carriage unit and the arm unit;
A control unit for controlling the driving unit;
A detection unit that detects the degree of contact of the cared person with the body of the care recipient, and an operation control method for a transfer support apparatus comprising:
The control unit is an operation control method for a transfer support apparatus that controls the drive unit based on a detection result of the detection unit.   The control unit compares the detection value of the contact sensor, which is the detection unit, with a first threshold value. If the detection value of the contact sensor is greater than the first threshold value, the control unit controls the driving unit, and the body The operation control method of the transfer support apparatus according to claim 11, wherein an operation of pressing the holder against the body of the care recipient is decelerated.   The control unit compares the detection value of the contact sensor, which is the detection unit, with a second threshold value, and controls the driving unit when the detection value of the contact sensor is greater than the second threshold value, The operation control method of the transfer support apparatus according to claim 11 or 12, wherein an operation of pressing a holding tool against the body of the care recipient is stopped.   The control unit determines a degree of contact of the body holder with the body of the care receiver based on a detection value of a sensor that detects a drive characteristic of the drive unit that is the detection unit, and determines the drive unit. The operation control method of the transfer support apparatus according to claim 11, wherein control is performed.   The control unit determines a degree of contact of the body holder with the body of the care recipient based on a detection value of a sensor that detects a load acting on the arm unit or the body holder as the detection unit. The operation control method of the transfer support apparatus according to claim 11, wherein the driving unit is controlled.   The said control part judges the contact degree to the to-be-cared person's trunk | drum in the said body holder based on the image information of the imaging part which is the said detection part, The said drive part is controlled, It is characterized by the above-mentioned. Item 12. The operation control method of the transfer assisting device according to Item 11. The imaging unit images the vicinity of the surface holding the cared person in the body holding tool,
The control unit is based on a change in the distance between the body of the cared person in the body holder and the body of the cared person, which is reflected in the image information. The method of controlling movement of a transfer support apparatus according to claim 16, wherein the degree of contact of the cared person with the torso is determined. The imaging unit images an area in front of a surface of the body holding tool that holds a to-be-cared person's torso,
The control unit determines a degree of contact of the body holder with the cared person's trunk based on a change in brightness of the image information caused by the imaging unit approaching the cared person. The operation control method of the transfer assistance apparatus according to claim 16.   The control unit controls the driving unit by determining a degree of contact of the body holder with the body of the cared person based on a measurement value of a distance measuring sensor that is the detection unit. The operation control method of the transfer assistance apparatus according to claim 11.

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