JP2010253192A - Integrated care system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an integrated care system capable of reducing a burden on a care worker. <P>SOLUTION: The integrated care system includes: a plurality of mat units 10 on which a cared person can get in a state of being assembled to form an optional entire shape; and an integrated command section 50 controlling so that the plurality of mat units 10 form the entire shape. Each of the plurality of mat units 10 has: a base part 11; a mat part 12 having a surface which the cared person contacts; position adjusting parts 14, 18 supporting the mat part 12; and moving the mat part 12 according to a control signal to change its relative position to the base part 11; a moving part 15 moving the mat unit 10; and a control part 16 outputting control signals to the position adjusting parts 14, 18 and the moving part 15 according to a command signal. The integrated command section 50 generates and transmits the command signal for instructing the control parts 16 of the plurality of mat units 10 so that the plurality of mat units 10 form the entire shape. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an integrated care system.

  There is a need to improve the quality of life of care recipients in the field of medical care. However, the physical and mental burdens of the caregivers such as changing the position of bedridden patients are also increasing.

  Various care devices have been proposed for the purpose of assisting the movement and movement of the care recipient. For example, a bed that is transformed into a chair shape by detecting the condition of the person who has landed, a moving means in the hospital such as a wheelchair, a dedicated device for transferring, and an increase in the number of divided operating units of the bed Developments and proposals have been made for devices that improve usability. Furthermore, there is also a proposal of a device having a function of providing a bed with a sensor function and a tilt function, detecting if the landing person may fall, and tilting the bed to prevent the fall.

  Many of these devices perform a single function by themselves. If an attempt is made to realize a plurality of functions at the same time, the occupied area and the cost increase, so a few devices have been put into practical use.

JP 11-318997 A JP 2004-008466 A Japanese Patent Laid-Open No. 06-124941 JP 07-155351 A JP-A-10-099383 JP 2005-160728 A JP 2006-051162 A JP 2007-045252 A JP 2006-129953 A

Patent Document 1 discloses a multi-functional bed composed of a fixed U-shaped bed and a movable auxiliary bed that is detachably fitted to the bed. However, this multi-function bed has a single function of changing to a wheelchair, and cannot perform a transfer state or an assist operation for turning over.
Patent Document 2 discloses a human body fall prevention device in which a plurality of air mat units which are divided according to the bottom and which expand and contract in the thickness direction are placed. However, this fall prevention device has a single function to prevent the cared person from falling from the bed, and is not considered for movement of the cared person from the bed.
Patent Document 3 discloses a bed having a structure that can be transformed into a chair and a standing assistance tool and can be turned over by an organic cooperative operation of each part of the nursing bed. However, the bed is not divided in the left-right direction, and the assistance for turning over is to tilt the bed body. In addition, assistance for the transfer state and management by the server are not considered.
Patent Document 4 discloses a sleeping apparatus that detects the movement of a sleeping person by a plurality of body motion sensors arranged in the bedding and outputs the determination result. However, this sleeping apparatus has a single function of performing reclining according to an input signal, and is not intended to be used with other functions.
Patent Document 5 discloses a multi-functional bed that can perform a physical therapy including a bedridden sick person as it is, semi-automatically changing bedding, bathing, discharging to a flush toilet, turning over, and rehabilitation. . However, this multifunctional bed is intended for sick people who are bedridden, and does not consider the function of getting out of bed.
Patent Literature 6 discloses a bed that can change the posture by dividing the bed surface into a plurality of portions. However, this bed is not separated in divided units and has no function other than changing the posture.
Patent Document 7 discloses a bed that includes a sensor and an inclination mechanism and prevents a patient from falling. However, this bed has a function of preventing the fall by the tilt mechanism, and has no function other than preventing the fall.
Patent Document 8 discloses a bed that can be automatically changed to a chair state. However, this bed has only a single function to change in the chair and no moving means.
Patent Document 9 discloses a technique for setting bed operation settings from an external device. However, this bed sets only the operation state of the divided part, and is not intended to be used with other functions such as a transfer state configuration by separating the operation part from the bed.

  The present invention has been made to solve such problems, and an object of the present invention is to provide an integrated care system capable of reducing the burden on a caregiver.

  In the integrated care system according to the present invention, a plurality of mat units on which a cared person can board and the plurality of mat units constitute the overall shape in a state where each collects and constitutes an arbitrary overall shape. Each of the plurality of mat units supports a base portion, a mat portion having a surface in contact with the care recipient, and the mat portion. A position adjusting unit that moves the mat portion so that the relative position of the mat portion changes according to a control signal, a moving unit that moves the mat unit, and the position adjustment according to a command signal. And a control unit that outputs a control signal to the moving unit, and the integrated command unit is configured to output the plurality of mat units to the control unit of the plurality of mat units. There generates a command signal for instructing to constitute the overall shape, and transmits. According to such a system, a caregiver's burden can be reduced.

  Here, the position adjusting unit can change the relative position by moving the mat unit in the height direction with respect to the base unit and tilting the mat unit in accordance with a control signal.

  In addition, when the integrated command unit generates and transmits a command signal instructing the control unit of the plurality of mat units that the plurality of mat units form a bed shape, Each of the mat units may be configured such that the control unit controls the position adjusting unit so that the upper surface of the mat unit is horizontal with respect to the ground. According to such a system, a plurality of mat units can form a bed shape.

  In addition, when the plurality of mat units constitute a bed shape, the integrated command unit generates a command signal so that the care recipient can fall asleep, and for the control units of the plurality of mat units, In the case of transmission, in each of the plurality of mat units, the control unit may control the position adjusting unit such that the upper surface of the mat unit is sequentially inclined. According to such a system, it is possible to assist the care recipient to turn over.

  Further, the integrated command unit may control the mat unit by a command signal so that the mat unit is inclined to the mat unit where the care recipient is located.

  Further, when the integrated command unit generates and transmits a command signal instructing the control units of the plurality of mat units that the plurality of mat units constitute a moving body, The first mat unit included in the mat unit controls the position adjusting unit so that the upper surface of the mat unit is horizontal with respect to the ground, and the second mat unit is in a position in contact with the first mat unit. It is desirable to control the position adjusting unit so that the upper surface of the mat portion is inclined and is in a backrest state. According to such a system, a plurality of mat units can form a moving body shape.

  Further, based on output information of sensors provided in each of the mat portions of the plurality of mat units, a mat unit in contact with the back of the cared person is selected as the second mat unit, and the cared person's buttocks The mat unit in contact may be selected as the first mat unit.

  In addition, at least one mat unit included in the plurality of mat units has a T-shaped central portion and an arm portion constituting a rectangular parallelepiped in a state combined with the central portion, It is desirable to configure the transfer state by inclining the central portion.

  In particular, each of the plurality of mat units preferably includes a pressure sensor that detects a cared person in the mat portion and outputs detection information to the control portion.

  ADVANTAGE OF THE INVENTION According to this invention, the integrated care system which can reduce a caregiver's burden can be provided.

It is a figure for demonstrating the concept of the integrated care system concerning embodiment of invention. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the whole structure of the integrated care system concerning Embodiment 1 of invention. It is a perspective view of the mat unit concerning Embodiment 1 of invention. It is a perspective view at the time of making the mat part of the mat unit concerning Embodiment 1 of an invention incline. It is a perspective view in case the mat part of the mat unit concerning Embodiment 1 of an invention is provided with the arm structure. It is a figure of the attachment concerning Embodiment 1 of invention. It is a figure of the integrated command part concerning Embodiment 1 of invention. It is a transition diagram which shows the deformation | transformation from the bed structure concerning Embodiment 2 of invention to a mobile body structure. It is a flowchart which deform | transforms from the bed structure concerning Embodiment 2 of invention to a moving body structure. It is a transition diagram which shows the deformation | transformation from the bed structure concerning Embodiment 3 of invention to a transfer state structure. It is a flowchart which performs the deformation | transformation from the bed structure concerning Embodiment 3 of invention to a transfer state structure. It is a figure which shows the automatic rolling operation concerning Embodiment 4 of invention. It is the figure which looked at the automatic rolling operation concerning Embodiment 4 of invention from the care receiver's head side. It is a flowchart which performs the automatic rolling operation concerning Embodiment 4 of invention.

  Initially, the whole concept of the integrated care system concerning embodiment of this invention is demonstrated using FIG. Each element and operation | movement which comprises the said integrated care system are demonstrated in detail later.

  The integrated care system according to the present embodiment includes a plurality of mat units 10 as shown in FIG. Then, as shown in FIG. 1B, the bed structure 70 can be obtained by assembling the mat units 10 at predetermined positions. Further, as shown in FIG. 1 (c), two mat units 10 can be assembled into a moving body configuration 80.

  As shown in FIG. 1 (d), it is possible to adopt a transfer state configuration 90 by one mat unit 10. In the transfer state configuration 90, the mat unit 10 having an arm structure in which the mat portion can be taken in and out is used. The bed configuration 70 shown in FIG. 1 (e) has a function of confirming the position of the care recipient from the sensor information of the mat unit and tilting the bed based on the information to turn the bed. . Also, as shown in FIG. 1 (f), a plurality of mat units 10 can be inclined to form a sitting state configuration 100.

Embodiment 1 of the Invention
FIG. 2 is a block diagram showing the overall configuration of the integrated care system according to the present embodiment. As shown in the figure, the integrated care system includes a plurality of mat units 10, an integrated command unit 50, and a remote control terminal 60.

  As shown in FIG. 2, the mat unit 10 includes a controller 16, a pressure sensor 13, a sensor interface 20, a wireless communication unit 21, a remote control receiver 22, a motor amplifier 23, and motors 24 to 26. I have.

  Here, FIG. 3 shows a structural example of the mat unit 10. As shown in FIG. 3, the mat unit 10 includes a base portion 11, a mat portion 12, a pressure sensor 13, a vertical lifting jig 14, a wheel 15, and a control portion 16.

  The base portion 11 holds the four front and rear wheels 15 so that they can be driven to rotate. The base portion 11 incorporates a motor 26 that rotationally drives the wheels 15. The two motors 26 are for traveling and steering, respectively.

  The mat portion 12 has a rectangular parallelepiped shape having a placement surface on which a care recipient is placed as an upper surface. The upper surface of the mat portion 12 is made of a material having elasticity and elasticity such as those used for ordinary beds and sofas.

  A plurality of (here, nine) pressure sensors 13 are provided on the mounting surface of the mat portion 12 so as to be separated from each other. The pressure sensor 13 outputs a signal based on the physical quantity from the physical quantity (pressure quantity) input to the pressure sensor 13. The pressure sensor 13 is installed on the surface of the mat portion 12 so as to directly detect the human body. Further, the pressure sensor 13 can also be installed inside the mat portion 12 so as to detect a change in the mat portion 12 caused by a human body touching the mat portion 12.

  The sensor interface 20 outputs a signal based on the signal input by the pressure sensor 13 to the control unit 16. A signal related to information obtained by the sensor can be transmitted to the integrated command section through the wireless communication means 16 and 52.

  The vertical lifting jig 14 is a position adjusting unit that supports the mat portion 12 and can move the mat portion 12 up and down with respect to the base portion 11. The vertical lifting jig 14 is provided with a vertical lifting motor 24. The up / down lifting / lowering jig 14 can drive the motor 24 based on a control signal from the control unit 16, and can move the mat unit 12 up and down by a mechanism that converts the rotation of the rotation shaft into a lifting operation. .

  The wheel 15 can be driven to rotate by a wheel driving motor 26 to move the mat unit 10 to a desired position. A reduction gear may be provided between the wheel 15 and the motor 26.

  The control unit 16 generates a control signal, outputs it to the motor amplifier 23, and drives and controls the motors 24 and 25 provided in the up / down lifting jig 14 and the tilting movement jig 18. Further, the control unit 16 generates a control signal, outputs it to the motor amplifier 23, and drives and controls the motor 26 that rotationally drives the wheels 15. In this way, the control unit 16 controls the outer shape and movement (position) of the mat unit 10.

  The motor amplifier 23 inputs the control signal generated by the control unit 16 and drives the motors 24, 25 and 26.

  As shown in FIG. 4, the mat portion 12 of the mat unit 10 is provided with an attachment mechanism 17 that can attach an attachment such as an armrest or a fall prevention fence to the side surface thereof. The attachment mechanism 17 is, for example, a hole that receives a protrusion provided on the attachment.

  The tilting operation jig 18 is a position adjusting unit that supports the mat portion 12 and can tilt the mat portion 12 with respect to the base portion 11. The tilting operation jig 18 is provided with a tilting operation motor 25. The tilting operation jig 18 rotates the motor 25 based on a control signal from the control unit 16 and converts the rotation of the rotation shaft into a tilting operation so that the mat unit 12 has an inclination angle corresponding to the control signal. Operates to tilt. It is desirable that the tilting jig 18 has a biaxial structure so that the mat portion 12 can be tilted in both the left-right direction and the front-rear direction using the two motors 25.

  As shown in FIG. 4, the mat portion 12 of the mat unit 10 includes a mat unit connecting jig 19 on a side surface thereof. The plurality of mat units 10 can be connected by a mat unit connecting jig 19. The mat unit connecting jig 19 is a connecting member that can be fitted to a part of the other mat unit 10, and can be constituted by, for example, a magnet, a hook-shaped member, or a combination of both. .

  As shown in FIG. 5, some mat units in the integrated care system according to the present embodiment have an arm structure. The mat portion 11 of the mat unit 30 is configured such that a part of the outside of the mat unit 30 can be independently controlled with a T-shaped central member 32 as a pair of left and right arm portions 31. The arm portion 31 and the central member 32 are attached to a tilting operation jig 18 that can individually perform a tilting operation. If the relative positions are adjusted so that the upper surfaces of the arm part 31 and the central part 32 are aligned, the configuration is the same as that of the mat part 11 shown in FIG. On the other hand, as shown in FIG. 5, the outer shape can be changed to the transfer state by setting the arm portion 31 in a state where the longitudinal direction is substantially horizontal with respect to the ground and tilting the central member.

  FIG. 6 shows an example of the attachment 40 attached to the attachment mechanism 17 shown in FIG. The attachment 40 is used as an armrest or a fall prevention fence. Further, the attachment 40 includes a fitting portion 41 that fits with the attachment mechanism 17.

  Returning to FIG. 2, the integrated command unit 50 includes a control computer 51, a wireless communication unit 52, a user interface (IF) 53, and a remote control receiving unit 54. The integrated command unit 50 has a configuration as shown in FIG.

  The integrated command unit 50 is a server that operates each mat unit 10, and generates a command signal so that each mat unit 10 has a position or a shape according to the collective form and transmits the command signal to each mat unit 10.

  The control computer 51 has a function of generating a command signal for causing the control unit 16 of each mat unit 10 to generate a control signal. The control computer 51 is constituted by a CPU, a ROM, a RAM, and the like, and can execute various processes based on a control program. The control computer 51 is typically a personal computer, but need not be physically single, and may be configured to perform distributed processing.

  The wireless communication unit 52 is a device that transmits information using radio waves. In this example, the command signal generated by the control computer 51 is transmitted to the plurality of mat units 10 by radio.

  A user interface (IF) 53 is an interface for a person to input to the control computer 51. The interface 53 can typically include input devices such as a keyboard and a mouse, and output devices such as a display and a printer. Using this user interface, a person can program an algorithm related to drive unit control in the control computer 51 and can input an instruction to each unit. The remote control receiving unit 54 receives a signal transmitted from the remote control terminal 60.

  The remote control terminal 60 includes a control unit 61, a user interface 62, and a remote control transmission unit 63.

  The control unit 61 executes control processing of the remote control terminal 60. Specifically, the control unit 61 has a function of executing various types of control based on various types of programs stored in the storage means, and includes a central processing unit ( CPU), a read-only memory (ROM), a random access memory (RAM), and the like.

  The control unit 61 generates a control signal that controls the operation of the integration command unit 50. The control unit 61 transmits the generated control signal to the integrated command unit 50 via the remote control transmission unit 63. The integrated command unit 50 receives the control signal through the remote control receiving unit 54.

  The control unit 61 generates a control signal that controls the operation of the control unit 16. The control unit 61 transmits the generated control signal to the mat unit 10 via the remote control transmission unit 63. The mat unit 10 receives the control signal by the remote control receiving unit 22.

  The user interface 62 typically includes input devices such as a keyboard and a mouse, and output devices such as a display.

  The remote control transmission unit 63 and the remote control reception units 22 and 54 can typically be configured by communication devices using radio waves or infrared rays.

  When a person uses the remote control terminal 60, the mat unit 10 can be set to an optimal height and inclination so that a caregiver can be comfortable.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention. For example, instead of using the wireless communication unit 52, the control computer 51 may have a wireless communication function. Further, instead of using the wheels 15, other moving means such as a caterpillar-shaped moving means or an inverted two-wheel structure as a configuration using the two wheels 15 can be provided. Further, instead of using the pressure sensor 13, it is possible to use other sensors such as a sensor that detects strain of the mat portion 12 by providing the mat portion 12 with a strain gauge, or a sensor that checks the presence or absence of a human body using electrodes. . Moreover, the motor amplifier 22 can be set as the form installed one by one in each mat unit 10, or can be set as the form installed one by one for each motor. Further, instead of the motors 24, 25, and 26, other power such as an actuator can be used. Furthermore, it does not prevent the integrated command unit 50 from analyzing the information transmitted from the sensor interface 20 and having a function of issuing a warning when an abnormality is recognized.

Embodiment 2 of the Invention
Next, an embodiment in which the bed configuration 70 is changed to the moving body configuration 80 will be described. FIG. 8 is a diagram showing a deformation from the state in which the mat unit 10 is combined into the bed configuration 70 to the moving body configuration 80, and FIG. 9 is a diagram showing a procedure for the deformation to the moving body configuration 80. is there. It is assumed that an ID is assigned to each mat unit in advance.

  First, the user operates the control computer 51 of the integration command unit 50 to select the moving body deformation mode (step S101). Next, the user selects and inputs whether to perform the deformation operation automatically or manually (step S102). When automatic is selected in the deformation operation method, the control computer 51 discriminates and selects the mat units 81 and 82 in contact with the care receiver's buttocks and back based on the information from the sensor interface 20 (step) S103).

  Next, the integrated command unit 50 generates a command signal for operating the mat unit 82 on the back side of the cared person using the control computer 51, transmits the generated command signal to the mat unit 82, and the mat unit 82. Is in a backrest state (step S104). Next, the control computer 51 selects the mat units 83 and 84 that interfere with the movement of the mat units 81 and 82 selected in step S103, and generates a command signal for moving the mat units 83 and 84. The integrated command unit 50 transmits the generated command signal to the mat units 83 and 84, and moves the mat units 83 and 84 to a position that does not interfere with the movement of the mat units 81 and 82 (step S105).

  Finally, the integrated command unit 50 generates a command signal for moving the mat units 81 and 82 using the control computer 51, transmits the command signal to the mat units 81 and 82, and moves the mat units 81 and 82. (Step S106).

  When manual is selected in the deformation operation method in step S102, first, a person operates the control computer 51 of the integrated command unit 50 and inputs the IDs of the mat units 81 and 82 used as the moving body (step S107). ).

  Next, the integrated command unit 50 generates and transmits a command signal for operating the mat unit 82 to be used as a backrest using the control computer 51, and sets the mat unit 82 in the backrest state (step S108).

  Next, for the mat units 83 and 84 that interfere with the movement of the mat units 81 and 82 selected in step S107, the integration command unit 50 uses the control computer 51 to move the mat units 83 and 84. A signal is generated and transmitted to the mat units 83 and 84, and moved to a position that does not interfere with the movement of the mat units 81 and 82 (step S109).

  Finally, the integrated command unit 50 generates a command signal for moving the mat units 81 and 82 selected in step S107 using the control computer 51 and transmits the command signal to the mat units 81 and 82. Move (step S106).

  The instruction to the integrated command unit 50 can also be performed using the remote control terminal 60 from the caregiver or care recipient.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention. For example, this step can be omitted when there is no mat unit 83, 84 that gets in the way.

Embodiment 3 of the Invention
An embodiment in which the moving body configuration 80 is changed to the transfer state configuration 90 will be described. A bed configuration 70 in which a plurality of mat units 10 are combined is an initial state, but the bed state 70 has already been transformed into the moving body configuration 80, and an ID is assigned to each mat unit. To do. FIG. 10 is a diagram showing a transformation from the moving body configuration 80 to the transfer state configuration 90, and FIG. 11 is a diagram showing a procedure for the transformation to the transfer state configuration 90.

  First, a person operates the control computer 51 of the integrated command unit 50 to select a transfer state deformation mode (step S201). Next, it is selected whether the deformation operation is performed automatically or manually (step S202). When automatic is selected in the deformation operation method, the control computer 51 selects the three mat units 91, 92, and 93 to be used based on information from the sensor interface 20 (step S203). For example, a mat unit with which the cared person's buttocks contact, a mat unit with which the back contacts, and a mat unit having an arm mechanism are selected.

  Next, the integrated command unit 50 generates a command signal by using the control computer 51 so that the mat unit 91 having an arm mechanism is placed in front of the moving body and approaches the mat unit 91, and the generated command signal is transmitted to the mat unit 91. The mat unit 91 is moved (step S204). Next, the cared person is moved from the sitting position to the transfer state. At this time, the backrest can be moved to push the cared person, or the caregiver can push the back (step S205).

  Finally, the integrated command unit 50 uses the control computer 51 to generate a command signal so that the mat units 92 and 93 are moved in the order of the backrest and the buttocks, and sends the generated command signal to the mat units 92 and 93. The mat units 92 and 93 are moved (step S206).

  When manual is selected in the deforming operation method in step S202, first, a person operates the control computer 51 and inputs IDs of mat units 91, 92, and 93 to be used (step S207). Next, the integrated command unit 50 generates a command signal so that the mat unit 93 having the arm mechanism is placed in front of the moving body by using the control computer 51, and the generated command signal is sent to the mat unit. The mat unit 93 is moved (step S208).

  Next, the cared person is moved from the sitting position to the transfer state. At this time, the mat unit 92 serving as a backrest can be moved, the inclination angle of the mat portion 12 of the mat unit 92 can be increased, and the care recipient can be pushed, or the caregiver can push the back. (Step S209). Finally, the integrated command unit 50 uses the control computer 51 to generate a command signal to move the mat units 91 and 92 in the order of the backrest and the hips, and transmits the generated command signal to the mat units 91 and 92. The mat units 91 and 92 are moved (step S206).

  The instruction to the integrated command unit 50 can also be performed using the remote control terminal 60 from the caregiver or care recipient.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention. For example, the cared person may not be raised during the movement, and the buttocks mat unit 91 may be left as it is.

Embodiment 4 of the Invention
Next, an embodiment of the automatic rollover operation in the bed configuration 70 will be described. FIG. 12 is a diagram illustrating an automatic roll-over operation, and FIG. 13 is a diagram of the automatic roll-over operation as viewed from the head of the care recipient. For example, the turning operation can be realized by the mat unit 10 repeatedly performing the operations shown in FIGS. As illustrated in FIG. 13, the mat unit 10 that has detected the care recipient by the pressure sensor 13 tilts the mat portion 12 so that the care receiver turns over toward the center. Then, the mat unit 10 to which the cared person has moved by turning over detects the cared person by the pressure sensor 13, and subsequently the tilting operation is executed. After turning over in one direction, turn over in the other direction by the same operation.

  FIG. 14 is a diagram showing the procedure of the automatic turning operation. According to the present embodiment, by incorporating a program for instructing the rollover operation algorithm into the control computer 51 of the integrated command unit 50, the information of the sensor interface 20 acquired by the mat unit 10 is used periodically. The caregiver can be turned over. As a result, the turnover operation can be performed even in the middle of the night when the caregiver is not accompanied, and the burden on the caregiver can be reduced.

  First, a person operates the control computer 51 to set an execution cycle timer and the number of executions (step S301). Next, the execution cycle timer is checked to determine whether or not a certain time has elapsed since the previous operation. If the predetermined time has not elapsed, the standby state is set until it elapses (step S302). When a certain time has elapsed, measurement is performed using the pressure sensor 13, and the position information of the care receiver is acquired in the sensor interface 20. Thereafter, the mat unit 10 transmits the position information of the care recipient to the integration command unit 50 through the wireless communication units 21 and 52 (step S303).

  Next, the integrated command unit 50 generates a command signal using the control computer 51, and transmits a command signal for the mat unit through the wireless communication unit (step S304). Next, the mat unit operates in accordance with an instruction from the integrated command unit 50 based on the received command signal (step S305). Next, the control computer 51 determines the number of executions (step S306). If the number of executions has not been executed, the process returns to step S302 to continue the processing. If the process has been executed for the set number of times, the automatic turning operation is terminated (step S307).

  If the operation history is stored in the control computer 51 of the integrated command section 50 and the movement history is referred to and moved in a direction not rotated forward, the same posture can be prevented. In addition, depending on the posture of the cared person, fine control can be performed so as to move the cared person in the horizontal direction without changing the posture of the cared person.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention. For example, in the automatic turning operation, it is not necessary to operate the mat unit 10 in a certain order as shown in FIG. 13, and the state of the cared person is determined from the position information of the cared person detected in step S303. Then, the mat unit 10 can be operated so that it rolls over in a desired direction. Moreover, the function etc. which prevent falling from a bed can be mounted by inclining the mat unit 10 which is an edge of a bed structure.

DESCRIPTION OF SYMBOLS 10 Mat unit 11 Base part 12 Mat part 13 Pressure sensor 14 Position adjustment part 15 which raises / lowers the mat part up / down Wheel 16 Control part 17 Attachment attachment mechanism 18 Position adjustment part 19 which makes the mat part incline 19 Mat unit connection jig 20 Sensor Interfaces 21 and 52 Wireless communication units 22 and 54 Remote control receiver 23 Motor amplifier 24 Motor that raises and lowers mat part 25 Motor that tilts mat part 26 Motor that drives wheels 30 Mat unit 31 with arm Arm part 32 Central part 40 Attachment 41 Fitting unit 50 Integration command unit 51 Control computer 53, 62 User interface 60 Remote control terminal 61 Remote control unit 63 Remote control transmission unit 70 Bed configuration 80 Moving body configuration 81 Mat mat selected when moving body configuration Knit 82 Mat units 83 and 84 that are the backrests selected when the moving body is configured. Mat units 90 that interfere with movement when the moving body is configured. Transfer state configuration 91 Arm selected when the transfer state configuration is selected Mat unit 92, 93 with mat unit 100 selected when set to transfer state configuration

Claims (9)

A plurality of mat units that can be boarded by a cared person in a state where each of them gathers to form an arbitrary overall shape,
The plurality of mat units is an integrated care system provided with an integrated command unit that controls to configure the overall shape,
Each of the plurality of mat units is
A base part;
A mat portion having a surface with which the care recipient contacts;
A position adjusting unit that supports the mat unit and moves the mat unit so as to change a relative position with respect to the base unit according to a control signal;
A moving unit for moving the mat unit;
In accordance with a command signal, the position adjustment unit and a control unit that outputs a control signal to the moving unit,
The integrated command system, wherein the integrated command unit generates and transmits a command signal that instructs the control units of the plurality of mat units that the plurality of mat units constitute the overall shape.   The said position adjustment part moves the said mat part to a height direction with respect to the said base part according to a control signal, and changes a relative position by making it incline. Integrated care system.   When the integrated command unit generates and transmits a command signal instructing the control unit of the plurality of mat units that the plurality of mat units form a bed shape, the plurality of mat units The integrated care system according to claim 1 or 2, wherein the control unit controls the position adjusting unit so that the upper surface of the mat unit is horizontal with respect to the ground.   When the plurality of mat units form a bed shape, the integrated command unit generates a command signal so that the care recipient can fall asleep and transmits the command signal to the control units of the plurality of mat units. In this case, each of the plurality of mat units controls the position adjusting unit so that the control unit sequentially inclines the upper surface of the mat unit. Integrated care system.   5. The integrated care system according to claim 4, wherein the integrated command unit controls the mat unit by a command signal so that the mat unit is inclined with respect to the mat unit where the care receiver is located.   When the integrated command unit generates and transmits a command signal instructing the control units of the plurality of mat units that the plurality of mat units constitute a moving body, the plurality of mat units The first mat unit included in the control unit controls the position adjusting unit so that the upper surface of the mat unit is horizontal with respect to the ground, and the mat unit is in a position where the second mat unit is in contact with the first mat unit. The integrated care system according to claim 1, wherein the position adjustment unit is controlled so that the upper surface of the stool is inclined and a backrest is formed.   A mat unit in contact with the back of the cared person is selected as the second mat unit based on output information from sensors provided in each of the mat parts of the plurality of mat units, and the mat is in contact with the cared person's buttocks The integrated care system according to claim 6, wherein a unit is selected as the first mat unit.   The at least one mat unit included in the plurality of mat units has a T-shaped central portion and an arm portion constituting a rectangular parallelepiped in a state combined with the central portion, and the central portion The integrated care system according to any one of claims 1 to 7, wherein a transfer state is configured by tilting.   Each of the plurality of mat units includes a pressure sensor that detects a cared person in the mat portion and outputs detection information to the control portion. Integrated care system.

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