JP2015112430A - Control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device mounted on a nursing-care robot and allowing a user to easily and safely operate the nursing-care robot.SOLUTION: A control device 100 of a robot R including a tilt part 2 having a tilt member 2a to be tilted by a pair of lifting/lowering shafts 3 and 3, comprises: a signal input part 110; an input signal processing part 120; an arithmetic processing part 140; a current command value generation part 150; and a signal output part 160. The arithmetic processing part 140 has a tilt processing section 142. The tilt processing section 142 has tilt speed command generation means 144 and limit processing means 145.

Description

  The present invention relates to a control device. More specifically, the present invention relates to a control device for a care robot used when a care recipient who is sleeping on a bed is transferred to a wheelchair.

  Conventionally, life support for elderly people and disabled persons (hereinafter referred to as care recipients) by caregivers such as care helpers has been provided. In life support by a caregiver, when a care recipient needs assistance with a toilet or bathing, the person is transferred from a bed to a wheelchair or from a wheelchair to a bed.

  However, since this transfer was made by a single caregiver, it resulted in a heavy burden on the caregiver. Therefore, many caregivers hurt their backs. Under such circumstances, low back pain has been referred to as an occupational disease of caregivers.

  In view of this situation, transfer has been made by two people, but it has become difficult to secure caregivers due to the arrival of a rapidly aging society. Therefore, a nursing care robot that can reduce the number of personnel when transferring from nursing care personnel is eagerly desired. In addition, a control device that is mounted on a nursing robot and allows the nursing robot to be operated easily and safely is also eagerly desired.

  In addition, although the carrier for nursing care is proposed in Patent Document 1, there is a problem that the operability is difficult because the configuration is complicated.

JP 2002-136549 A

  The present invention has been made in view of the problems of the prior art, and an object of the present invention is to provide a control device that is mounted on a care robot and that allows the care robot to be operated easily and safely.

  The control device according to the present invention is a control device for a robot, and the robot includes a tilting portion having a tilting member tilted by a pair of elevating shafts, and the tilting portion includes an acceleration detection means, and the control The apparatus includes a signal input unit, an input signal processing unit, a calculation processing unit, a drive command value generation unit, and a signal output unit. The calculation processing unit includes a tilt processing section, and the tilt processing The section has a tilt command value generation means and a limit processing means.

  In the control device of the present invention, the robot has one operation instruction means for generating an operation command for one lifting axis, the other operation instruction means for generating an operation command for the other lifting axis, and the position of the head. A head position indicating means for instructing, the input signal processing unit comprising: a polarity determining means for determining a polarity of the operation command; a comparing means for comparing the magnitude of the operation command; and a head position indicating means. And a head position determining means for determining the head position based on the signal from the head.

  Further, in the control device of the present invention, it is preferable that the comparison means selects the one having the smaller absolute value of the input signal.

  In the control device of the present invention, it is preferable that the limit processing means calculates a tilt angle from the acceleration.

  Since the present invention is configured as described above, it is possible to easily and safely tilt the tilting portion of the nursing robot used when the care recipient who is sleeping on the bed is transferred to the wheelchair. Play.

It is the schematic of a robot. It is the schematic of the state which tilted the robot. It is a block diagram of a control device concerning one embodiment of the present invention. It is a circuit diagram of the same embodiment. It is a plane schematic diagram of an operation panel. It is a block diagram of an input signal processing part. It is a block diagram of an arithmetic processing part.

  Hereinafter, although the present invention is explained based on an embodiment, referring to an accompanying drawing, the present invention is not limited only to this embodiment.

In order to facilitate understanding of the control of the control device of the present invention, the configuration of the robot R controlled by the control device will be briefly described. In the following description, the left side and the right side mean the left side and the right side when viewed from the back of the robot R.
FIG. 1 schematically shows the robot R, and FIG. 2 shows a state in which the robot R is tilted.

  As shown in FIGS. 1 and 2, the robot R is configured such that a tilting portion 2 is tilted on a base 1 that can be run and a lifting shaft 3 that moves the tilting portion 2 up and down is disposed. . The base 1 is also provided with a battery B that constitutes a power source for the control device 100 and a power source for the lifting shaft 3.

  The lifting shaft 3 is disposed adjacent to the central lifting shaft 3C disposed in the center, the right lifting shaft 3R disposed adjacent to the right side of the central lifting shaft 3C, and the left side of the central lifting shaft 3C. Left-hand lifting shaft 3L. Here, the right elevating shaft 3R and the left elevating shaft 3L are drive shafts, and the central elevating shaft 3C is a driven shaft driven by the drive shaft. The drive shaft is screw-driven so that its position is maintained when stopped, and a proximity sensor (not shown) is built in each of the upper limit position and the lower limit position. It is designed to stop automatically.

  As shown in FIG. 1, the tilting portion 2 is tilted by a sun gear (not shown) disposed at the upper end of the central lifting shaft 3C and a right planetary gear (not illustrated) disposed at the upper end of the right lifting shaft 3R. The tilting member 2a of the tilting portion 2 is tilted by a tilting mechanism centering on the planetary gear mechanism 4 constituted by a left planetary gear (not shown) disposed on the upper end of the left lifting shaft 3L. Is made by The tilting unit 2 is lifted and lowered by lifting and lowering the tilting member 2a of the tilting unit 2 by synchronizing the right lifting shaft 3R and the left lifting shaft 3L.

  In the present embodiment, the operating range of the tilting part 2 by the lifting shaft 3 is set to be in the range of 750 mm to 1150 mm, and the tilting angle of the tilting part 2 is in the range of 45 degrees upward from the horizontal on the side where the head is located. To be made. However, the raising / lowering range and the tilt angle range are not limited to the above, and the tilt angle range may be appropriately set within a range not exceeding 90 degrees.

  FIG. 3 is a block diagram showing the control device 100 of the present invention.

  As shown in FIG. 3, the control device 100 includes a signal input unit 110, an input signal processing unit 120, a storage unit 130, an arithmetic processing unit 140, a current command value generation unit 150, and a signal output unit 160. It is supposed to be provided as a main part. The control device 100 configured as described above is configured mainly with a microcomputer in which a program for realizing functions to be described later is stored. FIG. 4 shows a circuit.

  The signal input unit 110 receives signals from an operation command knob (operation instruction means) 5 for the lifting shaft 3 provided in the robot R, a switch, and an acceleration sensor (acceleration detection means) 7, and then the input signal Are output to the input signal processing unit 120 and the storage unit 130.

  Here, the acceleration sensor 7 is a three-dimensional acceleration sensor. However, the acceleration sensor 7 is not limited to the three-dimensional acceleration sensor, and it is sufficient that the tilt angle of the tilt portion can be calculated from at least the acceleration.

  As shown in FIG. 2, the operation command knob 5 includes a right knob 5R disposed at the top of the right operation lever LR and a left knob 5L disposed at the top of the left operation lever LL. The operation command for each lifting shaft 3 is generated.

  Here, an example of the operation command signal from the right knob 5R and the left knob 5L will be schematically described.

  When the right knob 5R and the left knob 5L are simultaneously turned in the opposite direction (upward), an ascending command signal is generated that is proportional to the amount of rotation of the right elevator shaft 3R and the left elevator shaft 3L. That is, ascending command signals for the right elevating shaft 3R and the left elevating shaft 3L are generated such that the greater the amount of rotation, the faster the ascending speed. On the other hand, when the right knob 5R and the left knob 5L are simultaneously turned forward (downward), a lowering command signal proportional to the amount of rotation with respect to the right lifting shaft 3R and the left lifting shaft 3L is generated. That is, a lowering command signal for the right elevating shaft 3R and the left elevating shaft 3L is generated such that the descending speed increases as the amount of rotation increases. When stopping lifting, return the right and left knobs to zero. Here, the return to the zero point is automatically performed by a spring built in the knob.

  Note that processing when the amounts of rotation of the right knob 5R and the left knob 5L do not match will be described later.

  Further, when the right knob 5R is turned in the forward direction (upward) while the head is on the right side, the right lifting shaft is turned so that the right side is up when the left knob 5L is turned forward (downward). While an upward command signal proportional to the amount rotated with respect to 3R is generated, a downward signal proportional to the amount rotated with respect to the left lifting shaft 3L is generated so that the left side is downward. In the opposite case, a reverse command signal is generated. When stopping the tilting, the right knob 5R and the left knob 5L are returned to the zero point.

  The processing when the absolute values of the amounts turned by the right knob 5R and the left knob 5L do not match will be described later.

  As shown in FIG. 5, the switch includes a head position indicating switch (head position indicating means) 8 that indicates the position of the head disposed on the operation panel P. The head position indicating switch 8 includes a right indicating switch 8R indicating that the position of the head is on the right side and a left indicating switch 8L indicating that the position of the head is on the left side. The right indicating switch 8R and the left indicating switch 8L are configured so that when one is on, the other is off.

  Although not shown, the acceleration sensor (three-dimensional acceleration sensor) 7 is disposed on the central upper surface of the main tilting member 2a.

  As shown in FIG. 5, the operation panel P also includes a head position indicating lamp 9 that displays the position of the head. The head position indicating lamp 9 indicates that the position of the head is on the right side, that is, the right indicating lamp 9R that is lit when the right indicating switch 8R is turned on, and that the position of the head is on the left side, that is, the left side. The left indicator lamp 9L is turned on when the instruction switch 8L is turned on.

  The operation panel P is also provided with an emergency stop switch ES for cutting off the power supplied to the robot R in an emergency.

  The input signal processing unit 120 processes the input signal input from the signal input unit 110 and outputs the processed signal to the arithmetic processing unit 140. As shown in FIG. 6, the polarity determination for determining the polarity of the operation command signal. Means 122, comparison means 124 that compares the absolute values of the action commands and determines the action command to be output to the arithmetic processing unit 140, and head position determination means 126 that determines the position of the head.

  The polarity determining means 122 determines the polarities of the operation command signals from the right knob 5R and the left knob 5L, determines whether the right lifting shaft 3R and the left lifting shaft 3L are raised or lowered, and outputs them to the arithmetic processing unit 140. Is done.

  For example, if the polarities of the operation command signals from the right knob 5R and the left knob 5L are both positive, an ascending command for the right elevator shaft 3R and the left elevator shaft 3L is output. Conversely, if the polarities of the operation command signals from the right knob 5R and the left knob 5L are both negative, a lowering command for the right lifting shaft 3R and the left lifting shaft 3L is output.

  Further, if the polarity of the operation command signal from the right knob 5R is positive and the polarity of the operation command signal from the left knob 5L is negative, an up command for the right lifting shaft 3R is output, while a lowering command for the left lifting shaft 3L. Is output. In the opposite case, a lowering command for the right elevating shaft 3R is output, while an ascending command for the left elevating shaft 3L is output.

  The comparison means 124 compares the absolute values of the operation command signal from the right knob 5R and the operation command signal from the left knob 5L, and outputs a small value as an operation command value (decision operation command value). . Therefore, when the operation command signal from the right knob 5R or the left knob 5L is not input, the determined operation command value becomes zero, and no up and down or tilting is performed, and safety is ensured.

  The head position determination unit 126 determines whether the head position is on the right side or the left side based on a signal from the head position instruction switch 8 and outputs the result to the arithmetic processing unit 140. The That is, an instruction that the head position is on the right side is output to the arithmetic processing unit 140 based on the input signal from the right instruction switch 8R, and the head position is on the left side based on the input signal from the left instruction switch 8L. Is output to the arithmetic processing unit 140.

  The storage unit 130 stores the signal from the signal input unit 110 and also stores data related to the operating range of the tilting unit 2.

  The arithmetic processing unit 140 performs arithmetic processing based on the signal input from the input signal processing unit 120 and the data stored in the storage unit 130, and the result is input to the current command value generation unit 150 as a speed command value, for example. It is supposed to output.

  Hereinafter, the arithmetic processing unit 140 will be described in detail with reference to FIG.

  The arithmetic processing unit 140 includes a tilt processing section 142, and outputs the calculated ascending / descending speed to the current command value generating unit 150 as a speed command value, for example.

  The tilt processing section 142 includes tilt speed command generation means (tilt command value generation means) 144 and limit processing means 145, and performs the following arithmetic processing.

When the head is raised when the head is on the right side The tilting speed command generation means 144 has a positive polarity of the operation command signal from the right knob 5R and a negative polarity of the operation command signal from the left knob 5L. When the determination is made, that is, when the raising command is given to the lifting shaft 3 on the side where the head is located, the speed command value corresponding to the determined operation command value is set to the right lifting shaft 3R (up) and the left lifting shaft 3L (down). Generate for.

  The limit processing unit 145 performs limit processing on the speed command value generated by the tilting speed command generation unit 144 as follows.

  First, the signal from the acceleration sensor 7 is arithmetically processed to calculate an increase angle, and then it is determined whether or not the calculated angle falls within the tilting range. If it is determined that the tilt range is exceeded, limit processing is performed on the speed command value. That is, a part of the speed command value is cut and processing is performed so that the tilt angle does not exceed the tilt range by the increased angle. However, even within the tilting range, the tilting is stopped if the rising of the right lifting shaft 3R reaches the upper limit position.

  When the head is on the left side, the reverse process is performed.

When the head is lowered when the head is on the right side The tilting speed command generation means 144 determines that the polarity of the operation command signal from the right knob 5R is negative and the polarity of the operation command signal from the left knob is positive. In other words, when a lowering command is issued to the lifting shaft 3 on the side where the head is located, speed command values corresponding to the determined operation command values are applied to the right lifting shaft 3R (down) and the left lifting shaft 3L (up). To generate.

  The limit processing unit 145 performs limit processing on the speed command value generated by the tilting speed command generation unit as follows.

  First, the signal from the acceleration sensor 7 is arithmetically processed to calculate a decrease angle, and then it is determined whether or not the calculated angle falls within the tilting range. If it is determined that the tilt range is exceeded, limit processing is performed on the speed command value. That is, a part of the speed command value is cut and processing is performed so that the tilt angle does not exceed the tilt range by the decrease angle. However, even within the tilting range, if the lowering of the right elevating shaft 3R reaches the lower limit position, the tilting is stopped.

  When the head is on the left side, the reverse process is performed.

  The current command value generation unit 150 generates current command values for the elevating shafts 3R and 3L based on the speed command value input from the arithmetic processing unit 140 and outputs the current command values to the signal output unit 160. The generation of the current command value is performed by a known method using data necessary for generating the current command value stored in the storage unit 130.

  As described above, according to the present embodiment, the tilting portion 2 can be tilted by a simple operation of turning the knobs 5R and 5L disposed on the tops of the operation levers LR and LL. Can be easily done.

  As mentioned above, although this invention has been demonstrated based on embodiment, this invention is not limited only to this embodiment, A various change is possible.

  For example, the operation instruction means for the elevating shaft 3 is not limited to the example shown in the present embodiment, and various modifications can be made. For example, the present invention is not limited to the operation levers LR and LL top knobs 5 as shown in the present embodiment, and various shapes can be used, and the positions can also be set appropriately. A combination with a force sensor is also possible.

  The present invention can be applied to the robot industry and the care industry.

R Robot B Battery P Operation panel ES Emergency stop switch LR Right operation lever LL Left operation lever 1 Base part 2 Tilt part 2a Tilt member 3 Lifting shaft 3C Central lifting shaft 3R Right lifting shaft 3L Left lifting shaft 4 Planetary gear mechanism 5 For operation command Knob 5R Right knob 5L Left knob 7 Acceleration sensor 8 Head position indicating switch 8R Right indicating switch 8L Right indicating switch 9 Head position indicating lamp 9R Right indicating lamp 9L Left indicating lamp 100 Controller 110 Signal input unit 120 Input signal processing unit 122 polarity determination unit 124 comparison unit 126 head position determination unit 130 storage unit 140 arithmetic processing unit 142 tilt processing section 144 tilt speed command generation unit 145 limit processing unit 150 current command value generation unit 160 signal output unit

Claims (4)

A robot control device,
The robot includes a tilting portion having a tilting member tilted by a pair of lifting shafts,
The tilting part has acceleration detecting means,
The control device includes a signal input unit, an input signal processing unit, an arithmetic processing unit, a drive command value generation unit, and a signal output unit,
The arithmetic processing unit has a tilt processing section,
The tilting processing section includes tilting command value generation means and limit processing means. The robot includes one operation instruction means for generating an operation command for one lifting axis, the other operation instruction means for generating an operation command for the other lifting axis, and a head position instruction means for indicating the position of the head. Have
The input signal processing unit includes a head for determining head position based on signals from polarity determination means for determining the polarity of the motion command, comparison means for comparing the magnitude of the motion command, and head position instruction means. The control apparatus according to claim 1, further comprising a part position determination unit.   3. The control apparatus according to claim 2, wherein the comparing means selects the smaller absolute value of the input signal.   2. The control apparatus according to claim 1, wherein the limit processing means calculates a tilt angle from the acceleration.

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