JP2015134105A - Transfer robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a transfer robot capable of detecting a highly risky movement of a care-receiver, and giving warning.SOLUTION: There is provided a transfer robot (100) on which a care-receiver (D) rides. The transfer robot (100) includes a force detection part (22, 222, 322, 422, or 522), a notification part (23), and a control part (25). The force detection part (22, 222, 322, 422, or 522) detects the force that the care-receiver (D) imparts to the transfer robot (100, 200, 300, 400, or 500). The notification part (23) notifies a care-giver of the warning. The control part (25) notifies of the warning by the notification part (23) when the force of a predetermined threshold or more is detected by the force detection part (22, 222, 322, 422, or 522) for a predetermined time or more.

Description

  The present invention relates to a transfer robot, and more particularly to a transfer robot on which a care recipient is boarded.

  A caregiver may transfer a cared person who is difficult to walk independently, for example, from a bed to a wheelchair or from a bed to a toilet seat. In such a case, a transfer robot is used.

  On the other hand, Patent Document 1 discloses a stand-up auxiliary chair that assists a user's stand-up as a training device that assists the user's exercise and training. This stand-up auxiliary chair assists the user's stand-up by detecting the force applied to the seat by a sensor and pushing up the seat based on the detected force.

  Similar to the stand-up assistance chair disclosed in Patent Document 1, there is a transfer robot that detects a force applied to the transfer robot body by a sensor. Such a transfer robot can detect the movement of the care recipient.

JP2013-135828A

  By the way, a cared person may perform a high-risk operation. In such a case, it has been difficult for the transfer robot that detects the force applied to the transfer robot body described above with a sensor to detect only the operation with high risk of the care recipient. As an operation at a high risk of the cared person, for example, when the carer leaves the transfer robot, an operation of forcibly leaving the cared person from the transfer robot can be cited.

  Therefore, the present invention has been made against the background described above, and it is an object of the present invention to provide a transfer robot that can issue a warning when a cared person performs a high-risk operation.

The transfer robot according to the present invention is:
A transfer robot for carrying a cared person,
A force detection unit (for example, a force sensor) that detects a force applied to the transfer robot by the care recipient;
A notification unit (for example, a buzzer, a lamp, wireless communication) for notifying a caregiver of a warning;
A control unit (for example, an arithmetic processing unit) that notifies a warning by the notification unit when a force equal to or greater than a predetermined threshold is detected by the force detection unit for a predetermined time or more;
Is provided.

  According to such a configuration, a warning can be notified to the caregiver when a force equal to or greater than a predetermined threshold is detected for a predetermined time or more with respect to the transfer robot.

  According to the present invention, it is possible to provide a transfer robot capable of notifying a caregiver of a warning when a cared person performs a high-risk operation.

1 is a schematic diagram of a transfer robot according to a first embodiment. It is a block diagram of the transfer robot concerning Embodiment 1. FIG. 3 is a flowchart illustrating an example of an operation of the transfer robot according to the first exemplary embodiment. FIG. 6 is a schematic diagram of a transfer robot according to a second embodiment. FIG. 6 is a schematic diagram of a transfer robot according to a third embodiment. FIG. 10 is a schematic diagram of a transfer robot according to a fourth embodiment. FIG. 10 is a schematic diagram of a transfer robot according to a fifth embodiment. FIG. 10 is a schematic diagram of a main part of a transfer robot according to a fifth embodiment. FIG. 10 is a schematic diagram of a main part of a transfer robot according to a fifth embodiment.

Embodiment 1 FIG.
A transfer robot according to the first embodiment will be described with reference to FIG. FIG. 1 is a schematic diagram of a transfer robot according to the first embodiment.

  As shown in FIG. 1, the transfer robot 100 includes a carriage 1, a support portion 2, an arm 3, and a body holder 4. The transfer robot 100 is placed on the floor surface F, and is used, for example, when the care receiver D moves from a bed (not shown) to the toilet seat TS.

  The carriage 1 includes a base 11, wheels 12, a brake 13, and a brake state detector 14. The base 11 is a plate-like body that supports the care receiver D's feet. A plurality of wheels 12 are rotatably installed on the bottom surface of the base 11. The brake 13 can brake and lock at least one wheel 12. The brake state detector 14 detects brake state detection information indicating that the wheel 12 is in a locked state or an unlocked state.

  The support portion 2 is a housing that is installed on the base 11 of the carriage 1. The support unit 2 includes a handle 21, a force sensor 22, a buzzer 23, and an arithmetic processing device 24 (described later). The handle 21 is attached to the upper surface of the support portion 2. The handle 21 is gripped and operated by the care receiver D. The transfer robot 100 can move in a predetermined direction according to the operation of the handle 21. The force sensor 22 is installed at the base of the handle 21. The force sensor 22 detects the force applied to the handle 21. The buzzer 23 is installed in front of the support unit 2. The buzzer 23 emits a warning sound toward the front of the transfer robot 100.

  The arm 3 is rotatably supported by the support portion 2. The body holder 4 is rotatably supported at the end of the arm 3. The body holder 4 holds the trunk of the care receiver D. The body holder 4 has a blade-like side surface holding portion 41 extending on both sides. In the state where the side surface holding part 41 is opened, the body holder 4 can receive and hold the trunk of the cared person D. When the side holder 41 is closed while the body holder 4 receives the trunk of the cared person D, the body holder 4 holds the body of the cared person D more securely.

  Next, the configuration of the transfer robot 100 according to the first embodiment will be described with reference to FIGS. 1 and 2. FIG. 2 is a configuration diagram of the transfer robot according to the first embodiment.

  The brake state detector 14 outputs brake state detection information to the arithmetic processing unit 24. The force sensor 22 outputs force information to the arithmetic processing unit 24 when detecting the force applied to the handle 21. The force information includes the direction and magnitude of the force.

  The arithmetic processing unit 24 includes, for example, an arithmetic circuit having a CPU (Central Processing Unit) and a storage device having a program memory, a data memory, other RAM (Random Access Memory), a ROM (Read Only Memory), and the like. . The storage device may store a control program for performing necessary control as the transfer robot. The arithmetic processing unit 24 sends a notification command to the buzzer 23 based on outputs from the brake state detector 14 and the force sensor 22. Specifically, the arithmetic processing device 24 calculates the operation force of the care receiver D based on the force information from the force sensor 22. Further, when the buzzer 23 receives a notification command from the arithmetic processing unit 24, the buzzer 23 emits a warning sound.

An example of operation.
Next, an example of the operation of the transfer robot according to the first embodiment will be described with reference to FIGS. 1 and 3. FIG. 3 is a flowchart of an example of the operation of the transfer robot according to the first embodiment.

  As shown in FIG. 1, prior to the operation of the transfer robot 100, the care receiver D is transferred from the bed or the like to the toilet seat TS by the transfer robot 100. Further, a caregiver (not shown) who cares for the care receiver D locks the wheel 12 with the brake 13 and puts the wheel 12 into a locked state. Furthermore, in order to protect the privacy of excretion of the cared person D, the carer has moved to a remote location that cannot be seen from the cared person D. Here, the cared person D is sandwiched between the toilet seat TS, the toilet bowl TO, and the transfer robot 100, and is in a state where it is difficult to leave the transfer robot 100 and the toilet seat TS. The cared person D may take a high-risk behavior in order to forcibly leave the toilet seat TS. When the care receiver D forcibly leaves the toilet seat TS, there is a high possibility that a force is applied to the transfer robot 100 in a predetermined direction for a predetermined time.

  As shown in FIG. 3, the force applied to the handle 21 is detected and force information is acquired (force information acquisition step S1). Subsequently, the operation force of the care receiver D is calculated based on the force information (operation force calculation step S2).

  Subsequently, brake state information is acquired (brake state information acquisition step S3), and it is confirmed from the brake state information that the wheel 12 is in a locked state (brake lock state confirmation step S4: YES).

  Subsequently, it is confirmed that the operation force is higher than a predetermined threshold value F1 in the X direction for a predetermined time t1 (operation force confirmation step S5: YES). In order for the cared person D to spontaneously leave the transfer robot 200 while the carer is away from the cared person D, a force equal to or greater than the threshold F1 is applied to the handle 21 in the X direction for a predetermined time t1. May give. In such a case, the operating force is confirmed. The predetermined time t1 and the threshold value F1 can be set to various values. The predetermined time t1 is, for example, 3 seconds, and the threshold value F1 is, for example, 50N.

  Then, a warning sound is emitted from the buzzer 23 to notify the caregiver of the warning (warning notification step S6). Thereby, the caregiver can know about the operation | movement with high risk of the care receiver D. The wheel 12 is in an unlocked state (braking state confirmation step S4: NO), or the operation force is not higher than a predetermined threshold value F1 in the X direction for a predetermined time t1 (operation force confirmation step S5: NO). ) Will not sound a warning sound.

  As described above, according to the transfer robot 100 according to the first embodiment, it is possible to detect a high-risk operation of the care receiver D and make a warning to the caregiver.

Embodiment 2. FIG.
A transfer robot according to the second embodiment will be described with reference to FIG. FIG. 4 is a schematic diagram of the transfer robot according to the second embodiment. The transfer robot according to the second embodiment is different from the transfer robot according to the first embodiment only in that the force sensor is installed on the base or support portion of the carriage, and is common in other configurations. Description of common configurations is omitted, and different configurations are described.

  As shown in FIG. 4, the transfer robot 200 includes a force sensor 222 installed on the upper surface of the base 11. The force sensor 222 is preferably installed on the upper surface of the base 11 so that the force sensor 222 is directly below the care receiver D's foot. The force sensor 222 may be installed on the base 11 side on the back surface of the support portion 2. The force sensor 222 detects the pedaling force of the cared person D and outputs the pedaling force information to the arithmetic processing unit 24.

  As a result, the transfer robot 200 generates a warning sound when it detects a pedaling force equal to or greater than the predetermined threshold F1 for a predetermined time t1 while the wheels 12 are locked. Here, in order for the care receiver D to move away from the transfer robot 200 as a risky operation, the base 11 may be stepped on strongly. Even in such a case, the transfer robot 200 can issue a warning sound and notify the caregiver if the wheel 12 is locked.

  As described above, according to the transfer robot 200 according to the second embodiment, as with the transfer robot 100 according to the first embodiment, it is possible to detect a high-risk operation of the care receiver D and make the warning a caregiver. it can.

Embodiment 3 FIG.
A transfer robot according to the third embodiment will be described with reference to FIG. FIG. 5 is a schematic diagram of the transfer robot according to the third embodiment. The transfer robot according to the third embodiment is different from the transfer robot according to the first embodiment only in that a force sensor is installed at the lower end of the body holder, and is common in other configurations. Description of common configurations is omitted, and different configurations are described.

  As shown in FIG. 5, the transfer robot 300 includes a force sensor 322 installed at the lower end of the body holder 4. When the cared person D gets on the transfer robot 300, the force sensor 322 is preferably installed so as to be above the thigh of the cared person D. When the cared person D flips up the body holder 4, the force sensor 222 detects the force of the cared person D about to jump up and outputs the force information to the arithmetic processing device 24.

  Thereby, the transfer robot 300 generates a warning sound when detecting a force equal to or greater than the predetermined threshold F1 for a predetermined time t1 while the wheels 12 are locked. Here, as a high-risk operation, the cared person D may take an action of jumping up the body holder 4 in order to spontaneously leave the transfer robot 300. Even in such a case, if the wheel 12 is locked, the transfer robot 300 can emit a warning sound and notify the caregiver.

  As described above, according to the transfer robot 300 according to the third embodiment, similar to the transfer robot 100 according to the first embodiment, it is possible to detect a high-risk operation of the care receiver D and make a warning as a caregiver. it can.

Embodiment 4 FIG.
A transfer robot according to the fourth embodiment will be described with reference to FIG. FIG. 6 is a schematic diagram of the transfer robot according to the fourth embodiment. The transfer robot according to the fourth exemplary embodiment differs from the transfer robot according to the first exemplary embodiment only in that the force sensor is installed on the side surface holding unit, and is common to other configurations. Description of common configurations is omitted, and different configurations are described.

  As shown in FIG. 6, the transfer robot 400 includes a force sensor 422 installed on the side surface holding unit 41. When the cared person D gets on the transfer robot 400 and the side surface holding part 41 closes, it is preferable that the force sensor 422 contacts or faces the trunk of the cared person D. When the cared person D tries to open the side surface holding part 41, the force sensor 422 detects the force of the cared person D to open and outputs the force information to the arithmetic processing unit 24.

  As a result, the transfer robot 400 generates a warning sound when detecting a force equal to or greater than the predetermined threshold F1 for a predetermined time t1 while the wheels 12 are locked. Here, the care receiver D may attempt to open the side surface holding portion 41 in order to voluntarily leave the transfer robot 400 as a risky operation. Even in such a case, the transfer robot 400 can issue a warning sound and notify the caregiver if the wheel 12 is locked.

  As described above, according to the transfer robot 400 according to the fourth embodiment, similar to the transfer robot 100 according to the first embodiment, it is possible to detect a high-risk operation of the care receiver D and make the warning a caregiver. it can.

Embodiment 5 FIG.
A transfer robot according to the fifth embodiment will be described with reference to FIGS. 7 to 9 are schematic diagrams of the transfer robot according to the fifth embodiment. The transfer robot according to the fifth embodiment differs from the transfer robot according to the first embodiment with respect to brakes, force sensors, and brake state detectors, and is common in other configurations. Description of common configurations is omitted, and different configurations are described.

  As shown in FIG. 7, the transfer robot 500 includes a stamp brake 513 and a force sensor 522. The stamp brake 513 is installed on the lower surface of the base 11.

  As shown in FIG. 8, the stamp type brake 513 brings the carriage 1 into the unlocked state by separating the brake pad 516 from the floor surface F. Further, as shown in FIG. 9, the stamp type brake 513 brings the carriage 1 into a locked state by pressing the brake pad 516 against the floor surface F. The brake state detector 514 detects brake state detection information indicating that the carriage 1 is in a locked state or an unlocked state. The brake state detector 514 outputs brake state detection information to the arithmetic processing unit 24. The force sensor 522 is installed in the stamp type brake 513. The force sensor 522 detects a shearing force applied to the brake pad 516 and outputs force information about the shearing force to the arithmetic processing unit 24.

  Accordingly, the transfer robot 500 generates a warning sound when detecting a force equal to or greater than the predetermined threshold F1 for a predetermined time t1 while the carriage 1 is locked. Here, in order for the cared person D to move away from the transfer robot 500 spontaneously as a high-risk operation, force may be applied to the transfer robot 500. Even in such a case, if the cart 1 is in a locked state, the transfer robot 500 can emit a warning sound and notify the caregiver.

  As described above, according to the transfer robot 500 according to the fifth embodiment, similar to the transfer robot 100 according to the first embodiment, it is possible to detect a high-risk operation of the care receiver D and make the warning a caregiver. it can.

  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, although the transfer robot according to the first to fifth embodiments uses a buzzer as a notification unit, illumination such as a lamp or wireless communication may be used instead of the buzzer. Examples of wireless communication include feature phones, smartphones, and wearable terminals.

100, 200, 300, 400, 500 Transfer robot 1 Cart 2 Support unit 3 Arm 4 Body holder 11 Base 12 Wheels 13, 513 Brake 14, 514 Brake state detector 21 Handle
22, 222, 322, 422, 522 Force sensor 23 Buzzer 24 Arithmetic processing device

Claims (1)

A transfer robot for carrying a cared person,
A force detection unit for detecting a force applied to the transfer robot by the care recipient;
A notification unit for notifying caregivers of warnings;
A control unit for notifying a warning by the notification unit when a force equal to or greater than a predetermined threshold is detected by the force detection unit for a predetermined time; and
Transfer robot equipped with.

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