JP2019055058A - Electric bed - Google Patents

Abstract

To provide an electric bed that has achieved less expensive and highly accurate feedback control, and is capable of executing interlocking control for a back angle and a knee angle with improved usability.SOLUTION: An electric bed 1 includes an operation signal control unit 50 for executing interlocking control of a movable part of a landing part 18 involved in adjustment of a back angle and a knee angle. The operation signal control unit 50 includes a storage part 504 for storing a plurality of interlocking control points on a coordinate plane of the back angle and the knee angle involved in the interlocking control, an interlocking control setting value calculation part 506 for calculating a setting value for executing the interlocking control from a start reference point toward an actual target point calculated according to a predetermined control line, and an FB control part 30 for calculating a start reference point indicating coordinate points of the back angle and the knee angle on the basis of a sensor signal from a sensor for detecting operation of the movable part involved in a motion of the landing part 18, and executing switching type feedback control on the basis of switching between monitoring of both the back angle and the knee angle, and monitoring of one of them on the back angle and the knee angle involved in interlocking operation on the basis of the setting value.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a technology of an electric bed that can control the undulation operation, and more particularly, to an electric bed for treatment or nursing care.

  Conventionally, a technique is known in which an actuator is driven via a motor to operate a link mechanism to raise and lower a bed (for example, see Patent Document 1). Such an electric bed is mainly used for medical treatment in a hospital or nursing care in a home.

  In order to realize this undulation operation in the electric bed, link mechanisms of various structures have been put into practical use, and some use a hydraulic actuator and others use a motor type actuator. In many cases, the link mechanism is operated by driving an actuator via the actuator. In particular, an electric bed for treatment or nursing can generally adjust three operations, ie, a back-raising angle, a knee-lifting height, and a bed height, in an almost stepless manner.

  However, such electric beds are roughly classified into two types: a first type that does not perform feedback control and a second type that performs feedback control.

  In the first type, while the operator confirms the display value displayed on the operation switch, the actuator is driven via the motor to operate the link mechanism, and the operator operates the position at the position where the desired value is obtained. It is to stop. Many of the first type electric beds are relatively inexpensive.

  However, for example, in the case where the subject of treatment or care using an electric bed is restricted with respect to its back angle, knee height, and bed height under the guidance of a doctor, the first type electric bed The back raising angle, the knee raising height, and the bed height are arbitrarily adjusted according to the judgment of the operator, so that there is a possibility that the operation is erroneously performed.

  Therefore, in the second type, setting values that restrict the back-raising angle, knee-lifting height, and bed height are input in advance using the operation switch, and the actuator is driven via a motor to link the mechanism. When the motor is operated, the amount of rotation of the motor is detected by an encoder or a potentiometer to perform feedback control.

  In this second type of electric bed, for example, when a subject of treatment or care using an electric bed is restricted with regard to its back angle, knee height, and bed height under the guidance of a doctor, Corresponding set values are set in advance using operation switches. And when an operator drives an actuator via a motor with a switch for operation and operates a link mechanism, it operates without exceeding the set value by feedback control. For this reason, the second type electric bed is realized as a safe and secure electric bed for the operator or for the target of treatment or care.

  In particular, in the second type of electric bed, fine movements to reduce the physical burden on the subject to be landed, such as variably controlling the back-up angle and the knee-lifting height simultaneously, Interlocking control relating to the knee-lifting height can be realized, and such control cannot be realized with the first type electric bed.

  FIG. 17 shows an example of a conventional typical second type electric bed 10. Referring to FIG. 17, in a typical second type electric bed 10 of the related art, a controller 12, a motor 13, an actuator 14, and a link mechanism 16 are disposed below a bed frame 17 that supports a human body. . In particular, a total of three sets of the motor 13, the actuator 14, and the link mechanism 16 are provided so that the back raising angle, the knee raising height, and the bed height can be adjusted.

  A harness for driving each motor 13 is connected to the controller 12. Each actuator 14 is connected to an output shaft of each motor 13, and a cylinder of each actuator 14 is connected to each link mechanism 16. The output shaft of each motor 13 is provided with a rotation amount detection sensor 15 for detecting the rotation amount of an encoder, a potentiometer, etc., and the output signal of this rotation amount detection sensor 15 is sent to each signal cable (see FIG. (Not shown) and connected to the controller 12.

  The operation switch 11 is connected to the controller 12, and the operator uses the switch 11 to adjust the step-up angle, the knee-lifting height, and the bed height of the landing portion 18 almost steplessly. Can be done.

  The switch 11 of the second type electric bed 10 can be operated to change the back-raising angle, the knee-lifting height, and the bed height, and exceeds a setting value that can be changed by feedback control. It works without.

  FIG. 18 shows a schematic configuration of a functional unit that realizes the entire operation of the conventional typical second type electric bed 10 as described above. Referring to FIG. 18, first, an operation signal is output from the switch 11 to the controller 12.

  When the controller 12 receives an operation signal based on a predetermined set value relating to the back raising angle, the knee raising height, and the bed height, the controller 12 supplies a drive signal to the motor 13 and realizes a corresponding operation. A rotation amount signal indicating the rotation amount of the corresponding motor 13 is input and monitored from each rotation amount detection sensor 15 such as a potentiometer or a potentiometer, and a state corresponding to the predetermined set value is obtained based on the rotation amount. Feedback control is performed.

  The cylinders of the actuators 14 that adjust the back-raising angle, the knee-lifting height, and the bed height respectively expand and contract according to the rotation of the motor 13 and are electrically driven via the link mechanisms 16 according to the expansion and contraction. The variable operation of the landing portion 18 in the bed 10 is performed.

  Further, among the second type electric beds 10, there are some which improve the usability by interlockingly controlling the operation related to raising or lowering the back and the operation related to raising or lowering the knee.

  For example, the back bottom and the knee bottom can be swung up and down respectively, and the back angle that is the lifting angle from the horizontal state of the back bottom and the knee angle that is the lifting angle from the horizontal state of the knee bottom are preset and stored. A technique is known in which the back angle and the knee angle are interlocked and controlled so as to change along the pattern (see, for example, Patent Documents 2 and 3).

  That is, in the technique of Patent Document 2, the preset pattern that connects a plurality of points between the coordinate point where the back bottom and the knee bottom are horizontal and the coordinate point where the back bottom is raised is stored in the storage unit. In addition, the interlocking control is performed so that the back angle and the knee angle change along the pattern. In particular, in the techniques of Patent Documents 2 and 3, when position control of both the back angle and the knee angle is performed, both the back angle and the knee angle are always operated and linked along the pattern connecting the points. The operation is to be performed. It should be noted that it is preferable that each pattern related to back raising and lowering is prepared in advance, and the angle is set to 3 ° or less while allowing variation of each coordinate point.

  In the technique of Patent Document 3, the coordinate plane of the back angle and the knee angle is divided into a plurality of areas based on the pattern, and the actual coordinates of the back angle and the knee angle are located at positions that are not on the pattern for each area. The movement mode of the back bottom and the knee bottom to be matched on the pattern when it is being stored in advance in the storage unit, and the back angle and the knee angle are linked and controlled according to the predetermined movement mode; It has become.

  In the techniques of Patent Documents 2 and 3, as in the case shown in FIGS. 17 and 18, the actuators that can swing the back bottom and the knee bottom up and down are controlled by rotating the motors. When expanding and contracting, the rotation amount sensor attached to the motor is monitored and feedback control is performed.

  By the way, although it is not an electric bed, the technique which uses a uniaxial acceleration sensor for the detection of the said back raising angle (namely, back angle) is disclosed (for example, refer patent document 4).

JP 2014-12054 A Japanese Patent No. 3707555 Japanese Patent No. 4179852 Japanese Patent Laying-Open No. 2015-136579

  As described above, the first type of electric bed that does not perform feedback control may be erroneously operated.

  On the other hand, the second type of electric bed that performs feedback control is realized as a safe and secure electric bed for the operator or for the target of treatment or care.

  However, the conventional second type electric bed is configured to perform feedback control using a rotation amount detection sensor that detects the rotation amount of an encoder, a potentiometer, or the like. The meter has the property that a cumulative error occurs. For this reason, encoders and potentiometers used for electric beds for treatment and nursing care are required to have extremely high accuracy and low error specifications, and are expensive. As a result, the electric bed is also expensive.

  Further, as disclosed in Patent Documents 2 and 3, the conventional second type electric bed does not detect the actual position of the landing portion, but the amount of rotation of the motor by an encoder or a potentiometer. Therefore, feedback control is performed by indirectly estimating the back-up angle, knee-lifting height, and bed height of the landing section, so there is an error between the actual landing position and the motor rotation amount. In some cases or when a situation occurs such as the landing part deforming due to secular change, it is necessary to reset or recalibrate.

  Accordingly, there is a demand for a technique that can reduce the cost of the second type electric bed that performs feedback control and realizes highly accurate feedback control.

  More preferably, with respect to the first type electric bed, it is possible to add the second type electric bed only by adding and changing components that are cheaper and easier to retrofit than newly purchasing the second type electric bed. The technique to change into an electric bed is desired.

  More preferably, a technique of changing the second type electric bed to the second type electric bed with high accuracy only by adding and changing components having a configuration easy to be retrofitted is desired.

  By the way, in the technique of Patent Document 2, “a pattern connected by a plurality of points is set in advance and stored in the storage unit”, and the back angle and the knee angle are changed so that the back angle and the knee angle change along the pre-stored pattern. The angle is linked and controlled. Further, in the technique of Patent Document 3, the coordinate planes of the back angle and the knee angle are “matched on the pattern with respect to the back bottom and the knee bottom that are not on the pattern for each of a plurality of areas divided based on the pattern. The operation mode for this purpose is determined in advance and stored in the storage unit, and the back angle and the knee angle are interlocked and controlled according to the predetermined operation mode.

  And in the technique of patent document 2, 3, since the back angle and knee angle which are calculated based on the detection of the rotation amount of the motor by an encoder or a potentiometer are assumed, both the back angle and the knee angle are interlocked. Therefore, even when connecting in a straight line as a "pattern connecting with a plurality of points", it can be controlled by simple geometric conversion based on the rotation amount of the motor, but when performing position control of both the back angle and the knee angle, Both the back angle and the knee angle are always operated, and the interlocking operation is performed along the pattern connecting the points.

  However, in the configuration in which the “pattern” and “operation mode for each area” as in the techniques of Patent Documents 2 and 3 are stored in the storage unit, when the structure of the electric bed changes, the ROM is used as the storage unit. As is understood from the fact that it is necessary to rewrite the RAM when the ROM needs to be replaced and the RAM is used, it is not planned that the user can change the pattern. There is room for improvement in terms of usability.

  Further, in the configuration in which the “pattern” and “operation mode for each area” as in the techniques of Patent Documents 2 and 3 are stored in the storage unit, the storage capacity for the storage unit is required, but the storage capacity is reduced. The accompanying cost reduction is desired. In particular, in the techniques of Patent Documents 2 and 3, since the user cannot change the “pattern” or “operation mode for each area”, and it is not easy to make it changeable, a plurality of types that can be selected by the user in advance. In this case, the memory capacity is further increased.

  The techniques of Patent Documents 2 and 3 assume the back angle and the knee angle that are calculated based on the detection of the rotation amount of the motor by an encoder or a potentiometer. If there is an error between the position of the motor and the amount of rotation of the motor, or if there is a situation where the landing part is deformed due to secular change, there is still a problem that it is necessary to reset or recalibrate. Remains.

  Further, in the configuration in which the interlock control is performed along the “pattern” and “the operation mode for each area” as in the techniques of Patent Documents 2 and 3, when the interlock control is performed along the “the operation mode for each area” according to the pattern, Depending on the position of the angle and the knee angle, there may be a jerky motion, and a technique for suppressing the jerky motion and preferably improving usability by interlocking control that is preferably a smoother motion is desired.

  In view of the above problems, an object of the present invention is to provide an electric bed that realizes feedback control with low cost and high accuracy, improves usability, and enables interlock control of the back angle and the knee angle. It is in.

  The electric bed according to the first aspect of the present invention is an electric bed capable of controlling the undulation operation by feedback control, and includes a predetermined operation including a back-up or back-down operation and a knee-up or knee-down operation with respect to the floor. Based on an operation signal for controlling the drive mechanism for performing the undulation motion of the swaying, a set value for performing interlock control of the back raising or back lowering operation and the knee raising or knee lowering operation is calculated, and the landing is performed. Operation signal control that feedback-controls the execution of the predetermined undulation operation by the drive mechanism based on the sensor signal from the predetermined sensor that directly or indirectly detects the movement of the movable part related to the movement of the part and the set value The operation signal control unit includes a back angle that is a lifting angle from a horizontal state of the movable portion of the landing portion corresponding to the back raising or lowering motion, and the knee raising or knee lowering motion. A storage unit that stores in advance a plurality of interlocking control points on a coordinate plane represented by a knee angle that is a lifting angle from a horizontal state of the movable part of the landing unit corresponding to the back angle, and a back angle based on the sensor signal And a start reference point indicating the coordinate point of the knee angle, a reference interlock control point closest to the movement direction from the start reference point as a target interlock control point, and a reference connecting the start reference point and the target interlock control point Two parallel control lines are calculated by calculating a parallel virtual line separated by a predetermined Euclidean distance from the line, and based on the two control lines and the target interlock control point, the target interlock control point The actual target point that is located on the coordinate axis of either the back angle or the knee angle and that is the closest position between the two control lines within the predetermined threshold from the target interlocking control point is calculated, and the start From the reference point to the actual target point An interlock control set value calculation unit for calculating a set value for performing interlock control of the back angle and the knee angle, and based on the set value, the drive mechanism is controlled with the actual target point as a target with respect to the start reference point The feedback control based on the monitoring of both the knee angle and the back angle is performed until the interlocking operation of the knee angle and the back angle reaches one of the two control lines. When it is determined that the target has been reached by performing feedback control based on monitoring of one of the movement directions, switching feedback control that transitions the interlocking movement of the knee angle and the back angle within the two control lines. Update the start reference point, instruct the interlock control set value calculation unit to update the set value indicating a new actual target point, perform feedback control, and control to continue operation until the operation of the interlock mode is completed And a feedback control unit.

  Further, in the electric bed according to the first aspect of the present invention, the interlock control set value calculation unit is on a plus side, a minus side, or both with respect to a reference line connecting the start reference point and the target interlock control point. Parallel virtual lines separated by a predetermined Euclidean distance are calculated, and the plus and minus virtual lines are used as the two control lines, or the reference line and the plus virtual line are controlled by the two lines. Or a predetermined calculation is performed so that the reference line and the negative virtual line are the two control lines.

  In the electric bed according to the first aspect of the present invention, when the feedback control unit compares the start reference point with the actual target point, there is a difference larger than a predetermined threshold for both the knee angle and the back angle. As the feedback control, when performing the switching type feedback control using the plus-side and minus-side imaginary lines as the two control lines, the interlocking operation of the knee angle and the back angle is the control line of the two control lines. When reaching the imaginary line on the plus side, the back angle is kept constant until reaching the imaginary line on the minus side, and feedback control is performed based on the monitoring of only the knee angle. Repeated control to switch to feedback control based on both monitoring, and the interlocking movement of the knee angle and the back angle reaches the negative virtual line of the two control lines The knee angle is constant until reaching the plus-side imaginary line, and feedback control based on monitoring only the back angle is performed, and after reaching the plus-side imaginary line, feedback control based on monitoring both the knee angle and the back angle It is characterized by being configured to repeat the control to switch to.

  In the electric bed according to the first aspect of the present invention, when the feedback control unit compares the start reference point with the actual target point, there is a difference larger than a predetermined threshold for both the knee angle and the back angle. As the feedback control, when the switching type feedback control is performed with the reference line and the plus-side virtual line as the two control lines, the interlocking operation of the knee angle and the back angle is performed out of the two control lines. When reaching the imaginary line on the plus side, the back angle is kept constant until reaching the reference line, and feedback control based on monitoring only the knee angle is performed.After reaching the reference line, both the knee angle and the back angle are monitored. It is characterized by being configured to repeat control to switch to feedback control based on.

  In the electric bed according to the first aspect of the present invention, when the feedback control unit compares the start reference point with the actual target point, there is a difference larger than a predetermined threshold for both the knee angle and the back angle. As the feedback control, when the switching type feedback control is performed with the reference line and the negative virtual line as the two control lines, the interlocking operation of the knee angle and the back angle is performed out of the two control lines. When reaching the imaginary line on the minus side, the knee angle is kept constant until the reference line is reached, and feedback control is performed based on monitoring only the back angle. After reaching the reference line, both the knee angle and the back angle are monitored. It is characterized by being configured to repeat control to switch to feedback control based on.

  Furthermore, the electric bed of the second aspect according to the present invention is an electric bed that can control the undulation operation by feedback control, and performs the operation of raising or lowering the back and the operation of raising or lowering the knee with respect to the landing portion. Based on an operation signal for controlling a drive mechanism that executes a predetermined undulation operation including a calculated set value for performing interlock control of the back raising or back lowering operation and the knee raising or knee lowering operation, Operation for feedback control of execution of the predetermined undulation operation by the drive mechanism based on a sensor signal and a set value from a predetermined sensor that directly or indirectly detects the operation of the movable part related to the movement of the landing portion A signal control unit, wherein the operation signal control unit is a back angle that is a lifting angle from a horizontal state of a movable part of the landing unit corresponding to the back raising or back lowering operation, and the knee raising or below the knee A plurality of interlocking control points stored in advance on a coordinate plane represented by a knee angle that is a lifting angle from a horizontal state of the movable portion of the landing portion corresponding to the movement of the landing portion, and based on the sensor signal The start reference point indicating the coordinate point of the back angle and the knee angle is calculated, the interlock control point closest to the movement direction from the start reference point is set as the target interlock control point, and the start reference point and the target interlock control point are Interlock control setting for calculating a set value for interlocking control of the back angle and the knee angle from the start reference point toward the actual target point, with the connecting reference line as a control line and the target interlocking control point as an actual target point Based on the value calculation unit and the set value, the drive mechanism is controlled with the actual target point as a target with respect to the start reference point, and the knee angle and the knee angle until the linked operation of the knee angle and the back angle reaches a predetermined time. Monitoring both sides The feedback control based on the knee angle and the back angle is performed based on the monitoring of one of the knee angle and the back angle in the operation direction until the one control line is reached after the predetermined time has elapsed. Switch-type feedback control is performed in which the interlocking operation is corrected and shifted so as to follow one control line in the predetermined time unit. When it is determined that the target has been reached, the start reference point is updated, and the interlock control set value calculation is performed. A feedback control unit that performs an update instruction on a set value indicating a new actual target point to perform feedback control, and performs control so as to continue operation until the operation of the interlocking mode ends.

  Further, in the electric bed according to the second aspect of the present invention, when the feedback control unit compares the start reference point with the actual target point, there is a difference greater than a predetermined threshold for both the knee angle and the back angle. As the feedback control, when the switching feedback control is performed, when the interlocking operation of the knee angle and the back angle transitions to the plus side with respect to the reference line after the lapse of the predetermined time, until the reference line is reached Perform feedback control based on monitoring only the knee angle with a constant back angle.After reaching the reference line, repeat control to switch to feedback control based on monitoring both the knee angle and the back angle. When the interlocking operation shifts to the minus side with respect to the reference line after the predetermined time has elapsed, the knee angle is kept constant until the reference line is reached. It performs feedback control based on the monitoring of degree only, after reaching the reference line, characterized in that it is configured to repeat the control for switching the feedback control based on the monitoring of both the knee angle and the back angle.

  In the electric bed according to the first and second aspects of the present invention, the plurality of interlocking control points stored in the storage unit are configured to be changeable by an external operation.

  Moreover, in the electric bed according to the first and second aspects of the present invention, when the feedback control unit reaches a coordinate axis according to a predetermined reference of either the back angle or the knee angle in the coordinate value of the actual target point. It is determined that the target has been reached.

  In the electric bed according to the first and second aspects of the present invention, the drive mechanism is an actuator driven by a motor.

  In the electric bed according to the first and second aspects of the present invention, the predetermined sensor includes a rotation amount detection sensor that detects a rotation amount of a motor that drives the drive mechanism.

  Further, in the electric bed according to the first and second aspects of the present invention, the predetermined sensor is installed in a movable part related to the movement of the landing portion, and includes a gyro sensor, an angle sensor, an acceleration sensor, or an impact sensor. It consists of a state sensor.

  Moreover, in the electric bed according to the first and second aspects of the present invention, at least one state sensor is installed in the movable part, and includes one vertical axis, two vertical and horizontal axes, and vertical and vertical / vertical A state value corresponding to each axis is detected with respect to three or more absolute coordinate axes including three directions in the horizontal direction in the horizontal direction, or directions other than the vertical direction and the horizontal direction in the vertical and horizontal directions, and at least the knee angle in the movable part is detected. And a sensor capable of detecting the back angle.

  ADVANTAGE OF THE INVENTION According to this invention, the electric bed which implement | achieves feedback control with more inexpensive and highly accurate, improves usability, and enables the interlock control of a back angle and a knee angle can be comprised.

It is a figure which shows schematic structure of the electric bed of 1st Embodiment by this invention. It is a block diagram which shows schematic structure of the function part which implement | achieves the operation | movement at the time of operation of the whole electric bed of 1st Embodiment by this invention. It is a figure which shows schematic structure of the switch of the electric bed of 1st Embodiment by this invention. It is a block diagram which shows schematic structure of the controller in the electric bed of 1st Embodiment by this invention. It is a flowchart which shows the rough feedback operation | movement of the electric bed of 1st Embodiment by this invention. (A) is a coordinate plane view of a back angle and a knee angle showing an example of a set value of an interlocking control point when raising the back in the electric bed 1 of the first embodiment according to the present invention, and (b) is a comparative example (conventional example). It is a coordinate plane view of a back angle and a knee angle showing a back raising pattern based on technology. (A) is a coordinate plane view of a back angle and a knee angle showing an example of a set value of an interlocking control point at the time of lowering in the electric bed 1 of the first embodiment according to the present invention, and (b) is a comparative example (conventional example). It is a coordinate plane view of a back angle and a knee angle showing a back-lowering pattern based on technology. It is a flowchart which shows the interlock control of Example 1 in the electric bed of 1st Embodiment by this invention. It is a coordinate top view of the back angle and knee angle which shows the operation example (example 1) of the interlocking control of Example 1 in the electric bed of 1st Embodiment by this invention. It is a coordinate top view of the back angle and knee angle which shows the operation example (example 2) of the interlocking control of Example 1 in the electric bed of 1st Embodiment by this invention. It is a coordinate top view of the back angle and knee angle which shows the operation example (example 3) of the interlocking control of Example 1 in the electric bed of 1st Embodiment by this invention. It is a flowchart which shows the interlock control of Example 2 in the electric bed of 1st Embodiment by this invention. It is a coordinate top view of the back angle and knee angle which shows the operation example of the interlocking control of Example 2 in the electric bed of 1st Embodiment by this invention. It is a figure which shows schematic structure of the electric bed of 2nd Embodiment by this invention. It is a block diagram which shows schematic structure of the function part which implement | achieves the operation | movement at the time of operation of the whole electric bed of 2nd Embodiment by this invention. It is a flowchart which shows the rough feedback operation | movement of the electric bed of 2nd Embodiment by this invention. It is a figure which shows the example of the conventional typical 2nd type electric bed. It is a block diagram which shows schematic structure of the function part which implement | achieves the operation | movement at the time of the whole operation of the conventional typical 2nd type electric bed.

  Hereinafter, with reference to drawings, electric bed 1 of each embodiment by the present invention is explained.

[First Embodiment]
(Device configuration)
FIG. 1 is a diagram showing a schematic configuration of an electric bed 1 according to a first embodiment of the present invention. FIG. 2 is a block diagram showing a schematic configuration of a functional unit that realizes an operation during the entire operation of the electric bed 1 according to the first embodiment of the present invention. 1 and 2, the same reference numerals are assigned to the same components as those of the conventional electric bed 10 shown in FIGS. 17 and 18.

  Referring to FIGS. 1 and 2, the electric bed 1 according to the first embodiment of the present invention has an amount of rotation such as an encoder and a potentiometer as compared with the conventional electric bed 10 shown in FIGS. An operation signal control unit 50 is provided inside the controller 12, a point where the rotation amount detection sensor to be detected is not provided, a point where the three state sensors 20 a, 20 b, and 20 c are provided, and an inside of the controller 12. Are different in that a feedback (FB) control unit 30 based on sensor signals from the state sensors 20a, 20b, and 20c is provided, but the other components are the same. Here, the details of the operation signal control unit 50 will be described later, and the operation of the feedback (FB) control unit 30 will be mainly described.

  More specifically, in the electric bed 1 according to the first embodiment shown in FIG. 1, a controller 12, a motor 13, an actuator 14, and a link mechanism 16 are disposed below a bed frame 17 that supports a human body. In particular, a total of three sets of the motor 13, the actuator 14, and the link mechanism 16 are provided so that the step-up angle, the knee-lifting height, and the bed height can be adjusted almost steplessly.

  A harness for driving each motor 13 is connected to the controller 12. Each actuator 14 is connected to an output shaft of each motor 13, and a cylinder of each actuator 14 is connected to each link mechanism 16.

  The operation switch 11 is connected to the controller 12, and the operator uses the switch 11 to set a predetermined set value for the back raising angle, the knee raising height, and the bed height of the landing portion 18. Individual operation that performs almost stepless adjustment within the range and, as will be described in detail later, based on interlocking control points that can be changed, selectively operate the interlocking operation that interlocks the back-raising angle and knee-lifting height. It can be done.

  By the way, in the electric bed 1 of the first embodiment, three state sensors 20a, 20b, and 20c are provided at the positions of the movable parts with respect to the back raising angle, the knee-lifting height, and the bed height of the landing portion 18, respectively. Is provided. Each of the state sensors 20a, 20b, and 20c can be any one of a gyro sensor, an angle sensor, an acceleration sensor, and an impact sensor for detecting a state change in one dimension or more. The sensor signals output from the three state sensors 20a, 20b, and 20c are connected to the controller 12 via respective signal cables indicated by broken lines.

(Status sensor)
The state sensors (three state sensors 20a, 20b, and 20c in this example) used for feedback control according to the present embodiment detect one-dimensional or multi-dimensional state changes, and raise the back angle, knee-lifting height, and bed. Any position capable of detecting a position corresponding to each undulation operation such as height may be used. In particular, in order to detect the position corresponding to the undulation operation, it is preferable to use a sensor that can detect the inclination of the movable part where the state sensor is installed with respect to the absolute coordinate axis.

  As a precaution, these specific sensors will be described. First, the gyro sensor is also called a rotational angular velocity sensor, and there are various mechanisms such as a vibration type, a geomagnetic type, an optical type, a thermal type, or a mechanical type. However, as the most commonly installed in consumer devices, there is one type of IC type (one-dimensional such as up / down, left / right, and front / rear) and three axes (three-dimensional xyz axis such as up / down, left / right, and front / rear) There is a vibration type gyro sensor, and this vibration type gyro sensor includes a capacitance method using silicon and a piezoelectric method using crystal and other piezoelectric materials. A vibratory gyro sensor is a combination of an element that moves mechanically in response to movement (state change) and an electronic circuit that processes signals based on the movement of the element. , Movement (state change) can be detected. Therefore, it can be configured as a state sensor that detects a state of a plurality of axes (multiple dimensions) by using a plurality of three-axis gyro sensors or one-axis gyro sensors.

  The angle sensor is a so-called uniaxial gyro sensor. Generally, the angle sensor emits a magnetic field or light when a rotating body that rotates according to movement (state change) and a slit provided in the rotating body pass through. Processes signals based on the same principle as a rotary encoder that combines an electronic circuit that detects blocking, a capacitive film that changes its capacitance according to movement (change in state), and a signal based on the change in capacitance There is a combination with an electronic circuit that performs this, and by detecting such a change in the rotating body or change in capacitance, it is possible to detect movement (state change). Therefore, it can be configured as a state sensor that detects a plurality of axes (multiple dimensions) using a plurality of single-axis angle sensors.

  In addition, there are various types of acceleration sensors such as vibration type, geomagnetic type, optical type, thermal type, and mechanical type, which may be treated as a kind of gyro sensor. , Right and left or front and back one-dimensional) and acceleration in each axis direction in three axes (up and down, left and right, front and rear three-dimensional), and the operation principle is different only in the processing of the electronic circuit. It is the same as the gyro sensor. Accelerometers are most commonly installed in consumer equipment, and include IC type 1 axis (one-dimensional such as up / down, left / right, front / rear) and 3 axes (up / down, left / right, front / rear xyz axis 3). In particular, in mobile phones and the like, the inclination of the mobile phone is detected by measuring the gravitational acceleration of the earth so that the screen is always displayed in the correct orientation. Therefore, it can be configured as a state sensor that detects a state of a plurality of axes (multiple dimensions) using a plurality of three-axis acceleration sensors and a plurality of one-axis acceleration sensors.

  The impact sensor is sometimes treated as a kind of acceleration sensor. Strictly speaking, a magnet that moves in response to movement (state change) and an electronic circuit that processes a signal indicating acceleration based on the movement of the magnet are included. It is a combination and is configured to simply output the strength of impact generated at the sensor site. A plurality of such single-axis impact sensors can be used to form a state sensor that detects the state of multiple axes (multiple dimensions).

  As a state sensor (three state sensors 20a, 20b, 20c in this example) used for feedback control according to the present embodiment, one axis (one-dimensional such as up / down, left / right, or front / rear) or three axes (up / down, left / right) are used. Various sensors can be used as long as they are capable of converting into a state change in the axial direction as well as a signal indicating the state change in the axial direction of the xyz axis such as front and rear.

  However, the above-described gyro sensor, angle sensor, acceleration sensor, or impact sensor is advantageous from the viewpoint of cost reduction because it is widely used for consumer use. In particular, the gyro sensor and the acceleration sensor are widely used. In addition, it is highly accurate and suitable not only for cost reduction, but also for high accuracy feedback control according to the present embodiment.

  By the way, in order to enable position control corresponding to the raising / lowering operations such as the back raising angle, the knee raising height, and the bed height, the control may be performed at an angle corresponding to the raising / lowering operation. For this reason, the feedback control according to the present embodiment can be configured only by detecting a change in the state of one axis (one-dimensional such as up / down, left / right, or front / rear).

  FIG. 2 shows a schematic configuration of a functional unit that realizes the operation during the entire operation of the electric bed 1 of the first embodiment. As shown in FIG. 2, an FB control unit 30 based on sensor signals from the state sensors 20a, 20b, and 20c is provided inside the controller 12.

  Referring to FIG. 2, first, an operation signal is output from the switch 11 to the controller 12.

  When the controller 12 receives an operation signal based on a predetermined set value relating to the back raising angle, the knee raising height, and the bed height, the controller 12 supplies a driving signal to the motor 13 and realizes a corresponding operation. A sensor signal from the state sensors 20a, 20b, and 20c is input and monitored by the function of the control unit 30, and feedback control is performed based on the sensor signal so that a state corresponding to the predetermined set value is obtained.

  The cylinders of the actuators 14 that adjust the back-raising angle, the knee-lifting height, and the bed height respectively expand and contract according to the rotation of the motor 13 and are electrically driven via the link mechanisms 16 according to the expansion and contraction. The variable operation of the landing portion 18 in the bed 10 is performed.

  Here, the state sensors 20a, 20b, and 20c are less expensive than encoders and potentiometers that are used in conventional electric beds for treatment and nursing care.

  Moreover, since the state sensors 20a, 20b, and 20c are provided at the positions of the movable parts with respect to the back raising angle, the knee-lifting height, and the bed height of the landing portion 18, the actual position of the landing portion 18 is provided. Is detected directly. For this reason, an error is absorbed between the actual position of the landing portion 18 and the rotation amount of the motor 13, and even when the landing portion 18 is deformed due to aging, the detection accuracy is hardly affected. The sensor outputs of the state sensors 20a, 20b, and 20c can be highly accurate without causing an accumulated error.

(switch)
FIG. 3 shows a schematic configuration of the switch 11 of the electric bed 1 according to the first embodiment of the present invention. Although the switch 11 schematically shows only main functions in FIG. 3, a set value display unit 111 and an operation / setting button unit 112 are provided. In the setting value display unit 111, in the individual operation mode, the current setting values for the back raising angle, the knee-lifting height, and the bed height are displayed on the respective setting display units 111a, 111b, and 111c in a liquid crystal display. Then, the liquid crystal display is performed in the form of the coordinate plane shown in FIGS. 6A and 7A described later.

  The operation / setting button section 112 is provided with a setting button 112d, an individual operation button 112f, and an interlock button 112h. When the setting button 112d is pressed, the setting mode is set and the LED display section 112e is lit, and the individual operation button 112f is turned on. When is pressed, the individual operation mode is set and the LED display unit 112g is lit, and when the interlock button 112h is pressed, the interlock mode is set and the LED display unit 112i is lit. The individual operation button 112f and the interlock button 112h are switched so that only one of them can be selected.

  When the individual operation button 112f is pressed to enter the individual operation mode and the setting button 112d is pressed while the LED display 112g is lit, the individual operation mode is set, and the up and down buttons 112a, 112b, and 112c are operated. The back raising angle, the knee-lifting height, and the bed height can be set to have desired setting values, and the setting values are displayed on the setting value display unit 111, respectively. When the setting button 112d is pressed again in a state where the LED display portion 112e indicating that it is in the setting mode is lit, the LED display portion 112e is turned off, and the individual operation mode is returned to which the LED display portion 112g is lit. .

  In the individual operation mode in which the LED display portion 112e is turned off and the LED display portion 112g is turned on, the up and down buttons 112a, 112b, and 112c can be operated within the range that does not exceed the set value, The knee-lifting height and the bed height can be changed, and it operates without exceeding the set value by feedback control.

  On the other hand, when the interlock button 112h is pressed to enter the interlock mode and the setting button 112d is pressed while the LED display section 112i is lit, the interlock control setting mode regarding the back raising angle and the knee-lifting height is set, and the up and down buttons 112a, 112b is operated to change the setting of the interlocking control regarding the back raising angle and the knee-lifting height (setting of the default value set for the interlocking control point Pn shown in FIGS. 6A and 7A described later) The value of the interlock control point Pn is displayed on the set value display unit 111 in a liquid crystal manner in the form of the coordinate plane shown in FIGS. 6 (a) and 7 (a). When the setting button 112d is pressed again in a state where the LED display portion 112e indicating that it is in the setting mode is lit, the LED display portion 112e is turned off and the interlocking mode in which the LED display portion 112i is lit is restored.

  In the interlock mode in which the LED display part 112e is turned off and the LED display part 112i is lit, the start and end of the interlock mode at the time of back-up shown in FIG. 6 (a) is operated by operating the up / down button 112a or 112b. For example, when the “△ (up)” of the up / down button 112a is pressed, the interlock mode at the time of raising the back is started, and is ended when the pressing operation is stopped. Alternatively, the interlock mode at the time of lowering is started when “▽ (down)” of the up / down button 112a is pressed, and is ended when the pressing operation is stopped.

  Even if either the up / down button 112a or the up / down button 112b is operated, it operates in the same manner as the interlock control relating to the back raising angle and the knee raising height. It does not operate as a linked control related to the height, and is the same operation as in the individual operation mode. Further, during the operation in the interlock mode, the set value display unit 111 displays the liquid crystal in the coordinate plane form shown in FIGS. 6A and 7A. It is preferable that the operating point of the back angle and the knee angle corresponding to the height is dynamically displayed.

(controller)
FIG. 4 is a block diagram showing a schematic configuration of the controller 12 in the electric bed 1 according to the first embodiment of the present invention. The controller 12 includes an operation signal control unit 50, an operation signal reception unit 51, a first sensor signal input unit 52, a second sensor signal input unit 53, a third sensor signal input unit 54, and a motor drive control unit 55. In this example, the feedback (FB) control unit 30 is incorporated in the operation signal control unit 50.

  The operation signal receiving unit 51 receives the operation signal from the switch 11 and outputs it to the operation signal control unit 50. The operation signal is a setting signal indicating desired setting values for the back-up angle, knee-lifting height, and bed height in the individual operation mode, and setting of interlocking control points related to the back-raising angle and knee-lifting height in the interlock mode. A setting signal indicating a change (increase / decrease in the default value or change in the coordinate value set for the interlock control point Pn shown in FIGS. 6A and 7A described later) and the individual operation mode or the interlock mode It is configured in a signal format that can identify each of the execution signals that indicate that they are actually operated and operated.

  The first signal input unit 52, the second signal input unit 53, and the third signal input unit 54 input sensor signals from the state sensors 20a, 20b, and 20c, respectively, and output them to the operation signal control unit 50.

  The motor drive control unit 55 inputs an operation instruction of the individual operation mode or the interlock mode based on the operation signal (execution signal) from the switch 11 from the operation signal control unit 50, and performs the operation of the individual operation mode or the interlock mode. In order to carry out, the motor 13 consisting of the motors 13a, 13b and 13c for operating each of the back raising angle, the knee raising height and the bed height is driven.

  In particular, the motor drive control unit 55 receives a comparison signal from the feedback (FB) control unit 30 in the operation signal control unit 50, and performs feedback control based on the sensor signals from the state sensors 20a, 20b, and 20c. The motor 13 is driven to operate each of the raising angle, the knee raising height, and the bed height.

  The operation signal control unit 50 includes a signal type determination unit 501, an interlock control point setting unit 502, an individual operation setting unit 503, a storage unit 504, an individual operation / interlock determination unit 505, an interlock control setting value calculation unit 506, and an individual operation set value. A reading unit 507, an operation instruction unit 508, and a feedback (FB) control unit 30 are provided.

  The signal type discriminating unit 501 inputs sensor signals from the state sensors 20a, 20b, and 20c, discriminates the signal type, and sets the back raising angle, knee raising height, and bed height in the individual operation mode. The setting signal indicating the set value is output to the individual operation setting unit 503, and the setting change of the interlock control point related to the back raising angle and the knee-lifting height in the interlock mode (FIGS. 6A and 7A described later). A setting signal indicating increase / decrease of the default value or change of the coordinate value set for the interlocking control point Pn shown in FIG. 5 is output to the interlocking control point setting unit 502 and actually operated and operated in the individual operation mode or the interlocking mode. An execution signal indicating that the operation is to be performed is output to the individual operation / linkage determination unit 505.

  The interlocking control point setting unit 502 receives a setting signal related to the interlocking mode from the signal type determination unit 501 and stores it in the storage unit 504 so as to update and set the interlocking control points regarding the back raising angle and the knee-lifting height in the interlocking mode. When the storage unit 504 stores a default value or its previous value related to the interlock control point, the interlock control point is updated.

  The individual operation setting unit 503 receives a setting signal related to the individual operation mode from the signal type determination unit 501 and stores it in the storage unit 504 so as to hold setting values related to the back raising angle, the knee-lifting height, and the bed height in the individual mode. Remember. When the storage unit 504 stores a default value related to the set value or its previous value, the set value is updated.

  The storage unit 504 is configured by a non-volatile memory, and includes setting values relating to the back raising angle, knee-lifting height, and bed height in the individual operation mode, and interlocking control points relating to the back-raising angle and knee-lifting height in the interlocking mode. Is retained. Although details will be described later, the storage unit 504 uses the signal conversion unit 31 in the feedback (FB) control unit 30 to convert the signals of the state sensors 20a, 20b, and 20c to the back raising angle, the knee raising height, and the bed height. A table or an arithmetic expression calibrated in advance based on the installation positions of the state sensors 20a, 20b, and 20c for conversion into state values is held in advance. As the nonvolatile memory, a ROM or a RAM can be used.

  The operation signal control unit 50 can be configured as a computer having a central processing unit (CPU), and the storage unit 504 is a program for realizing each function in the read operation signal control unit 50 by the CPU. Is stored.

  The individual operation / linkage determination unit 505 receives an execution signal related to the individual operation mode or the link mode from the signal type determination unit 501 and outputs a signal indicating that the operation of the individual operation mode is performed in the individual operation mode. 507 and the operation instruction unit 508, and in the interlock mode, a signal indicating that the operation of the interlock mode is performed is output to the interlock control set value calculation unit 506 and the operation instruction unit 508.

  Note that while the execution signal of the interlock mode is input to the individual operation / interlock determination unit 505, the individual operation / interlock determination unit 505 sends a signal indicating that the operation of the interlock mode is performed to the interlock control set value calculation unit 506 and the operation. Although output to the instruction unit 508, when the execution signal of the interlocking mode is not input to the individual operation / interlocking determination unit 505 shown in FIG. 4, a signal indicating the end of the interlocking mode is fed back (FB) control unit It outputs to the comparison part 32 in 30 (not shown).

  When the interlock control set value calculation unit 506 receives a signal indicating that the operation of the interlock mode is performed from the individual operation / interlock determination unit 505, the state sensors 20 a and 20 b are transmitted from the signal conversion unit 31 in the feedback (FB) control unit 30. , 20c based on the sensor signal from the sensor signal from 20c, and obtain the state value of the current back-up angle and knee-lifting height and indicate the coordinate points of the back angle and knee angle corresponding to the current back-up angle and knee-up height, respectively. A reference point Ps is calculated.

  Then, the interlock control set value calculation unit 506 reads the set interlock control point Pn shown in FIG. 6A and FIG. 7A to be described later from the storage unit 504, and the operation direction with respect to the start reference point Ps. The coordinate control point Pn at the latest position is recognized as a target, and the coordinate value of the link control point Pn recognized as the target is set as the target link control point Po.

  The interlock control set value calculation unit 506 adds (+) to the reference line connecting the start reference point Ps and the target interlock control point Po in the first embodiment, which will be described in detail later with reference to FIGS. 8 to 11. ) Side, minus (−) side, or both, a parallel virtual line separated by a predetermined Euclidean distance (for example, 2 ° in each axis direction) is calculated, and two of the ± side virtual lines are used as control lines. Or a control line that is determined in advance so that two lines, the reference line and the + virtual line, are used as control lines, or two lines, the reference line and the − virtual line, are used as control lines, and the target interlock control point Po. The two control lines are located on one of the coordinate axes of the back angle and the knee angle at the target interlocking control point Po and within a predetermined threshold (for example, 2 °) from the target interlocking control point Po. The actual target point Pr that is the latest position is calculated in the middle, and the coordinate value of the actual target point Pr Instructing section 508 as a set value of the dynamic control, and outputs to the comparing unit 31 in the feedback (FB) control unit 30. The interlock control set value calculation unit 506 according to the first embodiment compares the calculated control line information with the coordinate value information of the actual target point Pr using the set value of the interlock control as a comparison in the feedback (FB) control unit 30. To the unit 31.

  Further, in Example 2, which will be described later in detail with reference to FIG. 12 and FIG. 13, the interlock control set value calculation unit 506 sets the target interlock control point Po as the actual target point Pr and interlocks the coordinate value of the actual target point Pr. The operations output to the operation instruction unit 508 and the comparison unit 31 in the feedback (FB) control unit 30 as control set values are repeated until there is an instruction to end the interlock control from the switch 11. Note that the interlock control set value calculation unit 506 of the second embodiment uses the reference line connecting the start reference point Ps and the target interlock control point Po as a control line, and uses information on the control line as a set value for interlock control. The information is output to the comparison unit 31 in the feedback (FB) control unit 30 together with information on the coordinate value of the target point Pr.

  Thereby, based on the operation instruction of the operation instruction unit 508, the motor drive control unit 55 operates, and feedback is performed until the operation of the electric bed 1 reaches one of the coordinate axes of the back angle and the knee angle in the set value. (FB) Feedback control is performed by a comparison signal from the comparison unit 32 in the control unit 30.

  The interlock control set value calculation unit 506 updates the start reference point Ps indicated by the comparison unit 32 in the feedback (FB) control unit 30 when the operation of the electric bed 1 reaches the set value during the operation of the interlock control. When the instruction is input, the start reference point Ps indicating the back angle and the knee angle coordinate point corresponding to the current back raising angle and knee raising height is calculated and updated again, and the updated start reference point Ps is updated. The actual target point Pr closest to the operation direction is calculated again in the same manner as when the interlock control is started, and the coordinate value of the calculated actual target point Pr is used as the set value for the interlock control, and the feedback (FB). The data is output to the comparison unit 31 in the control unit 30. This operation is repeated until there is an instruction to end the interlock control from the switch 11.

  When the individual operation set value reading unit 507 receives a signal indicating that the operation of the individual operation mode is performed from the individual operation / linkage determination unit 505, the set back-up angle, knee-lifting height, The set value related to the bed height is read and output to the operation instruction unit 508 and the comparison unit 31 in the feedback (FB) control unit 30. Thereby, based on the operation instruction of the operation instruction unit 508, the motor drive control unit 55 operates, and the operation from the comparison unit 32 in the feedback (FB) control unit 30 is continued until the operation of the electric bed 1 reaches the set value. Feedback control is performed by the comparison signal.

  When the operation instruction unit 508 receives a signal indicating that the individual operation mode or the interlock mode operation is performed from the individual operation / linkage determination unit 505, the link control setting value calculation unit 506 or the individual operation set value read unit 507 To the set value (the set value for the back raising angle, the knee-lifting height, and the bed height in the individual operation mode, and the coordinate value of the actual target point Pr for the back raising angle and the knee-lifting height in the interlock mode) Is input to the motor drive control unit 55 to drive the motor 13 including the motors 13a, 13b, and 13c for operating the back raising angle, the knee raising height, and the bed height corresponding to the set values. Instruct.

  Here, in the feedback control according to the present embodiment, since the rotation amount detection sensor such as an encoder or a potentiometer is not used for each motor 13, the operation instruction unit 508 uses, for example, an induction motor as the motor 13. The rotational speed and operation time from the current value corresponding to the set value to the target value are calculated for each motor 13, and the motor drive control unit 55 is instructed to drive the motor 13. In the motor drive control unit 55, Feedback control is performed by monitoring the comparison signal from the feedback (FB) control unit 30 and increasing / decreasing the operation time of each motor 13 by ON / OFF control. An operation for performing a slow-up at the start of the operation and a slow-down at the stop of the operation can be incorporated.

  When a stepping motor is used as the motor 13, the rotational speed and pulse count value from the current value corresponding to the set value to the target value are calculated, and the motor drive controller 55 is instructed to drive the motor 13. The motor drive control unit 55 performs feedback control by monitoring the comparison signal from the feedback (FB) control unit 30 and increasing or decreasing the pulse count value for each motor 13. An operation for performing a slow-up at the start of the operation and a slow-down at the stop of the operation can be incorporated.

  The feedback (FB) control unit 30 includes a signal conversion unit 31 and a comparison unit 32.

  Based on the sensor signals from the state sensors 20 a, 20 b, and 20 c, the signal conversion unit 31 converts into state values relating to the back raising angle, the knee-lifting height, and the bed height, and outputs the state values to the comparison unit 32. The state values related to the back raising angle, the knee-lifting height, and the bed height based on the sensor signals from the state sensors 20a, 20b, and 20c are also output to the interlock control setting value calculation unit 506.

  The signal conversion unit 31 is a table or calculation that is calibrated in advance based on the installation positions of the state sensors 20a, 20b, and 20c for conversion into state values relating to the back-raising angle, knee-lifting height, and bed height. The expression is stored in the storage unit 504 in advance, and can be immediately converted into state values relating to the back raising angle, the knee-lifting height, and the bed height based on the sensor signals from the state sensors 20a, 20b, and 20c. .

  The comparison unit 32 obtains the set value from the interlock control set value calculation unit 506 or the individual operation set value read unit 507 (the set value related to the back raising angle, the knee-lifting height, and the bed height in the individual operation mode, the interlock mode, If so, the coordinate value of the actual target point Pr regarding the back raising angle and the knee raising height) is input, converted to a numerical value that can be compared with the state value obtained from the signal converting unit 31, and compared. A comparison signal indicating the presence or absence is output to the motor drive control unit 55.

  However, although details will be described later with reference to FIGS. 8 to 11, in the interlocking mode related to the interlocking control of the first embodiment, the comparison unit 32 uses the coordinate value of the actual target point Pr regarding the back raising angle and the knee lifting height. At the same time, the control line information is inputted, and the switching feedback control based on the monitoring of the knee angle and the back angle according to the two control lines is performed. Here, the switching-type feedback control based on the monitoring of the knee angle and the back angle according to the two control lines in the first embodiment changes the interlock operation of the knee angle and the back angle within the two control lines. Feedback control based on monitoring of both the knee angle and the back angle is performed until the movement reaches one of the two control lines, and after reaching one of the two control lines, one of the knee angle and the back angle that becomes the movement direction is monitored. By performing feedback control based on the above, it means control in which the interlocking operation of the knee angle and the back angle is shifted within two control lines.

  Although details will be described later with reference to FIG. 12 and FIG. 13, in the interlock mode related to the interlock control of the second embodiment, the comparison unit 32 determines the coordinate value of the actual target point Pr regarding the back raising angle and the knee lifting height. Is input, and switchable feedback control is performed based on monitoring of the knee angle and the back angle according to a control line made of a reference line in a predetermined time unit. Here, the switching-type feedback control based on the monitoring of the knee angle and the back angle according to the control line made of the reference line in the predetermined time unit in the second embodiment is both the knee angle and the back angle until the interlocking operation reaches the predetermined time. By performing feedback control based on monitoring of one of the knee angle and the back angle, which is the operation direction, until reaching the one control line after the predetermined time has elapsed, This is a control in which the interlocking operation of the knee angle and the back angle is corrected and shifted so as to follow one control line in the predetermined time unit.

  Therefore, the controller 12 feedback-controls the motor 13 with the comparison signal based on the sensor signals from the state sensors 20a, 20b, and 20c.

(Feedback control)
FIG. 5 is a flowchart showing a schematic feedback operation of the electric bed 1 according to the first embodiment of the present invention.

  First, an operation signal related to the variable operation of the landing portion 18 of the electric bed 1 is transmitted from the switch 11 to the controller 12 (step S1).

  The controller 12 that has received the operation signal controls the driving of the corresponding motor 13 and drives the actuator 14 (step S2).

  At this time, the controller 12 monitors the sensor signals of the state sensors 20a, 20b, and 20c based on the comparison signal of the FB control unit 30 (step S3), and the operation of the landing unit 18 of the electric bed 1 reaches the target. It is determined whether or not (step S4).

  The controller 12 continues to drive the motor 13 unless the operation of the landing portion 18 of the electric bed 1 has reached the target (Step S4: No) unless there is an operation end instruction from the user.

  On the other hand, when determining that the operation of the landing portion 18 of the electric bed 1 has reached the target (step S4: Yes), the controller 12 stops the driving of the motor 13 in the individual operation mode, and changes the back angle and the knee angle. In the interlock mode, the target is updated and driving of the motor 13 is continued. However, when there is an operation end instruction from the user, the driving of the motor 13 is stopped and the position of the actuator 14 is held (step S5).

  As described above, in the electric bed 1 of the present embodiment, it is possible to realize a low-cost and highly accurate feedback control, and an easy-to-use operation corresponding to the interlock mode and the individual operation mode is realized. It can also be made cheaper.

(Coordinate plane of back angle and knee angle indicated by interlocking control points)
Hereinafter, the control method of the interlock mode of the back angle and the knee angle in the electric bed 1 according to the first embodiment of the present invention will be described in more detail.

  FIG. 6A is a coordinate plan view of the back angle and the knee angle showing an example of the set value of the interlock control point Pn at the time of raising the back in the electric bed 1 of the first embodiment according to the present invention. These are the coordinate top views of the back angle and the knee angle which show the comparative example (the back raising pattern based on the prior art shown by patent documents 2, 3).

  Moreover, Fig.7 (a) is a coordinate top view of the back angle and the knee angle which shows the example of the setting value of the interlocking control point Pn at the time of the back fall in the electric bed 1 of 1st Embodiment by this invention, FIG. b) is a coordinate plan view of a back angle and a knee angle showing a comparative example (a back raising pattern based on the prior art shown in Patent Documents 2 and 3).

  First, FIG. 6A and FIG. 7A show the adjustment of the back angle a which is the lifting angle from the horizontal state of the movable part of the landing portion 18 related to the adjustment of the back raising angle and the knee raising height. The knee angle b, which is the lifting angle from the horizontal state of the movable part of the landing part 18 according to the above, is shown on the coordinate plane (a, b). Here, in order to be able to compare with the conventional technique shown in FIGS. 6B and 7B, the coordinate points same as those in the conventional technique are shown as the interlock control point Pn. Also in the present invention, when the back raising or back lowering operation and the knee raising or knee lowering operation are interlocked and controlled based on the execution signal of the interlock mode in the operation signal, the back raising or back lowering operation is performed. The back angle a which is the lifting angle from the horizontal state of the movable part of the corresponding landing part 18 and the knee which is the lifting angle from the horizontal state of the movable part of the landing part 18 corresponding to the operation of raising or lowering the knee. A coordinate plane represented by an angle b is used, but the interlocking control method is different from the conventional technique.

  That is, in the techniques of Patent Documents 2 and 3 shown in FIGS. 6B and 7B, a preset pattern connected by a plurality of points on the coordinate plane of the back angle and the knee angle is stored in the storage unit. The back angle and knee angle are linked and controlled so as to change along the pattern, and the coordinate plane of the back angle and knee angle is divided into a plurality of areas based on the pattern, and the back angle for each area. The operation mode of the knee angle and the knee angle are determined in advance and stored in the storage unit, and the back angle and the knee angle are interlocked and controlled according to the predetermined operation mode. In particular, in the techniques of Patent Documents 2 and 3, both the back angle and the knee angle are always operated, and the interlock operation is performed along the pattern connecting the interlock control point P3 and the interlock control point P4.

  On the other hand, in the electric bed 1 according to the present embodiment, for example, referring to FIG. 6A, the coordinate point (0, 0) of the interlock control point P1, the coordinate point (0, 25) of the interlock control point P2, and the interlock Coordinate point (40, 25) of control point P3, coordinate point (47, 15) of interlocking control point P4, coordinate point (60, 15) of interlocking control point P5, coordinate point (75, 0) of interlocking control point P6 4 are stored as default values in the storage unit 504 shown in FIG. 4, as described above, depending on the operation signal from the switch 11 (setting signal in the interlock mode) by the user's operation, Coordinate value setting can be easily changed.

  Furthermore, in the electric bed 1 according to the present embodiment, as shown in FIGS. 6A and 7A, the interlock control setting is performed by the operation instruction of the interlock mode based on the operation signal (execution signal) from the switch 11. The value calculation unit 506 obtains the current back-up angle and knee-lift height state values based on the sensor signals from the state sensors 20a, 20b, and 20c, and corresponds to the current back-lift angle and knee-lift height, respectively. A start reference point Ps indicating the coordinate point of the back angle and knee angle is calculated.

  And in the electric bed 1 which concerns on this embodiment, as shown to Fig.6 (a) and FIG.7 (a), the interlocking control setting value calculating part 506 interlock | coordinates the nearest position to an operation direction with respect to the start reference point Ps. The control point Pn is authorized as a target, and the coordinate value of the interlock control point Pn authorized as the target is set as the target interlock control point Po. As will be described later, the interlock control set value calculation unit 506 uses a reference line connecting the start reference point Ps and the target interlock control point Po to use a virtual line (Example 1) or a predetermined time unit (Example 2). In order to perform the feedback control, the actual target point Pr is determined on one of the coordinate axes of the back angle and the knee angle at the target interlocking control point Po. Is the actual target point Pr the same coordinate point as the target interlocking control point Po? Or a nearby coordinate point.

  For this reason, in the electric bed 1 according to this embodiment, as shown in FIGS. 6A and 7A, for example, the interlock control point Pn closest to the start reference point Ps in the operation direction is the interlock control point. If it is P3, the back angle and the knee angle are linked and controlled from the start reference point Ps toward the linked control point P3, with the corresponding actual target point Pr as a target. Similarly, for example, if the interlock control point Pn closest to the start reference point Ps in the operation direction is the interlock control point P4, the corresponding actual target point Pr is moved from the start reference point Ps toward the interlock control point P4. Interlocking control of back angle and knee angle is performed as a target.

  Thus, in the electric bed 1 according to the present embodiment, regardless of the position of the start reference point Ps on the coordinate plane, the target interlock control point Pn in the operation direction with respect to the start reference point Ps is targeted. Works as. Further, when reaching the coordinate axis of either the predetermined back angle or knee angle at the coordinate point of the actual target point Pr, the position at that time is updated as the start reference point Ps, and the updated start reference point Ps is updated. On the other hand, the actual target point Pr based on the interlocking control point Pn closest to the movement direction is calculated again in the same manner as when the interlocking control is started, and a new set value indicating the coordinate value of the calculated actual target point Pr is newly set. The update operation continues until the user finishes the operation of the interlock mode by the switch 11.

  Therefore, the interlocking control according to the present embodiment shown in FIGS. 6A and 7A controls the storage unit 504 as storing the “pattern connected by a plurality of points” and the “operation mode for each area”. Instead, only the interlock control point Pn that can be set and changed by the user with respect to the interlock control is stored in the storage unit 504, and the actual target point Pr based on the interlock control point Pn that is closest to the start reference point Ps in the operation direction. It is to be controlled with a goal.

  For this reason, the electric bed 1 according to the present embodiment can reduce the storage capacity of the storage unit 504 with respect to the interlocking control, promote cost reduction, and can be used when the structure of the electric bed 1 changes. When the fine adjustment due to the person's physique or the like is necessary, or when the actual position of the landing portion 18 and the rotation amount of the motor 13 have an error, the landing portion 18 may be deformed due to aging. Even when a situation occurs, the setting can be easily changed, which improves usability.

  In addition, the electric bed 1 according to the present embodiment continuously controls the starting control point Pn as the target in the operation direction with respect to the start reference point Ps. Usable operations can be improved by interlocking control that suppresses the jerky motion that can occur and preferably makes the motion smoother.

  Next, the details of the control method relating to the update of the start reference point Ps and the actual target point Pr in the interlocking control of the electric bed 1 according to the present embodiment will be described. In the following, a description will be given on behalf of the interlocking mode related to the back up on the coordinate plane in which the interlocking control points P1, P2,..., P5 illustrated in FIG.

(Interlocking control of Example 1)
FIG. 8 is a flowchart showing the interlock control of Example 1 in the electric bed 1 of the first embodiment according to the present invention.

  Referring to FIG. 8, in the interlock control of the first embodiment, when the interlock control in the interlock mode is started, the interlock control set value calculation unit 506 reads from the storage unit 504 the interlock control points P1, P2, ..., P5 is read (step S21).

  Subsequently, the interlock control set value calculation unit 506 calculates the start reference point Ps based on the sensor signals from the state sensors 20a, 20b, and 20c (step S22).

  Subsequently, the interlock control set value calculation unit 506 recognizes the interlock control point Pn closest to the start direction point Ps in the operation direction as a target, and sets the coordinate value of the interlock control point Pn recognized as the target as the target interlock control. A point Po is set (step S23).

  Subsequently, the interlock control set value calculation unit 506 performs a predetermined Euclidean distance on the plus (+) side, the minus (−) side, or both with respect to the reference line connecting the start reference point Ps and the target interlock control point Po. Compute parallel imaginary lines separated by (for example, 2 ° in each axial direction) and use the two imaginary lines on the ± side as control lines or the two imaginary lines on the reference line and the + side as control lines. Or based on a control line that is determined in advance so that two lines of a reference line and a negative virtual line are used as control lines, and the target interlock control point Po, the back angle and the knee angle at the target interlock control point Po An actual target point Pr that is located on one of the coordinate axes and that is closest to the middle of the two control lines within a predetermined threshold (for example, 2 °) from the target interlocking control point Po is calculated. Using the coordinate value of the point Pr as the set value of the interlock control, the operation instruction unit 508 and the feed Click (FB) and outputs to the comparator 31 in the control unit 30 (step S24). The interlock control set value calculation unit 506 outputs the calculated control line information to the comparison unit 31 in the feedback (FB) control unit 30 together with the coordinate value information of the actual target point Pr set as the set value of the interlock control. To do.

  Subsequently, the operation instruction unit 508 operates the motor drive control unit 55 with the coordinate value of the actual target point Pr as a target (step S25).

  Here, the comparison unit 32 in the feedback (FB) control unit 30 compares the start reference point Ps with the actual target point Pr (that is, corresponds to the start reference point Ps based on the sensor signals from the state sensors 20a, 20b, and 20c). The state value obtained from the signal conversion unit 31 is converted into a numerical value that can be compared with the actual target point Pr input as a set value, and compared), and the knee angle is larger than the predetermined threshold (for example, 2 °). It is determined whether there is a difference and whether there is a difference larger than the predetermined threshold (for example, 2 °) as the back angle (step S26).

  When it is determined by comparison between the start reference point Ps and the actual target point Pr that both the knee angle and the back angle are larger than the predetermined threshold (step S26: Yes), the feedback (FB) control unit 30 The comparison unit 32 performs switching feedback control based on monitoring of the knee angle and the back angle according to the two control lines (step S27). That is, in the comparison between the start reference point Ps and the actual target point Pr, when there is a difference larger than the predetermined threshold value for both the knee angle and the back angle, details will be described later with three examples. Switchable feedback control based on monitoring of knee angle and back angle according to.

  On the other hand, when it is determined by comparison between the start reference point Ps and the actual target point Pr that one of the knee angle and the back angle is larger than the predetermined threshold value (step S26: No), it is outside the predetermined threshold value. The feedback control is performed based on the monitoring of the knee angle or the back angle (that is, the difference is occurring) (step S28). That is, in the comparison between the start reference point Ps and the actual target point Pr, when only the knee angle is larger than the predetermined threshold value, feedback control based on the monitoring of only the knee angle is performed, and only the back angle is larger than the predetermined threshold value. When there is a difference, feedback control based on monitoring only the back angle is performed.

  Subsequently, the comparison unit 32 in the feedback (FB) control unit 30 causes the operation of the electric bed 1 related to the interlock control to be performed on one target coordinate axis (one of the back angle and the knee angle on the actual target point Pr). Is reached (step S29), and when not reached (step S29: No), the process proceeds to step S27 or step S28, and feedback control is performed until it reaches (step S29: Yes).

  While the execution signal of the interlocking mode is input to the individual operation / interlocking determination unit 505 shown in FIG. 4, the individual operation / interlocking determination unit 505 sends a signal indicating that the operation of the interlocking mode is performed to the interlocking control set value calculation unit 506. Although the output to the operation instruction unit 508 is not input to the individual operation / linkage determination unit 505 shown in FIG. 4, a signal indicating the end of the link mode is fed back (FB). The data is output to the comparison unit 32 in the control unit 30.

  For this reason, in the example shown in FIG. 4, the processing after step S29 is shown. However, in the embodiment, the comparison unit 32 in the feedback (FB) control unit 30 always determines whether or not to end the interlock control. When monitoring is performed (step S30) and it is determined that a signal indicating the end of the interlock mode has been input (step S30: Yes), the interlock control is terminated.

  On the other hand, when the interlock control is continued (step S30: No), the comparison unit 32 in the feedback (FB) control unit 30 sets the start reference point Ps based on the sensor signals from the state sensors 20a, 20b, and 20c to the interlock control setting. The value calculation unit 506 is instructed to update (step S31), and the process proceeds to control after step S22.

  Therefore, in step S29 described above, either the back angle or the knee angle of the set value (that is, the coordinate point of the actual target point Pr based on the target interlocking control point Po and the control line) (in the first embodiment). When reaching the back angle coordinate axis), the interlock control set value calculation unit 506 updates the position at the time of arrival as the start reference point Ps, and the interlock control point Pn closest to the start direction in the operation direction with respect to the start reference point Ps. Is newly authorized as the target interlocking control point Po, the actual target point Pr based on the control line is calculated again, and the calculated coordinate value of the actual target point Pr is updated as the set value of the interlocking control. The interlock control targeting the coordinate value of the actual target point Pr updated in this way continues until the user finishes the operation of the interlock mode by the switch 11.

  Three examples will be sequentially described as examples of control lines for realizing the interlock control of the first embodiment.

(Interlocking control of Example 1 (Example 1))
First, FIG. 9 is a coordinate plan view of the back angle and the knee angle showing an operation example (Example 1) of the interlock control of Example 1 in the electric bed 1 of the first embodiment according to the present invention.

  In FIG. 9, when the start reference point Ps based on the sensor signals from the state sensors 20a, 20b, and 20c is calculated at the start of the interlock control in the interlock mode when raising the back, the interlock control in FIG. 6 (a) described above. It is assumed that the start reference point Ps is located between the points P3 and P4. At this time, the coordinate point (47, 15) of the interlock control point P4 is located closest to the start reference point Ps in the operation direction, and becomes the target interlock control point Po. Even when the start reference point Ps is located at the interlocking control point P3, the interlocking control point P4 becomes the target interlocking control point Po.

  In the example 1 shown in FIG. 9, the interlocking control set value calculation unit 506 shown in FIG. 4 is on the plus (+) side and minus (−) with respect to the reference line BL connecting the start reference point Ps and the target interlocking control point Po. Parallel imaginary lines VL1 and VL2 (VL1 is shifted from BL to β in the knee angle + direction and VL2 is shifted to α in the back angle−direction from the BL by a predetermined Euclidean distance on both sides, for example, α, β = 2 °), the two virtual lines VL1 and VL2 on the ± side are defined as control lines, located on one of the coordinate axes of the back angle and the knee angle at the target interlock control point Po, and the target interlock control An actual target point Pr that is closest to the middle of the two control lines is calculated within a predetermined threshold (for example, 2 °) from the point Po, and the coordinate value of the actual target point Pr is set as a set value for the interlock control. In the illustrated example, target interlock control point Po = actual target point Pr.

  In the interlock control (example 1) of the first embodiment, as shown in FIG. 9, the interlock control is performed by feedback control based on monitoring of both the back angle and the knee angle from the start reference point Ps toward the actual target point Pr. After the start, when the operation of the electric bed 1 transitions to the VL1 side (illustrated S1), the back angle until the operation of the electric bed 1 reaches VL2 when the operation of the electric bed 1 reaches VL1. Is switched to feedback control based on monitoring only the knee angle (that is, the drive of the motor 13b that variably operates the knee angle is stopped by stopping the driving of the motor 13a that variably operates the back angle in the motor drive control unit 55 by the comparison signal). Feedback control). Thereafter, when the operation of the electric bed 1 reaches VL2, the control is switched to feedback control based on monitoring of both the back angle and the knee angle. The switching-type feedback control based on this control line is repeated until one of the target coordinate axes (one of the back angle and the knee angle at the actual target point Pr) is reached.

  In the interlock control (example 1) of the first embodiment, as shown in FIG. 9, the feedback control based on the monitoring of both the back angle and the knee angle from the start reference point Ps toward the actual target point Pr is performed. After the control is started, when the operation of the electric bed 1 is shifted to the VL2 side (S2 in the drawing), the comparison unit 32 shown in FIG. Until the operation reaches VL1, the knee back angle is fixed and the control is switched to feedback control based on monitoring only the back angle (that is, the drive of the motor 13b for variably operating the knee angle in the motor drive control unit 55 is stopped by the comparison signal) Feedback control of the drive of the motor 13a that variably operates the back angle). Thereafter, when the operation of the electric bed 1 reaches VL1, the control is switched to feedback control based on monitoring of both the back angle and the knee angle. The switching-type feedback control based on this control line is repeated until one of the target coordinate axes (one of the back angle and the knee angle at the actual target point Pr) is reached.

  When such feedback control is performed, the coordinate point (47, 15) of the target interlocking control point Po may not be reached, but may be reached on one of the coordinate axes of the back angle and the knee angle at the actual target point Pr. This is possible, but Example 1 according to the present embodiment allows this.

  And, when reaching the coordinate point (47, 15) of the target interlocking control point Po and reaching the coordinate axis of either the back angle or the knee angle at the actual target point Pr and continuing the interlocking mode, The coordinate point at that time is updated as the start reference point Ps, and the interlocking control point P5 closest to the updated starting reference point Ps in the operation direction is updated as the target interlocking control point Po. The parallel virtual lines VL1 and VL2 spaced by the predetermined Euclidean distance are calculated on both the plus (+) side and the minus (−) side with respect to the reference line BL connecting the target interlocking control point Po and the ± side Virtual lines VL1 and VL2 are defined as control lines, located on one of the coordinate axes of the back angle and the knee angle at the target interlocking control point Po, and within a predetermined threshold from the target interlocking control point Po (for example, °) In calculating the actual target point Pr to an intermediate recent position of the two control lines, the set value of the interlocking control the coordinate value of the actual target point Pr. In Example 1, the target interlocking control point Po = the actual target point Pr regardless of the coordinate position relationship between the start reference point Ps and the target interlocking control point Po.

  That is, in Example 1 in the interlock control of Example 1 according to the present embodiment, when the FB control is based on the state sensors 20a, 20b, and 20c regardless of the rotation detection of the motor 13, the interlock control point that is changed by the user. When it is configured as Pn, it becomes prominent. For example, when interlocking control is performed along a pattern connecting a plurality of interlocking control points Pn as in the conventional technique, depending on the position of the back angle and the knee angle. May be jerky. For this reason, in Example 1 in the interlock control of Example 1 according to the present embodiment, when there is a difference larger than a predetermined threshold (for example, 2 °) for both the knee angle and the back angle, the knee angle and the back according to the control line are different. By performing switching-type feedback control based on angle monitoring, the coordinate point (47, 15) of the target interlocking control point Po is not reached, and either the back angle or the knee angle at the actual target point Pr is on the coordinate axis. Even if it reaches, it is possible to allow this, and it is possible to eliminate the wobbling control that moves unnecessarily to the right and left, and it is possible to realize a smooth operation.

(Interlocked control of Example 1 (Example 2))
Next, FIG. 10 is a coordinate plan view of the back angle and the knee angle showing an operation example (Example 2) of the interlock control of Example 1 in the electric bed 1 of the first embodiment according to the present invention.

  In FIG. 10, when the start control point Ps based on the sensor signals from the state sensors 20a, 20b, 20c is calculated at the start of the interlock control in the interlock mode at the time of raising the back, the interlock control in FIG. It is assumed that the start reference point Ps is located between the points P3 and P4. At this time, the coordinate point (47, 15) of the interlock control point P4 is located closest to the start reference point Ps in the operation direction, and becomes the target interlock control point Po. Even when the start reference point Ps is located at the interlocking control point P3, the interlocking control point P4 becomes the target interlocking control point Po.

  In Example 2 shown in FIG. 10, the interlock control set value calculation unit 506 shown in FIG. 4 has a predetermined Euclidean distance on the plus (+) side with respect to the reference line BL connecting the start reference point Ps and the target interlock control point Po. The parallel virtual line VL1 (VL1 is a line shifted by β in the knee angle + direction from BL, for example, β = 2 °) is calculated, and two lines of the reference line BL and the + side virtual line VL1 are calculated. Calculated as a control line, positioned on the coordinate axis of the knee angle at the target interlocking control point Po, and within the predetermined threshold (for example, 2 °) from the target interlocking control point Po The actual target point Pr to be the position is calculated, and the coordinate value of the actual target point Pr is set as the set value for the interlock control.

  In the interlock control (example 2) of the first embodiment, as shown in FIG. 10, the interlock control is performed by feedback control based on the monitoring of both the back angle and the knee angle from the start reference point Ps toward the actual target point Pr. After the start, when the operation of the electric bed 1 transitions to the VL1 side (illustrated S1), the comparison unit 32 shown in FIG. 4 performs the operation of the electric bed 1 when the operation of the electric bed 1 reaches VL1. Until reaching BL, the back angle is kept constant, and the control is switched to feedback control based on the monitoring of only the knee angle (that is, the drive of the motor 13a for variably operating the back angle in the motor drive control unit 55 is stopped by the comparison signal, The drive of the motor 13b that variably operates the angle is feedback-controlled). Thereafter, when the operation of the electric bed 1 reaches the BL, the control is switched to feedback control based on monitoring of both the back angle and the knee angle. The switching feedback control based on this control line is repeated until one target coordinate axis (coordinate axis of the back angle at the actual target point Pr) is reached.

  In the interlock control (example 2) of the first embodiment, as shown in FIG. 10, the actual target point Pr is set on the intersection of the virtual line VL1 and the coordinate axis of the knee angle of the target interlock control point Po. Therefore, the operation of the interlock control is changed between the reference line BL and the + side virtual line VL1 (S1 in the figure).

  When such feedback control is performed, the coordinate point (47, 15) of the target interlocking control point Po may not be reached but the coordinate axis of the knee angle at the actual target point Pr may be reached. This is allowed in the first embodiment.

  And, when reaching the coordinate point (47, 15) of the target interlocking control point Po and reaching the coordinate axis of either the back angle or the knee angle at the actual target point Pr and continuing the interlocking mode, The coordinate point at that time is updated as the start reference point Ps, and the interlocking control point P5 closest to the updated starting reference point Ps in the operation direction is updated as the target interlocking control point Po. A parallel virtual line VL1 that is separated by the predetermined Euclidean distance is calculated on the plus (+) side with respect to the reference line BL that connects the target interlocking control point Po and 2 of the reference line BL and the + side virtual line VL1. The line is newly defined as a control line, is positioned on the coordinate axis of the knee angle at the target interlocking control point Po, and is within the predetermined threshold value (for example, 2 °) from the target interlocking control point Po and is intermediate between the two control lines. Position and It calculates the actual target point Pr, the set value of the interlocking control the coordinate value of the actual target point Pr.

  That is, in Example 2 in the interlock control of Example 1 according to the present embodiment, when the FB control is based on the state sensors 20a, 20b, and 20c regardless of the rotation detection of the motor 13, the interlock control point that is changed by the user. When it is configured as Pn, it becomes prominent. For example, when interlocking control is performed along a pattern connecting a plurality of interlocking control points Pn as in the conventional technique, depending on the position of the back angle and the knee angle. May be jerky. Therefore, in Example 2 in the interlock control of Example 1 according to the present embodiment, when there is a difference larger than a predetermined threshold (for example, 2 °) for both the knee angle and the back angle, the knee angle and the back according to the control line are different. By performing switching-type feedback control based on angle monitoring, the coordinate point (47, 15) of the target interlocking control point Po is not reached, and either the back angle or the knee angle at the actual target point Pr is on the coordinate axis. Even if it reaches, it is possible to allow this, and it is possible to eliminate the wobbling control that moves unnecessarily to the right and left, and it is possible to realize a smooth operation.

(Interlocking control of Example 1 (Example 3))
Next, FIG. 11 is a coordinate plan view of the back angle and the knee angle showing an operation example (example 3) of the interlock control of the example 1 in the electric bed 1 of the first embodiment according to the present invention.

  In FIG. 11, when the start control point Ps based on the sensor signals from the state sensors 20a, 20b, and 20c is calculated at the start of the interlock control in the interlock mode when raising the back, the interlock control is performed in the above-described FIG. It is assumed that the start reference point Ps is located between the points P3 and P4. At this time, the coordinate point (47, 15) of the interlock control point P4 is located closest to the start reference point Ps in the operation direction, and becomes the target interlock control point Po. Even when the start reference point Ps is located at the interlocking control point P3, the interlocking control point P4 becomes the target interlocking control point Po.

  In the example 3 shown in FIG. 11, the interlock control set value calculation unit 506 shown in FIG. 4 has a predetermined Euclidean distance on the minus (−) side with respect to the reference line BL connecting the start reference point Ps and the target interlock control point Po. The parallel imaginary line VL2 (VL2 is a line shifted by α in the back angle minus direction from BL, for example, α = 2 °) is calculated, and two lines of the reference line BL and the minus side imaginary line VL2 are calculated. Calculated as a control line, positioned on the coordinate axis of the knee angle at the target interlocking control point Po, and within the predetermined threshold (for example, 2 °) from the target interlocking control point Po The actual target point Pr to be the position is calculated, and the coordinate value of the actual target point Pr is set as the set value for the interlock control.

  In the interlock control (example 3) of the first embodiment, as shown in FIG. 11, the interlock control is performed by feedback control based on monitoring of both the back angle and the knee angle from the start reference point Ps toward the actual target point Pr. After the start, when the operation of the electric bed 1 transitions to the VL2 side (illustrated S2), the comparison unit 32 shown in FIG. 4 performs the operation of the electric bed 1 when the operation of the electric bed 1 reaches VL2. Until reaching above BL, the knee angle is kept constant and the control is switched to feedback control based on the monitoring of only the back angle (that is, the drive of the motor 13b for variably operating the knee angle in the motor drive control unit 55 is stopped by the comparison signal, The drive of the motor 13a that variably operates the angle is feedback-controlled). Thereafter, when the operation of the electric bed 1 reaches the BL, the control is switched to feedback control based on monitoring of both the back angle and the knee angle. The switching feedback control based on this control line is repeated until one target coordinate axis (the coordinate axis of the knee angle at the actual target point Pr) is reached.

  In the interlock control (example 3) of the first embodiment, as shown in FIG. 11, the actual target point Pr is set on the intersection of the virtual line VL2 and the coordinate axis of the back angle of the target interlock control point Po. Therefore, the operation of the interlocking control is changed between the reference line BL and the negative virtual line VL2 (S2 in the drawing).

  When such feedback control is performed, the coordinate point (47, 15) of the target interlocking control point Po may not be reached, but may reach the coordinate axis of the back angle at the actual target point Pr. This is allowed in the first embodiment.

  And, when reaching the coordinate point (47, 15) of the target interlocking control point Po and reaching the coordinate axis of either the back angle or the knee angle at the actual target point Pr and continuing the interlocking mode, The coordinate point at that time is updated as the start reference point Ps, and the interlocking control point P5 closest to the updated starting reference point Ps in the operation direction is updated as the target interlocking control point Po. A parallel virtual line VL2 that is separated by the predetermined Euclidean distance on the minus (−) side is calculated with respect to the reference line BL that connects the target interlocking control point Po and 2 of the reference line BL and the − side virtual line VL2. The line is newly defined as a control line, is positioned on the coordinate axis of the knee angle at the target interlocking control point Po, and is within the predetermined threshold value (for example, 2 °) from the target interlocking control point Po and is intermediate between the two control lines. location and Calculates the actual target point Pr that, the set value of the interlocking control the coordinate value of the actual target point Pr.

  That is, in Example 3 in the interlocking control of Example 1 according to the present embodiment, when the FB control is based on the state sensors 20a, 20b, and 20c regardless of the rotation detection of the motor 13, the interlocking control point that is changed by the user. When it is configured as Pn, it becomes prominent. For example, when interlocking control is performed along a pattern connecting a plurality of interlocking control points Pn as in the conventional technique, depending on the position of the back angle and the knee angle. May be jerky. Therefore, in Example 3 in the interlock control of Example 1 according to the present embodiment, when there is a difference larger than a predetermined threshold (for example, 2 °) for both the knee angle and the back angle, the knee angle and the back according to the control line are different. By performing switching-type feedback control based on angle monitoring, the coordinate point (47, 15) of the target interlocking control point Po is not reached, and either the back angle or the knee angle at the actual target point Pr is on the coordinate axis. Even if it reaches, it is possible to allow this, and it is possible to eliminate the wobbling control that moves unnecessarily to the right and left, and it is possible to realize a smooth operation.

(Interlocking control of Example 2)
FIG. 12 is a flowchart showing the interlock control of Example 2 in the electric bed 1 of the first embodiment according to the present invention.

  In the interlock control of the second embodiment shown in FIG. 12, the process of step 24 is replaced with the process of step 24a and the process of step 27 is replaced with the process of step 27a, compared with the interlock control of the first embodiment shown in FIG. Since other control is the same, further explanation is omitted.

  In step 24a in the interlock control of the second embodiment shown in FIG. 10, the interlock control set value calculation unit 506 uses the reference line connecting the start reference point Ps and the target interlock control point Po as a control line, and sets the target interlock control point Po. The actual target point Pr is set, and the coordinate value of the actual target point Pr is output to the operation instruction unit 508 and the comparison unit 31 in the feedback (FB) control unit 30 as a set value of the interlock control. The interlock control set value calculation unit 506 outputs the calculated control line information to the comparison unit 31 in the feedback (FB) control unit 30 together with the coordinate value information of the actual target point Pr set as the set value of the interlock control. To do.

  Further, in step 27a in the interlocking control of the second embodiment shown in FIG. 10, the comparison unit 32 in the feedback (FB) control unit 30 switches the feedback control based on the monitoring of the knee angle and the back angle according to the control line in a predetermined time unit. I do.

  More specifically, the interlock control of the second embodiment will be described with reference to FIG. FIG. 13 is a coordinate plan view of the back angle and the knee angle showing an operation example of the interlock control of Example 2 in the electric bed 1 of the first embodiment according to the present invention.

  In FIG. 13, when the start control point Ps based on the sensor signals from the state sensors 20a, 20b, and 20c is calculated at the start of the interlock control in the interlock mode when raising the back, the interlock control in FIG. It is assumed that the start reference point Ps is located between the points P3 and P4. At this time, the coordinate point (47, 15) of the interlock control point P4 is located closest to the start reference point Ps in the operation direction, and becomes the target interlock control point Po. Even when the start reference point Ps is located at the interlocking control point P3, the interlocking control point P4 becomes the target interlocking control point Po.

  In the interlock control of the second embodiment, as shown in FIG. 13, after starting the interlock control by the feedback control based on the monitoring of both the back angle and the knee angle from the start reference point Ps toward the actual target point Pr, The operation of the electric bed 1 is changed until the predetermined time ta has elapsed. When the operation of the electric bed 1 transitions to the right side (+ side) from the reference line BL when the predetermined time ta has elapsed (S1 in the figure), the comparison unit 32 shown in FIG. Until the position of the motor 13a is reached, a correction operation for switching to feedback control based on the monitoring of only the knee angle is performed (ie, the motor 13a for variably operating the back angle in the motor drive control unit 55 is stopped by the comparison signal). The drive of the motor 13b that variably operates the knee angle is feedback-controlled). After the correction operation, when the operation of the electric bed 1 reaches BL, the control is switched to feedback control based on monitoring of both the back angle and the knee angle, and the operation of the electric bed 1 is changed until a predetermined time ta elapses again. This switching type feedback control for correcting to follow one control line in a predetermined time unit is repeated until one target coordinate axis (one of the back angle and knee angle at the actual target point Pr) is reached.

  Further, in the interlock control of the second embodiment, as shown in FIG. 13, the interlock control is started by feedback control based on the monitoring of both the back angle and the knee angle from the start reference point Ps toward the actual target point Pr. Thereafter, when the operation of the electric bed 1 is changed until the predetermined time ta elapses, when the operation of the electric bed 1 changes to the left side (− side) from the reference line BL when the predetermined time ta elapses (S2 in the drawing). 4, until the operation of the electric bed 1 reaches BL, the comparison unit 32 performs a correction operation to switch to feedback control based on monitoring of only the back angle while keeping the knee angle constant (that is, according to the comparison signal). The drive of the motor 13b that variably operates the knee angle in the motor drive control unit 55 is stopped, and the drive of the motor 13a that variably operates the back angle is feedback-controlled). After the correction operation, when the operation of the electric bed 1 reaches BL, the control is switched to feedback control based on monitoring of both the back angle and the knee angle, and the operation of the electric bed 1 is changed until a predetermined time ta elapses again. This switching type feedback control for correcting to follow the control line in units of predetermined time is repeated until one target coordinate axis (one of the back angle and knee angle at the actual target point Pr) is reached.

  When the predetermined time ta is set longer than the time required to reach one target coordinate axis (one of the back angle and knee angle at the actual target point Pr) from the start reference point Ps. Although the transition is greatly deviated from the reference line BL, the number of times of feedback control switching can be reduced. On the other hand, when the predetermined time ta is set shorter than the time required to reach one target coordinate axis (one of the back angle and knee angle at the actual target point Pr) from the start reference point Ps. The transition deviating from the reference line BL is reduced, but the number of times of switching the feedback control is increased. Therefore, the predetermined time ta can always be a constant value, but the Euclidean point between the start reference point Ps and one target coordinate axis (one of the back angle and the knee angle at the actual target point Pr). It is preferable to change the predetermined time ta so that the shorter the Euclidean distance is, the shorter the predetermined time ta is.

  The feedback control based on the monitoring of one of the back angle and the knee angle (the operation for correcting the knee angle or the back angle) has been described until the operation of the electric bed 1 reaches BL. When the amount of deviation is stable and known in advance, the correction motion may be controlled so that the predetermined time tb elapses. That is, feedback control based on the monitoring of both the back angle and the knee angle operated during the predetermined time ta (interlocking of the knee angle and the back angle) and the monitoring of one of the back angle and the knee angle operated during the predetermined time tb. The switching type feedback control may be configured by switching to feedback control based on the above (a correction operation of the knee angle or the back angle).

  When such feedback control is performed, the coordinate point (47, 15) of the target interlocking control point Po is not reached, but on the coordinate axis of the back angle at the actual target point Pr (in this example, the target interlocking control point Po). This may be reached, but this is also permitted in Example 2 according to the present embodiment.

  Then, without reaching the coordinate point (47, 15) of the target interlocking control point Po, on the coordinate axis of either the back angle or the knee angle at the actual target point Pr (in this example, the target interlocking control point Po). When the interlock mode is continued after reaching, the coordinate point at the time of arrival is updated as the start reference point Ps, and the interlock control point P5 that is closest to the updated start reference point Ps in the operation direction is the target interlock control point. The reference line BL, which is updated as Po and connects the start reference point Ps and the target interlocking control point Po (= actual target point Pr), is calculated again, and the knee angle and the back angle according to the control line in the predetermined time unit as described above Switchable feedback control based on monitoring.

  That is, in the interlock control of Example 2 according to the present embodiment, the FB control based on the state sensors 20a, 20b, and 20c is performed regardless of the rotation detection of the motor 13, or the interlock control point Pn that is changed by the user is configured. For example, when the forcing control is performed along the pattern connecting the plurality of interlocking control points Pn as in the conventional technique, depending on the position of the back angle and the knee angle, it becomes jerky. It may become an operation. For this reason, in the interlocking control of Example 2 according to the present embodiment, when there is a difference larger than a predetermined threshold (for example, 2 °) for both the knee angle and the back angle, By performing the switching type feedback control based on the monitoring of the back angle, the coordinate point (47, 15) of the target interlocking control point Po is not reached and the actual target point Pr (in this example, the target interlocking control point Po) is reached. Even if it reaches the coordinate axis of either the back angle or the knee angle, this can be allowed, the feedback control can be stabilized, and the wobble control that moves unnecessarily to the right and left can be eliminated. Can be realized.

[Second Embodiment]
(Device configuration)
FIG. 14 is a diagram showing a schematic configuration of the electric bed 1 of the second embodiment according to the present invention. FIG. 15 is a block diagram illustrating a schematic configuration of a functional unit that realizes an operation during the entire operation of the electric bed 1 according to the second embodiment of the present invention. 14 and 15, the same reference numerals are assigned to the same components as those shown in FIGS. 1 and 2.

  Referring to FIGS. 14 and 15, the electric bed 1 of the second embodiment according to the present invention has an amount of rotation such as an encoder or a potentiometer as compared with the conventional electric bed 10 shown in FIGS. 17 and 18. An operation signal control unit 50 is provided inside the switch 11, a point where the rotation amount detection sensor to detect is not provided, three state sensors 20 a, 20 b, and 20 c, and an operation signal control unit 50. Although different in that a feedback (FB) control unit 30 based on sensor signals from the state sensors 20a, 20b, and 20c is provided, the other components are the same.

  More specifically, similarly to the first embodiment, the electric bed 1 of the second embodiment shown in FIG. 14 has a controller 12, a motor 13, an actuator 14, and a link mechanism below a bed frame 17 that supports a human body. 16 is disposed. In particular, a total of three sets of the motor 13, the actuator 14, and the link mechanism 16 are provided so that the step-up angle, the knee-lifting height, and the bed height can be adjusted almost steplessly.

  That is, as in the first embodiment, the electric bed 1 according to the second embodiment includes three backrest angles of the landing portion 18, knee-lifting heights, and positions of movable parts with respect to the bed height. State sensors 20a, 20b, and 20c are provided. The sensor signals output from the three state sensors 20a, 20b, and 20c are connected to the controller 12 via respective signal cables indicated by broken lines.

  Similarly to the first embodiment, a harness for driving each motor 13 is connected to the controller 12. Each actuator 14 is connected to an output shaft of each motor 13, and a cylinder of each actuator 14 is connected to each link mechanism 16.

  The operation switch 11 is connected to the controller 12, and the operator uses the switch 11 to adjust the step-up angle, the knee-lifting height, and the bed height of the landing portion 18 almost steplessly. Can be done.

  Unlike the first embodiment, the controller 12 of the second embodiment can use the controller 12 as it is without changing the conventional controller 12 shown in FIGS. 17 and 18.

  The switch 11 of the present embodiment can have the same basic configuration as that shown in FIG.

  However, the switch 11 of this embodiment is provided with an FB control unit 30 and an operation signal control unit 50 based on sensor signals from the state sensors 20a, 20b, and 20c, as shown in FIG. In addition, the structure of the operation signal control part 50 provided with the FB control part 30 in the switch 11 of this embodiment can be made to be the same as that of what is shown in FIG. 4 in 1st Embodiment, and the FB control part 30 shown in FIG. A control line and the like related to transmission / reception of each signal necessary for incorporating the operation signal control unit 50 including the above into the switch 11 of the present embodiment may be appropriately designed.

  Referring to FIG. 15, first, a control signal related to a variable operation of the landing portion 18 of the electric bed 1 for adjusting the back raising angle, knee raising height, and bed height from the switch 11 is sent to the controller 12. Is output.

  Upon receiving the control signal, the controller 12 supplies a drive signal to the motor 13 in order to realize a corresponding operation.

  The cylinders of the actuators 14 that adjust the back-raising angle, the knee-lifting height, and the bed height respectively expand and contract according to the rotation of the motor 13 and are electrically driven via the link mechanisms 16 according to the expansion and contraction. The variable operation of the landing portion 18 in the bed 10 is performed.

  The switch 11 receives and monitors the sensor signals from the state sensors 20a, 20b, and 20c by the function of the FB control unit 30, and performs feedback control so as to be in a state corresponding to the target set value based on the sensor signals. .

  As described above, the state sensors 20a, 20b, and 20c are less expensive than encoders and potentiometers that are used in conventional electric beds for treatment and nursing care.

  Moreover, since the state sensors 20a, 20b, and 20c are provided at the positions of the movable parts with respect to the back raising angle, the knee-lifting height, and the bed height of the landing portion 18, the actual position of the landing portion 18 is provided. Is detected directly. For this reason, an error is absorbed between the actual position of the landing portion 18 and the rotation amount of the motor 13, and even when the landing portion 18 is deformed due to aging, the detection accuracy is hardly affected. The sensor outputs of the state sensors 20a, 20b, and 20c can be highly accurate without causing an accumulated error.

(Feedback control)
FIG. 16 is a flowchart showing a schematic feedback operation of the electric bed 1 according to the second embodiment of the present invention.

  First, a control signal corresponding to an operation signal related to the variable operation of the landing portion 18 of the electric bed 1 is transmitted from the switch 11 to the controller 12 (step S11).

  The controller 12 that has received the control signal controls driving of the corresponding motor 13 and drives the actuator 14 (step S12).

  At this time, the switch 11 monitors the sensor signals of the state sensors 20a, 20b, and 20c based on the comparison signal of the FB control unit 30 (step S13), and the operation of the landing unit 18 of the electric bed 1 reaches the target. It is determined whether or not (step S14).

  The switch 11 sends a control signal for stopping the driving of the motor 13 if the operation of the landing portion 18 of the electric bed 1 does not reach the target unless the user gives an instruction to end the operation (step S14: No). Do not transmit, continue driving.

  On the other hand, if the switch 11 determines that the operation of the landing portion 18 of the electric bed 1 has reached the target (step S14: Yes), a control signal for stopping the driving of the motor 13 is output to the controller 12 in the individual operation mode. In the interlocking mode of the back angle and the knee angle, the control signal with the updated target is output to the controller 12, but the control signal for stopping the driving of the motor 13 is output to the controller 12 when there is an operation end instruction from the user. (Step S15).

  When the controller 12 receives a control signal for stopping the driving of the motor 13, the controller 12 stops the driving of the motor 13 and holds the position of the actuator 14 (step S16).

  As described above, according to the electric bed 1 of the present embodiment, it is possible to realize feedback control with lower cost and higher accuracy, and as a result, the bed itself can be reduced in price.

  In addition, the electric bed 1 of the second embodiment is the second type by replacing the switch 11 and installing the state sensors 20a, 20b, and 20c with respect to the existing first type electric bed that does not perform feedback control. The electric bed can be transformed into a second type electric bed at a lower cost than purchasing a new electric bed.

  In addition, the electric bed 1 of the second embodiment is a switch of the switch 11 for the existing second type electric bed that performs feedback control based on a rotation amount detection sensor that detects the rotation amount of an encoder, a potentiometer, or the like. By simply installing the state sensors 20a, 20b, and 20c, it can be transformed into the second type electric bed with higher accuracy.

  The present invention has been described above with reference to specific embodiments. However, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the technical concept thereof. For example, in the example of each embodiment described above, the preferred example including all the means for solving the above-described various problems in the conventional technique has been described as a representative example. However, the present embodiment is provided to solve various problems individually. The electric bed 1 of one embodiment according to the invention can be configured.

That is, in general, the electric bed 1 according to an embodiment of the present invention includes the operation signal control unit 50, and the operation signal control unit 50 includes a plurality of coordinate planes of the back angle and the knee angle related to the interlock control. The storage unit 504 that stores the interlock control point Pn and the coordinate points of the back angle and the knee angle based on sensor signals from a predetermined sensor that directly or indirectly detects the movement of the movable part related to the movement of the landing unit 18. An interlocking control set value calculator 506 that calculates a set reference value for performing the interlock control toward the actual target point Pr calculated from the start reference point Ps according to a predetermined control line. An FB control unit 30 that performs switchable feedback control based on switching of both of the back angle and the knee angle related to the interlocking operation based on the monitoring is provided.
Thereby, usability can be improved by the interlock control which becomes smooth operation | movement. At this time, the drive mechanism may be configured by an actuator driven by the motor 13, and the predetermined sensor may be configured by a rotation amount detection sensor that detects the rotation amount of the motor 13, or the state sensors 20a and 20b described above. , 20c, and in any case, interlocking control that achieves a smooth operation is realized, and usability can be improved. The operation signal control unit 50 can be provided on either the switch 11 or the controller 12. However, a relay unit is provided between the switch 11 and the controller 12, and the operation signal control unit 50 is provided on the relay unit. Also good.

In the first mode of the electric bed 1 according to the embodiment of the present invention, parallel virtual lines that are separated by a predetermined Euclidean distance from the reference line BL that connects the start reference point Ps and the target interlocking control point Po are calculated. Thus, two control lines are set, an actual target point Pr that is the closest position between the two control lines is calculated within a predetermined threshold, and the back of the actual reference point Pr from the start reference point PS is calculated. When interlocking control of the angle and knee angle is performed, feedback control based on monitoring of both the knee angle and the back angle is performed until the interlocking operation of the knee angle and the back angle reaches one of the two control lines. The feedback control is based on the monitoring of one of the knee angle and the back angle, which is the movement direction.
In this case, the interlock control set value calculation unit 50 is parallel to the reference line BL connecting the start reference point Ps and the target interlock control point Po with a predetermined Euclidean distance apart on the plus side, the minus side, or both. The virtual line is calculated, and the plus and minus virtual lines VL1 and VL2 are used as the two control lines, the reference line BL and the plus virtual line are used as the two control lines, or the reference A predetermined calculation is performed so that the line BL and the negative virtual line are the two control lines. A more detailed example of the switchable feedback control in the first mode is as described above with reference to FIGS. 9 to 11.

  Moreover, in the 2nd aspect in the electric bed 1 of one Embodiment which concerns on this invention, the reference line BL which connects the start reference point Ps and the target interlocking control point Po is made into a control line, and the target interlocking control point Po is made into an actual target point. As Pr, a set value for performing interlock control of the back angle and the knee angle from the start reference point Ps toward the actual target point Pr is calculated, and based on the set value, the actual target point Pr is set to the start reference point Ps. As the feedback control based on the monitoring of both the knee angle and the back angle until the linked operation of the knee angle and the back angle reaches a predetermined time, the control line reaches the one control line after the predetermined time has elapsed. Until then, the feedback control is based on monitoring one of the knee angle and the back angle which is the direction of motion. A more detailed example of the switchable feedback control in the second mode is as described above with reference to FIG.

Moreover, in the electric bed 1 according to the embodiment of the present invention, it is preferable that the plurality of interlocking control points Pn stored in the storage unit 504 can be set and changed by an external operation (for example, an operation from the switch 11). is there.
Thereby, when the structure of the electric bed 1 changes, when the fine adjustment resulting from a user's physique, etc. is required, or the position of the actual landing part 18 and the rotation amount of the motor 13 have an error. Even in the case where the landing portion 18 is deformed due to secular change or the like, the setting can be easily changed, so that the usability is improved.

Moreover, in the electric bed 1 according to an embodiment of the present invention, when the target is reached when the coordinate axis according to a predetermined reference of either the back angle or the knee angle in the coordinate value of the actual target point is reached. It is preferable to be configured to determine.
As a result, it is possible to eliminate the wobbling control that causes the robot to go back and forth unnecessarily, and a smooth operation can be realized.

Further, in the electric bed 1 according to the embodiment of the present invention, the predetermined sensor is installed in a movable part related to the movement of the landing portion 18 and is a state sensor including a gyro sensor, an angle sensor, an acceleration sensor, or an impact sensor. It is preferable to consist of 20a, 20b, 20c.
Thereby, even when there is an error between the actual position of the landing portion 18 and the rotation amount of the motor 13 or when the landing portion 18 is deformed due to secular change, high-precision feedback control is performed. Is realized. In addition, for the first type electric bed that does not perform feedback control, the feedback control can be performed only by adding and changing components that are cheaper and easier to retrofit than newly purchasing the second type electric bed. Can be transformed into a second type of electric bed.

  Moreover, in the example of each embodiment mentioned above, the example which provides three state sensors 20a, 20b, and 20c in the position of the movable part about the back raising angle of the landing part 18, the knee raising height, and the bed height, respectively. However, this is a preferred example, and it is only necessary to provide two state sensors 20a and 20b at the positions of the movable parts with respect to the back raising angle and knee raising height of the landing part 18, respectively. Feedback control is possible for the back-raising angle, knee-lifting height, and bed height. In particular, in the electric bed 1 according to the embodiment of the present invention, the state sensors 20a, 20b, and 20c used for feedback control can be any of a gyro sensor, an angle sensor, an acceleration sensor, and an impact sensor. It is possible to arrange a plurality of one-dimensional positions corresponding to each undulation motion such as the back-raising angle, the knee-lifting height, and the bed height, and to detect a state change related to the undulation motion in two or more dimensions. Is preferred. For this reason, the present invention can be a single state sensor for an electric bed that performs one type of hoisting operation, or a common movable part for an electric bed that performs three or more types of hoisting operations. Can be made cheaper by using a single state sensor.

  Accordingly, at least one state sensor is installed in the movable part of the landing portion 18 and is one vertical axis, two vertical and horizontal axes, three vertical and vertical / horizontal horizontal axes, or a vertical direction. A state value corresponding to each axis is detected with respect to three or more absolute coordinate axes including directions other than the vertical and horizontal directions, and at least a knee angle and a back angle in the movable part are detected.

  Moreover, in the example of the embodiment described above, the example in which the state sensors 20a, 20b, and 20c are provided in the landing portion 18 has been described. However, for example, in the movable portion related to the movement of the landing portion 18 such as the link mechanism 16 and the actuator 14. If there is, it can be installed at any location.

  Further, in the example of the embodiment described above, an example in which the actuator 14 by the motor 13 is used as a drive mechanism has been described. However, this is a preferable example for performing fine interlocking control, and a hydraulic or pneumatic actuator, It can also be set as the electric bed which uses another drive mechanism.

  Moreover, the electric bed of one embodiment according to the present invention may be configured to transmit an operation signal of the switch 11 to the controller 12 by wire or wirelessly.

  According to the present invention, it is possible to configure an electric bed that realizes feedback control with lower cost and higher accuracy, improves usability, and enables interlocking control of the back angle and the knee angle. It is useful for the use of an electric bed for nursing care.

DESCRIPTION OF SYMBOLS 1 Electric bed of this invention 10 Conventional 2nd type electric bed 11 Switch 12 Controller 13 Motor 14 Actuator 15 Rotation amount detection sensor (encoder or potentiometer)
16 link mechanism 17 bed frame 18 landing unit 20a, 20b, 20c state sensor 30 feedback (FB) control unit 31 signal conversion unit 32 comparison unit 50 operation signal control unit 51 operation signal reception unit 52 first sensor signal input unit 53 first 2 sensor signal input unit 54 3rd sensor signal input unit 55 motor drive control unit 111 set value display unit 112 operation / setting button unit 111a, 111b, 111c setting display unit 112a, 112b, 112c up / down button 112d setting button 112f individual operation button 112h Interlock button 112e, 112g, 112i LED display unit 501 Signal type determination unit 502 Interlocking control point setting unit 503 Individual operation setting unit 504 Storage unit 505 Individual operation / interlocking determination unit 506 Interlocking control setting value calculation unit 507 Individual operation setting value Out section 508 action instruction section

Claims (13)

An electric bed that can control the undulation motion by feedback control,
Based on an operation signal for controlling a driving mechanism that performs a predetermined undulation operation including a back raising or back lowering operation and a knee raising or knee lowering operation with respect to the landing portion, the back raising or back lowering operation is performed. And a setting value for performing linked control of the movement of raising and lowering the knee and a sensor signal from a predetermined sensor that directly or indirectly detects the movement of the movable part related to the movement of the landing portion and the setting Based on the value, an operation signal control unit that feedback-controls the execution of the predetermined undulation operation by the drive mechanism,
The operation signal control unit corresponds to a back angle that is a lifting angle from a horizontal state of the movable part of the landing portion corresponding to the back raising or back lowering operation, and the knee raising or knee lowering operation. On the coordinate plane represented by the knee angle that is the lifting angle from the horizontal state of the movable part of the landing part, a storage part that stores a plurality of interlocking control points in advance, and the back angle and knee angle based on the sensor signal A start reference point indicating a coordinate point is calculated, a linked control point closest to the operation direction from the start reference point is set as a target linked control point, and a predetermined reference line is connected to the reference line connecting the start reference point and the target linked control point. The parallel imaginary lines separated by the Euclidean distance are calculated to set two control lines, and based on the two control lines and the target interlock control point, the back angle and knee at the target interlock control point One of the angles An actual target point that is located on the reference axis and is closest to the middle of the two control lines within a predetermined threshold from the target interlocking control point is calculated, and the target point is moved from the start reference point to the actual target point. An interlock control set value calculation unit for calculating a set value for performing interlock control of the back angle and the knee angle; and based on the set value, the drive mechanism is controlled with the actual target point as a target with respect to the start reference point. The feedback control is based on the monitoring of both the knee angle and the spine angle until the interlocking operation of the knee angle and the spine angle reaches one of the two control lines. When the feedback control based on the monitoring of one of the motion directions is performed, the switchable feedback control is performed in which the interlocking operation of the knee angle and the back angle is shifted within the two control lines, and when it is determined that the target has been reached, Starting criteria A feedback control unit that updates the interlock control set value calculation unit to instruct the update of a set value indicating a new actual target point and performs feedback control until the operation of the interlock mode is completed. An electric bed comprising the electric bed.   The interlock control set value calculation unit calculates a parallel virtual line separated by a predetermined Euclidean distance on the plus side, the minus side, or both with respect to a reference line connecting the start reference point and the target interlock control point. The plus and minus imaginary lines are the two control lines, the reference line and the plus imaginary line are the two control lines, or the reference and minus lines The electric bed according to claim 1, wherein a predetermined calculation is performed so that a virtual line is the two control lines.   The feedback control unit, as a feedback control when there is a difference greater than a predetermined threshold for both the knee angle and the back angle in the comparison between the start reference point and the actual target point, When performing the switching feedback control using the two control lines as the line, when the interlocking operation of the knee angle and the back angle reaches the plus virtual line of the two control lines, the minus virtual Feedback control based on monitoring only knee angle with the back angle constant until reaching the line, and after reaching the negative virtual line, repeat control to switch to feedback control based on monitoring of both knee angle and back angle, When the interlocking operation of the knee angle and the back angle reaches the minus side virtual line of the two control lines, the knee angle until the plus side virtual line is reached. It is configured to perform feedback control based on monitoring of only the back angle, and to switch to feedback control based on monitoring of both the knee angle and the back angle after reaching the imaginary line on the plus side. The electric bed according to claim 2.   The feedback control unit, as a feedback control when there is a difference greater than a predetermined threshold for both the knee angle and the back angle in comparison between the start reference point and the actual target point, When performing the switching feedback control using the two control lines as the control line, when the interlocking operation of the knee angle and the back angle reaches the plus-side virtual line of the two control lines, the reference line is It is configured to perform feedback control based on monitoring of only the knee angle with a constant back angle until it reaches, and to repeat control for switching to feedback control based on monitoring of both the knee angle and the back angle after reaching the reference line. The electric bed according to claim 2, wherein:   The feedback control unit, as a feedback control when there is a difference greater than a predetermined threshold for both the knee angle and the back angle in comparison between the start reference point and the actual target point, When performing the switching feedback control using the two control lines as the control line, when the interlocking operation of the knee angle and the back angle reaches the negative virtual line of the two control lines, the reference line is used. It is configured to perform feedback control based on monitoring of only the back angle while keeping the knee angle constant until reaching, and to repeat control to switch to feedback control based on monitoring of both the knee angle and the back angle after reaching the reference line. The electric bed according to claim 2, wherein: An electric bed that can control the undulation motion by feedback control,
Based on an operation signal for controlling a driving mechanism that performs a predetermined undulation operation including a back raising or back lowering operation and a knee raising or knee lowering operation with respect to the landing portion, the back raising or back lowering operation is performed. And a setting value for performing linked control of the movement of raising and lowering the knee and a sensor signal from a predetermined sensor that directly or indirectly detects the movement of the movable part related to the movement of the landing portion and the setting Based on the value, an operation signal control unit that feedback-controls the execution of the predetermined undulation operation by the drive mechanism,
The operation signal control unit corresponds to a back angle that is a lifting angle from a horizontal state of the movable part of the landing portion corresponding to the back raising or back lowering operation, and the knee raising or knee lowering operation. On the coordinate plane represented by the knee angle that is the lifting angle from the horizontal state of the movable part of the landing part, a storage part that stores a plurality of interlocking control points in advance, and the back angle and knee angle based on the sensor signal A start reference point indicating a coordinate point is calculated, the interlock control point closest to the operation direction from the start reference point is set as a target interlock control point, and a reference line connecting the start reference point and the target interlock control point is a control line And an interlock control set value calculation unit for calculating a set value for performing interlock control of a back angle and a knee angle from the start reference point toward the actual target point, with the target interlock control point as an actual target point, and Based on the setting value Control the drive mechanism with the actual target point as a target with respect to the start reference point, and feedback control based on monitoring of both the knee angle and the back angle until the interlocking operation of the knee angle and the back angle reaches a predetermined time, After the predetermined time has elapsed, until the one control line is reached, the knee angle and the back angle are linked to each other by the feedback control based on the monitoring of one of the knee angle and the back angle in the operation direction. Switchable feedback control is performed to make a transition by correcting to follow one control line in time units, and when it is determined that the target has been reached, the start reference point is updated, and a new value is added to the interlock control set value calculation unit. A feedback control unit that performs an update instruction on a set value indicating an actual target point, performs feedback control, and controls to continue operation until the operation in the interlocking mode ends. Electric bed to be.   The feedback control unit performs the switchable feedback control as feedback control when there is a difference larger than a predetermined threshold for both the knee angle and the back angle in the comparison between the start reference point and the actual target point. In addition, when the interlocking operation of the knee angle and the back angle shifts to the plus side with respect to the reference line after the lapse of the predetermined time, the back angle is constant until the reference line is reached, and feedback based on monitoring of only the knee angle Control, after reaching the reference line, repeatedly switching to feedback control based on monitoring of both the knee angle and the back angle, and the interlocking operation of the knee angle and the back angle is applied to the reference line after the lapse of the predetermined time. On the other hand, when transitioning to the negative side, the knee angle is constant until the reference line is reached, and feedback control based on monitoring only the back angle is performed, After reaching the serial reference line, characterized in that it is configured to repeat the control for switching the feedback control based on the monitoring of both the knee angle and the back angle, the electric bed according to claim 6.   The electric bed according to any one of claims 1 to 7, wherein the plurality of interlocking control points stored in the storage unit are configured to be changeable by an external operation.   The feedback control unit determines that the target has been reached when it has reached a coordinate axis that complies with either one of a back angle and a knee angle in a coordinate value of the actual target point. Item 9. The electric bed according to any one of Items 1 to 8.   The electric bed according to any one of claims 1 to 9, wherein the driving mechanism includes an actuator driven by a motor.   The electric bed according to any one of claims 1 to 10, wherein the predetermined sensor includes a rotation amount detection sensor that detects a rotation amount of a motor that drives the drive mechanism.   The said predetermined sensor is installed in the movable part which concerns on the movement of the said landing part, and consists of a state sensor which consists of a gyro sensor, an angle sensor, an acceleration sensor, or an impact sensor, It is characterized by the above-mentioned. The electric bed according to any one of the above.   At least one state sensor is installed in the movable part, and is one axis in the vertical direction, two axes in the vertical and horizontal directions, three axes in the vertical direction and the vertical and horizontal directions, or the vertical direction and the vertical and horizontal directions. It comprises a sensor capable of detecting a state value corresponding to each axis with respect to three or more absolute coordinate axes including a direction other than the horizontal direction, and detecting at least the knee angle and the back angle in the movable part. The electric bed according to claim 12.